Mobile cargo handling equipment

Abstract

To provide a mobile cargo handling device that can suppress the decrease in charging efficiency. [Solution] In the cargo handling mobile vehicle 10, the attitude control unit swings the vehicle body 11 to tilt it backward, and in accordance with this tilt, the power receiving unit 77 is tilted in the front-rear direction X relative to the vehicle body 11.

Description

Technical Field

[0001] The present invention relates to a mobile body for cargo handling.

Background Art

[0002] As an example of a mobile body for cargo handling that enables charging by non-contact power supply, for example, an automated guided vehicle described in Patent Document 1 can be cited. The automated guided vehicle includes a vehicle body for transportation, and a power receiving device having a power receiving unit and a power storage unit provided on the vehicle body for transportation. The power receiving unit receives power from the power supply device in cooperation with the power supply device. The power storage unit stores the power supplied from the power receiving unit. The power supply device is provided at the working position of the automated guided vehicle in the factory. When the automated guided vehicle stops at the working position, the power receiving device receives power from the power supply device in a non-contact manner and charges the power storage unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] \ However, when the automated guided vehicle stops at the working position, if the vehicle body for transportation tilts and the power receiving unit and the power supply device are in a positional relationship unsuitable for charging, the charging efficiency by non-contact power supply will decrease.

Means for Solving the Problems

[0005] A mobile cargo handling vehicle for solving the above problems is an inverted wheel type mobile cargo handling vehicle for handling cargo at a cargo handling site, comprising: a pair of left and right drive wheels; a drive unit for driving the pair of left and right drive wheels; a vehicle body that swings in the front-rear direction around an axis coaxial with the axles of the pair of left and right drive wheels as a pivot point by the drive unit; a cargo handling device provided on the vehicle body and equipped with support members for supporting the cargo; a posture control unit that controls the drive of the drive unit and controls the posture of the vehicle body by swinging the vehicle body in the front-rear direction around the axis as a pivot point; and a power receiving unit provided on the vehicle body that receives power supplied from a power supply unit installed at the cargo handling site in a non-contact manner, wherein the power receiving unit is tilted in the front-rear direction relative to the vehicle body in accordance with the posture in which the vehicle body is tilted backward by the posture control unit swinging the vehicle body.

[0006] According to this, even when a cargo handling vehicle approaches a cargo handling area and tilts its body backward using a posture control unit, the power receiving unit remains tilted in the front-to-back direction relative to the vehicle body. For example, compared to a case where the power receiving unit is not tilted in the front-to-back direction relative to the vehicle body, the cargo handling vehicle can position the power receiving unit in a position suitable for contactless power supply to the power supply unit. Therefore, the cargo handling vehicle can suppress the decrease in charging efficiency due to contactless power supply.

[0007] With respect to the mobile loading / unloading vehicle, the power supply unit is installed at the loading / unloading location so as to extend vertically, and the power receiving unit is equipped with a pivot shaft that rotates integrally with the power receiving unit, the pivot shaft extending in the same direction as the axis and being rotatably supported on the vehicle body.

[0008] According to this, the power receiving unit rotates by its own weight around a pivot axis. The power receiving unit, having rotated by its own weight, tilts in the front-rear direction relative to the vehicle body while extending vertically. Therefore, in a posture where the vehicle body is tilted backward by the attitude control unit, the power receiving unit is positioned to extend vertically relative to the power supply unit, which extends vertically. Thus, with a simple configuration that rotates the power receiving unit by its own weight, the power receiving unit can be positioned in a location suitable for contactless power supply relative to the power supply unit.

[0009] Regarding the cargo handling mobile body, it is preferable that the pivot shaft be provided at the upper part of the power receiving section, and that a weight be provided at the lower part of the power receiving section. According to this, by utilizing the weight of the counterweight, the power receiving unit can be made easier to rotate around the pivot axis as the center of rotation.

[0010] Regarding the cargo handling mobile body, it is preferable that the cargo handling mobile body is equipped with a motor for the power receiving unit on the vehicle body, and that the motor shaft of the power receiving unit motor extends in the same direction as the axis and is connected to the power receiving unit.

[0011] According to this, the power receiving unit, to which the motor shaft is connected, rotates around the motor shaft as the pivot point due to the drive of the power receiving unit's motor. By controlling the amount of drive of the power receiving unit's motor, the amount of rotation of the power receiving unit can be controlled. Therefore, by controlling the amount of drive of the power receiving unit's motor, the power receiving unit can be precisely positioned in a position suitable for contactless power supply relative to the power supply unit.

[0012] Regarding the cargo handling mobile body, the motor shaft is preferably located at the lower part of the power receiving section. According to this, when the vehicle body is tilted backward, the power receiving unit tilts backward around the motor shaft located at its bottom as the pivot point. As a result, the upper position of the power receiving unit becomes lower due to the tilt. However, when the power receiving unit is rotated by the motor for the power receiving unit, the power receiving unit rotates in a way that raises its upper part, so the upper position of the power receiving unit becomes higher than before it tilted. Consequently, when the power receiving unit is positioned in a location suitable for contactless power supply to the power supply unit, the decrease in charging efficiency caused by the height difference between the power receiving unit and the power supply unit can be suppressed.

[0013] With respect to the cargo handling mobile body, the power receiving unit is preferably provided on the vehicle body so as to be movable in the front-rear direction of the vehicle body. According to this, for example, when performing contactless power supply at a location slightly away from the loading / unloading area, the power receiving unit can be moved closer to the power supply unit by moving the power receiving unit in the front-to-back direction. As a result, when the power receiving unit is positioned in a location suitable for contactless power supply with respect to the power supply unit, the decrease in charging efficiency caused by the distance between the power receiving unit and the power supply unit in the front-to-back direction can be suppressed. [Effects of the Invention]

[0014] This invention can suppress the decrease in charging efficiency. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 shows the power supply unit of the loading platform and the power receiving unit of the loading / unloading mobile body. [Figure 2] Figure 2 shows a movable cargo handling device according to an embodiment. [Figure 3] Figure 3 is a perspective view showing a cargo handling mobile body according to an embodiment. [Figure 4] Figure 4 is a block diagram of the control unit. [Figure 5] Figure 5 is a schematic diagram showing the power supply device and the power receiving device. [Figure 6] Figure 6 is a side view showing a tilted cargo handling vehicle. [Figure 7] Figure 7 is a side view showing the contactless power supply state. [Figure 8] FIG. 8 is a diagram showing a power receiving unit of a modification example. [Figure 9] FIG. 9 is a diagram showing a power receiving unit of another modification example. [Figure 10] FIG. 10 is a perspective view showing a power receiving unit of another modification example. [Figure 11] FIG. 11 is a side view showing a non-contact power supply state.

MODE FOR CARRYING OUT THE INVENTION

[0016] Hereinafter, an embodiment in which the load-carrying mobile body is embodied will be described. <Power supply device> As shown in FIG. 1, the loading platform 100 as a loading place incorporates a power supply device 60 that constructs a resonance type non-contact power supply system. The loading platform 100 is a platform on which a load W carried by the load-carrying mobile body 10 is placed. On the mounting surface 100a of the loading platform 100, although only one is shown in FIG. 1, the pallet 101 is mounted via a pair of pallet mounting tables 102. Below the pallet 101, a pair of forks 45 can be inserted and removed between the pair of pallet mounting tables 102. The package Wa is placed on the pallet 101. The load W is composed of the pallet 101 and the package Wa placed on the pallet 101.

