Transport System

Abstract

To make it possible for pallets stacked on a rack on an autonomous traveling conveyance robot to be quickly arranged at a position where the pallets can be lifted by an automatic operation fork lift while the autonomous traveling conveyance robot has arrived at a standby place of the automatic operation fork lift.SOLUTION: A management device 10 of a conveying system performs: a process of, when an autonomous traveling conveyance robot 2 on which a rack 4 with a stack of pallets 3A to 3D is mounted reaches a destination (the standby place), measuring positions of the pallets 3A to 3D on the autonomous traveling conveyance robot 2 and a position of a fork 51 of an automatic operation fork lift 5 by means of a measuring device 20; and a process of, when a determination is made based on output of the measuring device 20 whether there is a displacement of a fork pocket 32 relative to the fork 51 or not and the determination is made that there is the displacement, causing the autonomous conveyance robot 2 to correct the displacement.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] Paragraph 0009 of Patent Document 1 describes that in response to an order, an inventory holder in which the inventory item is stored is moved to a workstation or other area by an unmanned robotic drive device.

[0003] Paragraphs 0012,0039 of Patent Document 1 describe transporting inventory items from a first inventory area or facility to a second inventory area or facility using an inter-area or inter-facility cargo transport device (such as a truck or other road-based vehicle).

[0004] Paragraph 0033 of the above-mentioned Patent Document 1 describes that the inventory holder includes a base portion and a storage portion, and the storage portion can be separated from the base portion and lifted by a forklift.

[0005] Paragraphs 0044,0051 of the above-mentioned patent document describe a human operator using a forklift or other user-operated lift to remove an inventory holder from the load transport device and place the inventory holder in a loading dock adjacent to the load transport device.

[0006] Paragraphs 0053 and 0054 of the above-mentioned Patent Document 1 state that when the unmanned robot driving device is used to load an inventory holder onto the bed or within the cargo area of ​​the cargo transport device, the reference marks on the mat are sensed by a positioning sensor. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 6302075 (Special Publication No. 2016-533999) Summary of the Invention [Problem to be solved by the invention]

[0008] The above-mentioned Patent Document 1 does not state that the unmanned robot driving device can be finely adjusted in the forward / backward / left / right directions and at the angle when the device is stopped.

[0009] Therefore, in the above-mentioned Patent Document 1, for example, if the inventory holder mounted on the stopped unmanned robot driving device is misaligned with respect to the forklift, the operator of the forklift must visually check the misalignment while operating the forklift to make fine corrections.

[0010] As a result, there is a concern that this will be inefficient, as it will be time-consuming to transfer the inventory holder mounted on the stopped unmanned robot driving device to another location using a forklift.

[0011] In consideration of these circumstances, the present invention aims to provide a transport system that, when an autonomous transport robot reaches a waiting location for an autonomous forklift, can accurately and quickly position pallets stacked on a platform on the autonomous transport robot in a position where they can be lifted by the autonomous forklift. [Means for solving the problem]

[0012] The transport system according to the present invention includes a plurality of pallets on which cargo is stored, a stand on which the plurality of pallets are vertically stacked, an autonomous transport robot that crawls into a space below the stand and travels while holding up the stand, an autonomous forklift that is on standby in the vicinity of a destination to which the pallets are to be transported and that lifts up and carries a required pallet from the autonomous transport robot when it reaches the destination, a measuring device that measures the position of the pallet on the autonomous transport robot when it reaches the destination, and a management device that executes the following processes, and a fork pocket is provided at the bottom of the pallet into which the forks of the autonomous forklift are inserted, The autonomous mobile transport robot is equipped with a lifting table for raising and lowering the platform, and drive wheels that generate driving force for moving forward, backward, sideways, and rotating, and the management device is characterized in that when the autonomous mobile transport robot, which is equipped with a platform on which the multiple pallets are stacked, reaches the destination, it executes a process of having the measuring device measure the position of the pallet and the position of the fork on the autonomous mobile transport robot, and a process of determining whether or not there is a positional misalignment of the fork pocket relative to the fork based on the output of the measuring device, and if it is determined that there is a positional misalignment, it causes the autonomous mobile transport robot to correct the positional misalignment.

[0013] In this configuration, if it is determined based on the output of the measuring device that the fork pockets of the pallet are misaligned with respect to the forks of the autonomous forklift on the autonomous transport robot stopped at the destination, the misalignment is corrected by the autonomous transport robot.

[0014] This makes it possible to quickly and accurately insert the forks of the autonomous forklift into the fork pockets of any pallet on a platform mounted on the autonomous transport robot that has stopped at the destination.

[0015] Therefore, it becomes possible to quickly complete the process from stopping the autonomous mobile transport robot at the destination to lifting any pallet on the autonomous mobile transport robot using the automatically operated forklift.

[0016] The autonomous forklift can be configured to perform a process of lifting and transporting the required number of pallets from the platform of the autonomous transport robot that has reached the destination.

[0017] In addition, the autonomous transport robot can be configured to include a front driven wheel installed on the front side of its body, a rear driven wheel installed on the rear side of the body, a left drive wheel installed on the left side in the middle of the fore-aft direction of the vehicle body, a right drive wheel installed on the right side in the middle of the fore-aft direction of the vehicle body, a motor that drives the left drive wheel and the right drive wheel individually, an encoder that individually detects the rotation direction, rotation angle and number of rotations of the left drive wheel and the right drive wheel, and a control device that controls the left drive wheel and the right drive wheel based on destination information, information on the pallet to be lifted and the position deviation information input from the management device. Effect