[0017] FIG. 5 schematically shows a resonance type non-contact power supply system. The power supply device 60 includes a high-frequency power supply 61, a primary-side coil 62 composed of a primary-side resonance coil 62a and a primary coil 62b, a power supply device housing 64 having a rectangular box shape for example that houses the primary-side coil 62, and a power supply-side controller 63. The high-frequency power supply 61 is controlled based on a control signal from the power supply-side controller 63. The power supply-side controller 63 starts power supply by the power supply device 60 upon receiving a standby command to make the load-carrying mobile body 10 standby among commands transmitted from an upper control device (not shown) that controls the operation of the load-carrying mobile body 10. The high-frequency power supply 61 outputs AC power having a frequency equal to a preset resonance frequency of the resonance system, for example, high-frequency power of about several MHz.

[0018] The primary coil 62b is connected to the high-frequency power supply 61. The primary coil 62b and the primary side resonant coil 62a are located coaxially (on the central axis C1). A capacitor C is connected in parallel to the primary side resonant coil 62a. The primary coil 62b is coupled to the primary side resonant coil 62a by electromagnetic induction, and the AC power supplied from the high-frequency power supply 61 to the primary coil 62b is also supplied to the primary side resonant coil 62a by electromagnetic induction.

[0019] The primary side resonant coil 62a, primary coil 62b, and capacitor C are housed in the power supply unit housing 64. The power supply unit 65 is formed from the primary side resonant coil 62a, primary coil 62b, capacitor C, and the power supply unit housing 64. The high-frequency power supply 61 and the power supply side controller 63 are installed inside the loading platform 100, on the outside of the power supply unit housing 64.

[0020] As shown in Figure 1, the power supply unit housing 64 has a power supply surface 64a that faces the cargo handling mobile body 10 approaching the cargo handling platform 100. The power supplied from the power supply unit 65 is mainly supplied from the power supply surface 64a. The power supply surface 64a is perpendicular to the direction in which power is supplied from the power supply unit 65. Let the imaginary line extending vertically Z along the power supply surface 64a of the power supply unit housing 64 be the power supply unit reference line L1. If the imaginary line perpendicular to the power supply surface 64a is the power supply side orthogonal line M1, then the direction in which power is supplied from the power supply unit 65 is the direction in which the power supply side orthogonal line M1 extends. The power supply unit reference line L1 and the power supply side orthogonal line M1 are perpendicular to each other. Therefore, the power supply unit reference line L1 is an imaginary line that is perpendicular to the direction in which power is supplied from the power supply unit 65 and extends vertically along the power supply unit 65. In other words, the power supply unit 65 is installed on the loading platform 100 so as to extend in the vertical direction Z.

[0021] As shown in Figure 5, the primary side resonant coil 62a is close to the inner surface of the power supply device housing 64 that is opposite to the power supply surface 64a. The central axis C1 of the primary side resonant coil 62a extends parallel to or coincides with the power supply side orthogonal line M1, and also extends in a direction perpendicular to the power supply section reference line L1.

[0022] <Mobile vehicle for cargo handling> As shown in Figures 1 to 3, the cargo handling mobile unit 10 is of the inverted wheel type. The cargo handling mobile unit 10 performs cargo handling of the cargo W, which is the cargo to be handled, on the cargo handling platform 100.

[0023] The cargo handling mobile vehicle 10 comprises a vehicle body 11, a pair of drive wheels (right drive wheel 31 and left drive wheel 32), a cargo handling device 40, a control device 50, and a power receiving device 70. In the following description, front, rear, left, and right refer to the front, rear, left, and right relative to the cargo handling mobile vehicle 10. The front-rear direction X is the direction of travel of the cargo handling mobile vehicle 10. The left-right direction Y is the vehicle width direction of the cargo handling mobile vehicle 10. Note that left and right are defined as viewed from the front of the vehicle body 11, as shown in Figure 2. The vertical direction Z is the height direction of the cargo handling mobile vehicle 10.

[0024] The machine base 12 is plate-shaped. The machine base 12 has a first main surface 121 and a second main surface 122. The first main surface 121 and the second main surface 122 are opposite to each other in the thickness direction of the machine base 12.

[0025] The housing 35 is positioned on the second main surface 122. The housing 35 is box-shaped. The housing 35 comprises a base 35a and four side walls 35b extending from the base 35a toward the machine base 12. The base 35a is the top plate of the housing 35. The upper surface of the base 35a is the mounting surface 351 for the cargo handling device 40. Inside the housing 35, a space is formed defined by the base 35a and the four side walls 35b. The space enclosed by the second main surface 122 of the machine base 12 and the inner surface of the housing 35 is the storage space S. The control device 50 and the power receiving device 70 are housed in the storage space S.

[0026] <Right-wheel drive unit and left-wheel drive unit> The vehicle body 11 includes a right-wheel drive unit 21 that drives the right drive wheel 31 and a left-wheel drive unit 25 that drives the left drive wheel 32.

[0027] The right-wheel drive unit 21 is installed on the first main surface 121 of the machine base 12. The right-wheel drive unit 21 comprises a right-wheel drive motor 22, a right axle 23, a right-wheel encoder 24, and a right cover 29a. The right-wheel drive motor 22 and the right-wheel encoder 24 are installed below the first main surface 121. The right-wheel drive motor 22 and the right-wheel encoder 24 are housed inside the right cover 29a. The right axle 23 is connected to the rotation axis of the right-wheel drive motor 22. The right axle 23 rotates when driven by the right-wheel drive motor 22. The right axle 23 penetrates the right cover 29a and protrudes to the outside of the right cover 29a. The right drive wheel 31 is fixed to the protrusion from the right cover 29a on the right axle 23. When the right-wheel drive motor 22 is driven, the right drive wheel 31 is driven via the right axle 23. The right wheel encoder 24 detects the rotation angle, which is the amount of rotation of the right drive wheel 31.

[0028] The left wheel drive unit 25 is installed on the first main surface 121 of the machine base 12. The right wheel drive unit 21 and the left wheel drive unit 25 are installed on the first main surface 121, separated in the left-right direction Y. The left wheel drive unit 25 comprises a left wheel drive motor 27, a left axle 26, a left wheel encoder 28, and a left cover 29b. The left wheel drive motor 27 and the left wheel encoder 28 are installed below the first main surface 121. The left wheel drive motor 27 and the left wheel encoder 28 are housed inside the left cover 29b. The left axle 26 is connected to the rotation axis of the left wheel drive motor 27. The left axle 26 rotates when driven by the left wheel drive motor 27. The left axle 26 penetrates the left cover 29b and protrudes to the outside of the left cover 29b. The left drive wheel 32 is fixed to the protrusion from the left cover 29b on the left axle 26. When the left-wheel drive motor 27 is driven, the left drive wheel 32 is driven via the left axle 26. The left-wheel encoder 28 detects the rotation angle, which is the amount of rotation of the left drive wheel 32.

[0029] <Right-hand drive wheel and left-hand drive wheel> The right drive wheel 31 and the left drive wheel 32 support the vehicle body 11, the cargo handling equipment 40, and the power receiving equipment 70. The right drive wheel 31 is in contact with the running surface F. The left drive wheel 32 is in contact with the running surface F. The right drive wheel 31 and the left drive wheel 32 rotate in contact with the running surface F.

[0030] The central axis of the right axle 23 and the central axis of the left axle 26 lie on the same axis L. Therefore, the axles 23 and 26 of the pair of left and right drive wheels 31 and 32 lie coaxially. The vehicle body 11, which integrates the machine base 12, the control device 50, the housing 35, the right wheel drive unit 21, the left wheel drive unit 25, and the power receiving device 70, swings around axis L as the pivot point by the drive of the right wheel drive unit 21 and the left wheel drive unit 25. The right wheel drive unit 21 and the left wheel drive unit 25 are driven by power supplied from the secondary battery 74 provided in the power receiving device 70.

[0031] <Power receiving device> The power receiving device 70 forms a resonant non-contact power supply system with the power supply device 60. As shown in Figure 5, the power receiving device 70 comprises a secondary coil 71 composed of a secondary resonant coil 71a and a secondary coil 71b, a rectifier 72, a charger 73, a secondary battery 74, and a power receiving device housing 75, for example, a rectangular box shape, which houses the secondary coil 71. The rectifier 72, the charger 73, and the secondary battery 74 are installed inside the housing space S, on the outside of the power receiving device housing 75.

[0032] The secondary coil 71b is connected to the rectifier 72. The secondary resonant coil 71a and the secondary coil 71b are located coaxially (on the central axis C2). A capacitor C is connected in parallel to the secondary resonant coil 71a. The secondary coil 71b is coupled to the secondary resonant coil 71a by electromagnetic induction, and the AC power supplied from the primary resonant coil 62a to the secondary resonant coil 71a by resonance is also supplied to the secondary coil 71b by electromagnetic induction. The charger 73 converts the power input from the rectifier 72 into a voltage suitable for charging the secondary battery 74.

[0033] The secondary resonant coil 71a, the secondary coil 71b, and the capacitor C are housed in a power receiving device housing 75. The power receiving unit 77 is formed from the secondary resonant coil 71a, the secondary coil 71b, the capacitor C, and the power receiving device housing 75. Since the power receiving device 70 is housed in the housing space S of the vehicle body 11, the power receiving unit 77 is provided on the vehicle body 11. The power receiving unit 77 receives power from the power supply unit 65 installed on the loading platform 100 in a contactless manner.

[0034] As shown in Figures 1 and 2, the housing 75 for the power receiving device includes a front surface 75a facing forward of the vehicle body 11, a rear surface 75b facing backward of the vehicle body 11, a left surface 75c facing left of the vehicle body 11, a right surface 75d facing right of the vehicle body 11, and a bottom surface 75e facing downward of the vehicle body 11.

[0035] The front surface 75a of the power receiving device housing 75 is the surface that faces the loading platform 100 when the loading / unloading mobile body 10 approaches the loading / unloading platform 100. The front surface 75a of the power receiving device housing 75 is the surface that receives power supplied from the power supply unit 65. Let the imaginary line extending linearly vertically along the front surface 75a be the power receiving unit reference line L2. If the imaginary line perpendicular to the front surface 75a is the power receiving side orthogonal line M2, then the power receiving unit reference line L2 and the power receiving side orthogonal line M2 are perpendicular to each other.

[0036] As shown in Figure 5, the secondary resonant coil 71a is located close to the inner surface of the power receiving device housing 75 that is opposite to the front surface 75a. The central axis C2 of the secondary resonant coil 71a extends parallel to or coincides with the power receiving side orthogonal line M2, and is perpendicular to the power receiving section reference line L2. The secondary resonant coil 71a is housed in the power receiving device housing 75 close to the front surface 75a of the power receiving device housing 75 in order to efficiently receive power supplied from the power supply section 65.

[0037] As shown in Figures 1 to 3, the power receiving device 70 comprises a pivot shaft 76, a pair of shaft support members 78, and a weight 79. The pivot shaft 76 is located on the upper part of the power receiving unit 77. Specifically, the pivot shaft 76 protrudes in the left-right direction Y from a position that is the center in the front-rear direction X on the left side 75c and right side 75d of the upper part of the power receiving device housing 75. The pivot shaft 76 extends in the same direction as the axis L of the vehicle body 11. A pair of shaft support members 78 are positioned on both sides of the power receiving device housing 75 in the left-right direction Y, and the power receiving device housing 75 is sandwiched between them in the left-right direction Y. The pivot shaft 76 protruding from the left side 75c is rotatably supported by one shaft support member 78, and the pivot shaft 76 protruding from the right side 75d is rotatably supported by the other shaft support member 78. The power receiving unit 77 then rotates around the pivot shaft 76 as the pivot point due to its own weight. Therefore, the power receiving unit 77, including the housing 75 for the power receiving device, is equipped with a pivot shaft 76 that rotates integrally with the power receiving unit 77. The pivot shaft 76 extends in the same direction as the axis L and is rotatably supported by a pair of shaft support members 78 provided on the vehicle body 11.

[0038] The weight 79 is fixed to the lower surface 75e of the housing 75 for the power receiving device. Therefore, the weight 79 is located below the power receiving unit 77. The weight 79 is fixed to the center of the lower surface 75e. The weight 79 positions the center of gravity of the power receiving unit 77 below the center of the power receiving unit 77 in the vertical direction Z. Therefore, the weight 79 rotates the power receiving unit 77 so that it extends in the vertical direction Z. Specifically, the weight 79 rotates the power receiving unit 77 so that the power receiving unit reference line L2 extends in the vertical direction Z. Even if the vehicle body 11 is tilted, the power receiving unit 77 rotates so that the power receiving unit reference line L2 extends in the vertical direction Z due to the weight of the power receiving unit 77, the weight of the weight 79, the pivot shaft 76, and the shaft support member 78. Therefore, even if the vehicle body 11 is tilted, the central axis C2 of the secondary resonant coil 71a extends in a direction perpendicular to the vertical direction Z. In other words, even if the vehicle body 11 is tilted, the front surface 75a, which receives power from the power supply unit 65, remains parallel to the vertical direction Z.

[0039] When the secondary battery 74 is charged by contactless power supply, the cargo handling mobile body 10 stops at a predetermined position near the cargo handling platform 100. When the power supply side controller 63 receives a charging command from a higher-level control device (not shown), it causes the high-frequency power supply 61 to output high-frequency power to the primary coil 62b at the resonant frequency of the resonant system.

[0040] Then, high-frequency power is output from the high-frequency power supply 61 to the primary coil 62b at the resonant frequency of the resonant system, and a magnetic field is generated in the powered primary coil 62b by electromagnetic induction. This magnetic field is amplified by magnetic field resonance between the primary resonant coil 62a and the secondary resonant coil 71a of the power receiving device 70. AC power is extracted from the amplified magnetic field near the secondary resonant coil 71a by the secondary coil 71b using electromagnetic induction. The extracted AC power is rectified by the rectifier 72 and then charged into the secondary battery 74 by the charger 73.

[0041] <Cargo handling equipment> As shown in Figures 2 and 3, the cargo handling device 40 is mounted on the vehicle body 11. Specifically, the cargo handling device 40 is mounted on the mounting surface 351 of the base 35a and is supported by the vehicle body 11. The cargo handling device 40 also includes forks 45 as support members for supporting the load W.

[0042] The cargo handling device 40 comprises a support base 41, a tilt motor 42, a bar 44, and a pair of forks 45. The support base 41 is located in the center of the mounting surface 351 of the base 35a in the front-rear direction X and the left-right direction Y. The tilt motor 42 is supported by the support base 41. The bar 44 extends from the tilt motor 42 in the left-right direction Y. The first end of the bar 44 is connected to one fork 45, and the second end of the bar 44 is connected to the other fork 45. The bar 44 extends coaxially with the rotation axis (not shown) of the tilt motor 42. When the rotation axis of the tilt motor 42 rotates due to the drive of the tilt motor 42, the bar 44 rotates, and the pair of forks 45 swing around the bar 44 as the pivot point.

[0043] The fork 45 can assume a reference position, a tilt-up position, and a tilt-down position by being driven by the tilt motor 42. The reference position is when the upper surface 45a of the fork 45 is parallel to the mounting surface 351. Although not shown in the diagram, the tilt-up position is when the tip of the fork 45 is higher than the reference position. The tilt-down position is when the tip of the fork 45 is lower than the reference position. These changes in the position of the fork 45 are performed by driving the tilt motor 42.

[0044] <Vehicle posture> The vehicle body 11 of the cargo handling mobile vehicle 10 can assume a standard posture T1, a forward-tilted posture T2, and a backward-tilted posture T3.

[0045] As shown in Figure 1, in a side view of the cargo handling mobile body 10, the standard posture T1 is a posture in which the mounting surface 351 is parallel to the travel surface F. As shown by the dashed line in Figure 6, in a side view of the cargo handling mobile body 10, the forward-tilted posture T2 is a posture in which the vehicle body 11 is tilted forward more than in the standard posture T1. In a side view of the cargo handling mobile body 10, the mounting surface 351 in the forward-tilted posture T2 is downward at the front. Note that "downward at the front" means that the front side of the mounting surface 351 is lower than the rear side. The cargo handling mobile body 10 can assume the forward-tilted posture T2 while the forks 45 are in any of the following positions: the standard position, the tilt-up position, or the tilt-down position.

[0046] As shown by the solid line in Figure 6, in a side view of the cargo handling mobile body 10, the rearward tilt posture T3 is a posture in which the vehicle body 11 is tilted further back than the standard posture T1. Also, in the rearward tilt posture T3, the upper part of the vehicle body 11 is located behind the lower part of the vehicle body 11. Therefore, in a side view of the cargo handling mobile body 10, the mounting surface 351 in the rearward tilt posture T3 is downward at the rear. Note that "downward at the rear" means that the rear side of the mounting surface 351 is lower than the front side. The cargo handling mobile body 10 can assume the rearward tilt posture T3 while the forks 45 are in any of the following positions: standard position, tilt-up position, or tilt-down position.

[0047] The control device 50 can move the vehicle body 11 to a standard posture T1, a forward-tilted posture T2, or a rearward-tilted posture T3 by controlling the drive of the right-wheel drive motor 22 of the right-wheel drive unit 21 and the left-wheel drive motor 27 of the left-wheel drive unit 25. In addition, the control device 50 can move the position of the center of gravity G of the cargo handling mobile body 10 in the longitudinal direction X by controlling the drive of the right-wheel drive motor 22 of the right-wheel drive unit 21 and the left-wheel drive motor 27 of the left-wheel drive unit 25.

[0048] The position of the center of gravity G of the cargo handling mobile body 10 in the longitudinal direction X is determined based on the weight of the vehicle body 11, the cargo handling device 40, and the load W, as well as the posture of the vehicle body 11, when the load W is supported by the forks 45 in a cargo handling state.

[0049] As shown in Figure 1, in a side view of the cargo handling mobile body 10, a virtual line M is defined as the reference line, passing through the axis L in the vertical direction Z and extending in the vertical direction of the vehicle body 11. The smaller of the angles formed between the reference line M and the center line N of the vehicle body 11 in the longitudinal direction X is defined as the inclination angle θ of the vehicle body 11. The center line N is a straight line perpendicular to the axis L and extending in the vertical direction of the vehicle body 11.

[0050] In the standard posture T1, the centerline N coincides with the reference line M, and the center of gravity G of the cargo handling mobile body 10 is located on the reference line M. In this case, the inclination angle θ is zero. To position the center of gravity G on the reference line M, the cargo handling mobile body 10 uses the weight of the vehicle body 11 as a balance weight. In the forward-tilted posture T2, the centerline N is located in front of the reference line M, so the inclination angle θ is formed in front of the reference line M. In the backward-tilted posture T3, the centerline N is located behind the reference line M, so the inclination angle θ is formed behind the reference line M.

[0051] For example, in a cargo handling mobile body 10 in a standard position T1, when a load W is supported by the forks 45, the position of the center of gravity G shifts forward due to the moment generated by the load of the load W. The greater the weight of the load W and the greater the moment generated by the load of the load W, the further forward the position of the center of gravity G shifts. On the other hand, in a cargo handling mobile body 10 in a standard position T1, when the load W is lowered, the position of the center of gravity G shifts backward.

[0052] The control device 50 controls the posture of the vehicle body 11 to one of the above-described standard posture T1, forward-tilted posture T2, or backward-tilted posture T3 in order to adjust the tilt angle θ according to the position of the center of gravity G. As a result, the posture of the vehicle body 11 is controlled, and the cargo handling mobile body 10 is inverted.

[0053] <Control device> As shown in Figure 4, the control device 50 controls the entire cargo handling mobile body 10. The control device 50 also controls the right wheel drive unit 21 and the left wheel drive unit 25, and the cargo handling device 40.

[0054] The control device 50 comprises a processor and a memory unit. Examples of processors include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a DSP (Digital Signal Processor). The memory unit includes RAM (Random Access Memory) and ROM (Read Only Memory). The memory unit stores program code or instructions configured to cause the processor to execute processing. The memory unit, i.e., the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The control device 50 may be composed of hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control device 50, which is a processing circuit, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or FPGA, or a combination thereof.

[0055] The control device 50 includes an attitude control unit 51 and a position control unit 52. The control device 50 is connected to an input unit 55, a communication unit 56, and a position information detection unit 57. <Input section> The input unit 55 outputs various commands for driving the cargo handling mobile body 10. The input unit 55 inputs the various commands to the control device 50.

[0056] <Communications Department> The communication unit 56 receives information regarding the weight of the load W to be transported by the cargo handling mobile unit 10 as a load command from a higher-level control device (not shown). The communication unit 56 outputs the received load command to the attitude control unit 51. The communication unit 56 also receives a standby command to have the cargo handling mobile unit 10 wait near the cargo handling platform 100. The communication unit 56 outputs the received standby command to the attitude control unit 51.

[0057] <Location Information Detection Unit> The position information detection unit 57 is a detector that detects the position of the cargo handling mobile body 10. The position information detection unit 57 transmits the detected position signal to a higher-level control device (not shown). For example, the position information detection unit 57 detects the position information of the cargo handling mobile body 10 by detecting the addresses of magnetic markers provided on the movement path of the cargo handling mobile body 10. Some of the multiple magnetic markers are provided near the cargo handling platform 100. The positions where these magnetic markers are provided are positions where the cargo handling mobile body 10 waits for cargo handling or where the cargo handling mobile body 10 performs cargo handling. The position information detection unit 57 may also be an information processing device equipped with a camera or laser sensor and storing map data of the movement path, and may detect the position information of the cargo handling mobile body 10 by SLAM (Simultaneous Localization and Mapping) or the like.

[0058] <Position Control Unit> The input unit 55 inputs a position command to the position control unit 52. The position command is a command for moving the cargo handling mobile body 10, such as the movement path and movement speed of the cargo handling mobile body 10. For example, the position command related to the movement path commands the position from the initial standby position of the cargo handling mobile body 10 to the position where the load W is unloaded, via the loading platform 100. According to this position command, the cargo handling mobile body 10 moves from the initial standby position to near the loading platform 100, and then supports the load W with the forks 45. Furthermore, according to the position command, the cargo handling mobile body 10 moves from the loading platform 100 to the position where the load W is unloaded, while supporting the load W with the forks 45. Then, according to the position command, the cargo handling mobile body 10 unloads the load W at the unloading position. Note that the position command related to the movement path may be changed as needed. For example, the position command related to the movement path may be from the initial standby position to the loading platform 100.

[0059] The position control unit 52 calculates the acceleration and target speed of the cargo handling mobile body 10 according to the position command output from the input unit 55. The position control unit 52 drives the right wheel drive motor 22 and the left wheel drive motor 27 according to the calculated acceleration and target speed. As a result, the cargo handling mobile body 10 travels along the travel path at the travel speed.

[0060] The position control unit 52 receives a detection signal related to the rotation angle of the right drive wheel 31 from the right wheel encoder 24. The position control unit 52 also receives a detection signal related to the rotation angle of the left drive wheel 32 from the left wheel encoder 28. The position control unit 52 acquires the detection signal output by both the right wheel encoder 24 and the left wheel encoder 28. Based on the acquired detection signals, the position control unit 52 detects the rotational angular velocity of the right drive wheel 31 and acquires the rotational angular velocity of the left drive wheel 32. Based on the acquired rotational angular velocity, the position control unit 52 drives the right wheel drive motor 22 and the left wheel drive motor 27. Under the control of the position control unit 52, the cargo handling mobile body 10 moves along the movement path at the movement speed according to the position command.

[0061] <Posture Control Unit> The input unit 55 inputs an attitude command to the attitude control unit 51. The attitude command is a command for controlling the attitude angle of the vehicle body 11. The attitude control unit 51 controls the drive of the right wheel drive unit 21 and the left wheel drive unit 25 according to the attitude command, and controls the attitude of the vehicle body 11 by oscillating the vehicle body 11 with the axis L as the pivot point.

[0062] The attitude control unit 51 is connected to the measurement unit 51a, the right wheel drive motor 22, and the left wheel drive motor 27. The measurement unit 51a is an IMU (Inertial Measurement Unit). The measurement unit 51a detects three-dimensional inertial motion. Inertial motion consists of translational and rotational motion in the three orthogonal axes. The measurement unit 51a detects translational motion using its built-in acceleration sensor and rotational motion using its built-in gyro sensor.

[0063] The measurement unit 51a measures the inclination angle θ of the vehicle body 11 at any time, such as when the load W is supported by the forks 45 or when the load W is lowered from the forks 45. The inclination angle θ measured by the measurement unit 51a changes in accordance with the change in the posture of the vehicle body 11. In other words, the inclination angle θ is the amount of change that changes according to the position of the center of gravity G in the longitudinal direction X of the cargo handling mobile body 10. The measurement unit 51a detects the change in the inclination angle θ of the vehicle body 11 in the longitudinal direction X.

[0064] The attitude control unit 51 acquires a detection signal related to the tilt angle θ measured by the measurement unit 51a. Based on the acquired detection signal related to the tilt angle θ, the attitude control unit 51 synchronously drives the right wheel drive motor 22 of the right wheel drive unit 21 and the left wheel drive motor 27 of the left wheel drive unit 25. As a result, the attitude of the vehicle body 11 is controlled to a standard attitude T1, a forward-tilted attitude T2, or a backward-tilted attitude T3 depending on the position of the center of gravity G, and the cargo handling mobile body 10 is inverted in the controlled attitude. Therefore, in order to invert the cargo handling mobile body 10, the attitude control unit 51 uses the right wheel drive unit 21 and the left wheel drive unit 25 to swing the vehicle body 11 in the longitudinal direction X, thereby moving the position of the center of gravity G in the longitudinal direction X. Thus, the attitude control unit 51 controls the driving of the right wheel drive unit 21 and the left wheel drive unit 25 to swing the vehicle body 11 in the longitudinal direction X with the axis L as the pivot point, thereby controlling the attitude of the vehicle body 11.

[0065] The attitude control unit 51 acquires the load signal output by the communication unit 56. This load signal is input to the attitude control unit 51 before the cargo handling mobile body 10 is inverted while the load W is supported by the forks 45. Based on the acquired load signal, the attitude control unit 51 derives the moment generated when the load W is supported by the forks 45 and the moment generated when the load W is lowered. The moments may be derived by calculation by the attitude control unit 51, or they may be derived using maps or tables stored in the attitude control unit 51. In short, the method of derivation is arbitrary as long as the attitude control unit 51 can derive the moments from the acquired load signal. The derived moment is a moment that acts in a direction that rotates the base end of the forks 45 downward. When such a moment is generated in the cargo handling mobile body 10, the cargo handling mobile body 10 will try to move forward by lowering the tips of the forks 45. In other words, when the load W is supported by the forks 45, the center of gravity G moves forward of the reference line M, causing the cargo handling mobile body 10 to move forward.

[0066] In light of the generation of the moment described above, the attitude control unit 51, before inverting the cargo handling mobile body 10 with the load W supported by the forks 45, synchronously drives the right wheel drive motor 22 and the left wheel drive motor 27 based on the derived moment to rotate the right drive wheel 31 and the left drive wheel 32 so that the cargo handling mobile body 10 tilts backward. In other words, the attitude control unit 51 rotates the right drive wheel 31 and the left drive wheel 32 based on the load signal to move the center of gravity G to a position behind the reference line M. As a result, as shown in Figure 7, the attitude control unit 51 moves the center of gravity G to a position behind the center of gravity G when the load W is not supported by the forks 45.

[0067] As described above, in order to rotate the right drive wheel 31 and the left drive wheel 32, the attitude control unit 51 derives the amount to drive the right wheel drive motor 22 and the left wheel drive motor 27 at the same time as deriving the moment. The amount of drive of the right wheel drive motor 22 and the left wheel drive motor 27 is also the amount of rotation of the right drive wheel 31 and the left drive wheel 32. Note that the amount of drive of the right wheel drive motor 22 and the left wheel drive motor 27 may be derived by calculation by the attitude control unit 51, or may be derived using a map or table that links the amount of drive to the moment.

[0068] [Effect of the Embodiment] The operation of the cargo handling mobile unit 10 is initiated by the operator after various commands such as the movement path and movement speed are input to the control device 50 via the input unit 55. As shown in Figure 1, the body 11 of the cargo handling mobile unit 10 is controlled to a reference posture T1, and the forks 45 are controlled to a reference position.

[0069] Furthermore, before transporting the load W, the control device 50 receives a load command for the load W from the higher-level control device via the communication unit 56. The communication unit 56 outputs a load signal related to the input load command for the load W to the attitude control unit 51. The attitude control unit 51 acquires the load signal from the communication unit 56 and derives the moment and the drive amount of the right wheel drive motor 22 and the left wheel drive motor 27 based on the load signal.

[0070] The cargo handling mobile unit 10 moves along its path until it is close to the loading platform 100. While the cargo handling mobile unit 10 is moving, the position information detection unit 57 detects the position of the cargo handling mobile unit 10 along its path. The higher-level control device then understands that the cargo handling mobile unit 10 is approaching the loading platform 100 based on the position signal detected by the position information detection unit 57. When the cargo handling mobile unit 10 has moved to a predetermined position on the loading platform 100, the higher-level control device transmits a stop command to the cargo handling mobile unit 10 to stop it near the loading platform 100. The cargo handling mobile unit 10 then decelerates and stops by controlling the right-wheel drive motor 22 and the left-wheel drive motor 27 with the control device 50.

[0071] Next, the position control unit 52 controls the drive of the right wheel drive motor 22 of the right wheel drive unit 21 and the left wheel drive motor 27 of the left wheel drive unit 25 to move the cargo handling mobile body 10 forward near the cargo handling platform 100. Then, the cargo handling mobile body 10 inserts a pair of forks 45 between a pair of pallet mounting platforms 102.

[0072] Next, the attitude control unit 51 drives the right wheel drive motor 22 and the left wheel drive motor 27 synchronously using the drive amounts for the right wheel drive motor 22 and the left wheel drive motor 27 derived based on the load signal. In other words, the attitude control unit 51 moves the center of gravity G to the rear of the reference line M.

[0073] As shown in Figure 7, when the center of gravity G moves behind the reference line M, the vehicle body 11 tilts backward due to the artificially formed counterweight before the load W is supported by the forks 45. In other words, near the loading platform 100, the attitude control unit 51 swings the vehicle body 11, causing the loading / unloading mobile body 10 to assume a backward-tilted posture, i.e., a backward-tilted posture T3.

[0074] As the vehicle body 11 tilts backward, the power receiving unit 77 of the power receiving device 70 rotates around the pivot axis 76 as the pivot point, due to the weight of the power receiving unit 77 and the counterweight 79, so that the power receiving unit reference line L2 extends in the vertical direction Z. Therefore, even when the vehicle body 11 assumes a backward tilt posture T3, the power receiving side orthogonal line M2, which is perpendicular to the front surface 75a of the power receiving device housing 75, is perpendicular to the vertical direction Z. As a result, the power receiving unit 77 tilts in the longitudinal direction X relative to the vehicle body 11, in accordance with the posture caused by the attitude control unit 51 to swing the vehicle body 11 and tilt it backward.

[0075] Here, the cargo Wa is placed on pallet 101. The cargo handling mobile unit 10 places the cargo Wa on pallet 101 and waits in a backward-tilted position. A standby command for the cargo handling mobile unit 10 to wait is transmitted from the higher-level control device. When the communication unit 56 receives the standby command, it outputs the standby command to the attitude control unit 51. Upon receiving the standby command, the attitude control unit 51 keeps the vehicle body 11 tilted backward. Therefore, the cargo handling mobile unit 10 waits near the loading platform 100 in its backward-tilted position T3. Note that even if the cargo Wa has not yet been placed on pallet 101, the cargo handling mobile unit 10 will wait near the loading platform 100 in its backward-tilted position T3.

[0076] Furthermore, the higher-level control unit transmits a standby command and, at the same time, transmits a charging command to the power supply side controller 63. When the power supply side controller 63 receives the charging command, the power supply side controller 63 starts supplying power to the power receiving device 70.

[0077] In contactless power supply in a standby state with the vehicle body 11 tilted backward, even when the vehicle body 11 is tilted backward, the receiving side orthogonal line M2 of the power receiving unit 77 is perpendicular to the vertical direction Z, and the front surface 75a of the power receiving device housing 75 is parallel to the vertical direction Z. In other words, the front surface 75a of the power receiving unit 77, and consequently the secondary side resonant coil 71a, are directly facing the loading platform 100. Furthermore, in the power supply unit 65 built into the loading platform 100, the power supply side orthogonal line M1 is perpendicular to the vertical direction Z, and the power supply surface 64a of the power supply device housing 64 is parallel to the vertical direction Z. Therefore, even when the vehicle body 11 is tilted backward, the power receiving unit reference line L2 and the power supply unit reference line L1 extend in the same direction and are parallel to each other. In other words, the front surface 75a of the housing 75 for the power receiving device in the power receiving unit 77 and the power supply surface 64a of the housing 64 for the power supply device in the power supply unit 65 face each other directly via the vehicle body 11 and the loading platform 100. Therefore, the power supply surface 64a of the power supply unit 65 and the front surface 75a of the power receiving unit 77 are positioned parallel to each other, and the distance between these power supply surfaces 64a and front surface 75a in the front-rear direction X is equal at any position in the vertical direction Z. For this reason, contactless power supply is performed with the power supply unit 65 and the power receiving unit 77 positioned in a positional relationship suitable for contactless power supply.

[0078] [Effects of the Embodiment] According to the above embodiment, the following effects can be obtained. (1) Even when the loading / unloading mobile vehicle 10 approaches the loading / unloading platform 100 and the vehicle body 11 is tilted backward T3 for loading / unloading, the power receiving unit 77 rotates around the pivot axis 76 as the pivot point and tilts in the front-rear direction X relative to the vehicle body 11, while the power receiving unit 77 extends in the vertical direction Z. In the power supply device 60 installed on the loading / unloading platform 100, the power supply unit 65 extends in the vertical direction Z. Therefore, even when the vehicle body 11 approaches the loading / unloading platform 100 and the vehicle body 11 is tilted backward T3 for loading / unloading, the reference line L2 of the power receiving unit and the reference line L1 of the power supply unit can be made parallel or nearly parallel. In other words, the loading / unloading mobile vehicle 10 positions the power receiving unit 77 in a position suitable for non-contact power supply to the power supply unit 65. Therefore, when the vehicle body 11 is in a rearward-tilted position T3, the decrease in charging efficiency due to contactless power supply can be suppressed compared to the case where the power receiving unit 77 is not tilted in the front-rear direction X relative to the vehicle body 11.

[0079] (2) The power receiving unit 77 rotates by its own weight with the pivot shaft 76 as the pivot point. The power receiving unit 77, having rotated by its own weight, tilts relative to the vehicle body 11 while extending in the vertical direction Z. Therefore, in the rearward tilted posture T3, the power receiving unit 77 is positioned so as to extend in the vertical direction Z, in relation to the power supply unit 65 which extends in the vertical direction Z. Thus, with a simple configuration that rotates the power receiving unit 77 by its own weight, the power receiving unit 77 can be positioned in a location suitable for contactless power supply to the power supply unit 65.

[0080] (3) The power receiving unit 77 is equipped with a weight 79 fixed to the lower surface 75e of the power receiving device housing 75. With this, the power receiving unit 77 can be made more easily rotated by utilizing the weight of the weight 79 in addition to the weight of the power receiving unit 77 itself.

[0081] (4) The cargo handling mobile unit 10 charges the secondary battery 74 by contactless power supply, making effective use of the standby time when no cargo Wa is placed on the pallet 101 and the standby time when cargo Wa is placed on the pallet 101. As a result, the cargo handling mobile unit 10 can constantly charge the secondary battery 74, so even if the capacity of the secondary battery 74 is small, the cargo handling mobile unit 10 can be operated for a long time and the size of the secondary battery 74 can be suppressed.

[0082] [Example of changes] This embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0083] As shown in Figure 8, the cargo handling mobile vehicle 10 may be equipped with a motor 80 for the power receiving unit on the vehicle body 11. The motor 80 for the power receiving unit is located inside the vehicle body 11, on the upper part of one of a pair of shaft support members 78, and is fixed to the shaft support member 78. The motor shaft 81 of the motor 80 for the power receiving unit extends in the same direction as the axis L and passes through the upper part of one of the shaft support members 78, connecting to the housing 75 for the power receiving device in the power receiving unit 77. In the power receiving unit 77, a pivot shaft 76 protrudes from the opposite side of the motor shaft 81, with the housing 75 for the power receiving device in between, and is rotatably supported by the shaft support member 78.

[0084] Furthermore, the control device 50 includes a motor drive unit for the power receiving unit (not shown) that controls the drive of the motor 80 for the power receiving unit. Based on the inclination angle θ measured by the measuring unit 51a, the motor drive unit for the power receiving unit drives the motor 80 for the power receiving unit so that the reference line L2 for the power receiving unit in the power receiving unit 77 extends in the vertical direction Z. The power receiving unit 77 rotates in conjunction with the rotation of the motor shaft 81 due to the drive of the motor 80 for the power receiving unit. In this case, the weight 79 at the bottom of the housing 75 for the power receiving device may be omitted from the power receiving unit 77, or the weight 79 may be included.

[0085] In this configuration, the power receiving unit 77, to which the motor shaft 81 is connected, rotates around the motor shaft 81 as the pivot point due to the drive of the power receiving unit motor 80. The power receiving unit motor drive unit can control the amount of rotation of the power receiving unit 77 by controlling the amount of drive of the power receiving unit motor 80. Therefore, the cargo handling mobile body 10 can accurately align the power supply unit reference line L1 and the power receiving unit reference line L2 parallel by controlling the amount of drive of the power receiving unit motor 80 with the power receiving unit motor drive unit. As a result, by controlling the amount of drive of the power receiving unit motor 80, the power receiving unit 77 can be accurately positioned in a position suitable for non-contact power supply to the power supply unit 65. Thus, when the vehicle body 11 is tilted backward by the attitude control unit 51, the power receiving unit 77 is tilted in the front-rear direction X relative to the vehicle body 11. Therefore, when the vehicle body 11 is in a rearward-tilted position T3, the decrease in charging efficiency due to contactless power supply can be suppressed compared to the case where the power receiving unit 77 is not tilted in the front-rear direction X relative to the vehicle body 11.

[0086] In particular, in the case of the power supply unit 65 installed on the loading platform 100, if the power supply unit reference line L1 extends slightly diagonally with respect to the vertical direction Z, the motor drive unit for the power receiving unit controls the drive of the motor 80 for the power receiving unit so that the power supply unit reference line L1 and the power receiving unit reference line L2 are parallel or approximately parallel. This makes it possible to match the inclination of the power receiving unit 77 to the inclination of the power supply unit 65, even if the power supply unit 65 extends diagonally with respect to the vertical direction Z. The inclination of the power supply unit 65 is stored in advance in the memory unit of the control device 50.

[0087] As shown in Figure 9, the motor 80 for the power receiving unit may be located inside the vehicle body 11, at the lower part of one of the pair of shaft support members 78. In this case, the motor shaft 81 is located at the lower part of the power receiving unit 77.

[0088] In this configuration, when the attitude control unit 51 swings the vehicle body 11 to a rearward-tilted position, the power receiving unit 77 tilts backward around the motor shaft 81 at its lower part, as shown by the dashed line in Figure 9. As a result, the upper position of the power receiving unit 77 becomes lower due to the tilt. In this case, when the power receiving unit 77 is rotated by the drive of the power receiving unit motor 80, the power receiving unit 77 rotates in a way that raises its upper part, so the upper position of the power receiving unit 77 becomes higher than before it tilted. As a result, when the power receiving unit 77 is positioned in a position suitable for contactless power supply to the power supply unit 65, the decrease in charging efficiency caused by the height difference between the power receiving unit 77 and the power supply unit 65 can be suppressed.

[0089] ○In the cargo handling mobile body 10 of this embodiment, the pivot shaft 76 may be provided at the lower part of the shaft support member 78, and the pivot shaft 76 may be connected to the lower part of the power receiving unit 77. Alternatively, the power receiving unit 77 may be biased by a biasing member, such as a coil spring wound around the pivot shaft 76, so as to rotate in a direction in which the power receiving unit reference line L2 extends in the vertical direction Z.

[0090] As shown in Figures 10 and 11, the power receiving unit 77 may be provided so as to be movable in the longitudinal direction X inside the vehicle body 11. Inside the vehicle body 11, a pair of brackets 90 are installed facing each other in the left-right direction Y instead of the shaft support member 78. Each of the pair of brackets 90 is provided with a guide portion 91 extending in the longitudinal direction X. The pair of guide portions 91 face each other in the left-right direction Y. Each guide portion 91 extends in a roughly C shape in the longitudinal direction X. A guided member 92 is housed inside the guide portion 91. The guided member 92 is movable in the longitudinal direction X by a moving device (not shown) provided on the guide portion 91. Each guided member 92 is rotatably supported by a pivot shaft 93 protruding from the power receiving unit 77.

[0091] In this configuration, the power receiving unit 77 is movable in the front-rear direction X by a moving device (not shown) and rotates around the pivot axis 93 as the pivot point. This rotation allows the power receiving unit 77 to tilt in the front-rear direction X relative to the vehicle body 11, in accordance with the posture control unit 51 that causes the vehicle body 11 to swing and tilt backward.

[0092] Furthermore, the cargo handling mobile body 10 can move the power receiving unit 77 in the front-rear direction X, thereby bringing the power receiving unit 77 closer to the power supply unit 65. For example, when performing contactless power supply at a position slightly away from the cargo handling platform 100, the power receiving unit 77 can be moved closer to the power supply unit 65 by moving the power receiving unit 77 in the front-rear direction X. As a result, when the power receiving unit 77 is positioned in a position suitable for contactless power supply with respect to the power supply unit 65, the decrease in charging efficiency caused by the distance between the power receiving unit 77 and the power supply unit 65 in the front-rear direction X can be suppressed.

[0093] ○When the weight of the load W repeatedly transported by the cargo handling mobile body 10 is the same, the moment generated when the load W is supported by the forks 45 is almost constant while it is being repeatedly transported. In this case, the inclination angle θ when the vehicle body 11 is tilted backward T3 by the attitude control unit 51 for cargo handling is always constant. For this reason, the power receiving unit 77 may be fixed in a pre-inclined state relative to the vehicle body 11 so that it tilts in the front-rear direction X relative to the vehicle body 11 in accordance with the posture in which the vehicle body 11 is tilted backward by the attitude control unit 51. Even in this configuration, when the vehicle body 11 is tilted backward by the posture control unit 51, the reference line L2 of the power receiving unit and the reference line L1 of the power supply unit are parallel or approximately parallel.

[0094] ○Although contactless power supply was performed while the cargo handling mobile unit 10 was in standby mode, if, after supporting the load W with the forks 45, another cargo handling mobile unit 10 or the like is stopped in the path of the cargo handling mobile unit 10 and the cargo handling mobile unit 10 cannot proceed, contactless power supply may be performed while it is stopped.

[0095] ○In the location where the loading platform 100 is installed, the area around the loading platform 100 may be sloped. In this case, since the slope around the loading platform 100 can be determined in advance, the determined slope is stored in the memory unit of the control device 50 beforehand.

[0096] Furthermore, in the cargo handling mobile body 10 shown in Figures 8 and 9, when the vehicle body 11 is tilted near the cargo handling platform 100 and the attitude control unit 51 sets the vehicle body 11 to a rearward tilted position T3, the amount of drive of the power receiving unit motor 80 may be controlled based on the tilt and tilt angle θ that have been previously stored in the memory unit.

[0097] ○The pivot shaft 76 of the power receiving unit 77 may be rotatably supported on the side wall 35b of the vehicle body 11. In this case, the shaft support member 78 is omitted. ○The right drive wheel 31 and the left drive wheel 32 may be driven by a single drive motor. In this case, a cover is installed on the first main surface 121 of the machine base 12, and the drive motor and encoder are housed in that cover. Thus, the vehicle body 11 is equipped with a single drive unit.

[0098] ○The support member of the cargo handling device 40 may be a suction device for picking up the load W or a hand device for gripping the load W, instead of the forks 45. Alternatively, the support member may be an endless belt instead of the forks 45. In this case, the cargo handling device 40 includes a rotating device for rotating the belt.

[0099] ○Loading and unloading by the loading and unloading mobile unit 10 may also be performed when unloading the load W at the unloading location. In this case, before unloading the load W onto the loading platform 100, when the loading and unloading mobile unit 10 is waiting near the loading platform 100, the attitude control unit 51 sets the vehicle body 11 to a rearward tilted position T3. At this time, the power receiving unit reference line L2 and the power supply unit reference line L1 are made parallel or approximately parallel. Also, after unloading the load W onto the loading platform 100, when the loading and unloading mobile unit 10 is waiting near the loading platform 100, the attitude control unit 51 sets the vehicle body 11 to a standard position T1. In this case as well, the power receiving unit reference line L2 and the power supply unit reference line L1 are made parallel or approximately parallel. As a result, after the load W is unloaded by the loading and unloading mobile unit 10 and before the loading and unloading mobile unit 10 moves forward, the secondary battery 74 can be efficiently charged by contactless power supply.

[0100] ○The power receiving unit 77 may rotate in the left-right direction Y around a pivot shaft (not shown) that extends in the vertical direction as the pivot center. ○The cargo to be handled may consist of only the cargo Wa. In this case, the cargo Wa is supported directly by the forks 45 without going through the pallet 101.

[0101] ○The drive unit may be an actuator other than a motor. ○The loading and unloading area where the loading and unloading is performed by the loading and unloading mobile body 10 may be the factory floor, not the loading and unloading platform 100. In this case, the loading and unloading device 40 is equipped with a bendable arm that can pick up and lower loads W placed on the floor, and a support member is provided at the tip of the arm. The power supply device 60 is built into a power supply facility erected on the floor.

[0102] ○The front surface 75a of the power receiving unit 77 may be exposed to the front of the vehicle body 11. Also, the power supply surface 64a of the power supply unit 65 may be exposed to the outer surface of the loading platform 100. ○The housing 64 for the power supply device does not have to be a rectangular box shape. As long as the power supply surface 64a of the housing 64 for the power supply device can be secured, the shape of the other parts may be changed as appropriate.

[0103] ○The power supply device 60 and the power receiving device 70 may be configured to form a magnetic non-contact power supply system. [Explanation of symbols]

[0104] L...axis, W...load as the object to be handled, X...front-to-back direction, Z...vertical direction, 10...mobile body for handling cargo, 11...vehicle body, 21...right wheel drive unit, 23...right axle, 25...left wheel drive unit, 26...left axle, 31...right drive wheel, 32...left drive wheel, 40...cargo handling device, 45...fork as support member, 51...attitude control unit, 65...power supply unit, 76...rotating shaft, 77...power receiving unit, 78...shaft support member, 79...weight, 80...motor for power receiving unit, 81...motor shaft, 100...cargo handling platform as a cargo handling area.

Claims

1. An inverted wheel type cargo handling mobile vehicle used for handling cargo at a loading / unloading site, A pair of left and right drive wheels, A vehicle body comprising a drive unit for driving the pair of left and right drive wheels, and a vehicle body that pivots in the front-rear direction around an axis coaxial with the axles of the pair of left and right drive wheels as the pivot point, A cargo handling device provided on the vehicle body and equipped with a support member for supporting the object to be handled, A posture control unit controls the drive of the drive unit and controls the posture of the vehicle body by causing the vehicle body to swing in the front-rear direction with the axis as the pivot point, The vehicle body is provided with a power receiving unit that receives power supplied from a power supply unit installed at the loading / unloading area in a non-contact manner, A mobile cargo handling vehicle characterized in that, in accordance with the posture control unit that causes the vehicle body to swing and tilt backward, the power receiving unit is tilted in the front-rear direction relative to the vehicle body.

2. The loading and unloading mobile body according to claim 1, wherein the power supply unit is installed at the loading and unloading location so as to extend in the vertical direction, and the power receiving unit is provided with a pivot shaft that rotates integrally with the power receiving unit, the pivot shaft extends in the same direction as the axis and is rotatably supported on the vehicle body.

3. The movable cargo handling body according to claim 2, wherein the pivot shaft is provided at the upper part of the power receiving section and a weight is provided at the lower part of the power receiving section.

4. The cargo handling mobile body according to claim 1, wherein the mobile body for cargo handling is equipped with a motor for a power receiving unit on the vehicle body, and the motor shaft of the motor for the power receiving unit extends in the same direction as the axis and is connected to the power receiving unit.

5. The cargo handling mobile body according to claim 4, wherein the motor shaft is provided at the lower part of the power receiving section.

6. The loading / unloading mobile body according to any one of claims 1 to 5, wherein the power receiving unit is provided on the vehicle body so as to be movable in the front-rear direction of the vehicle body.

Images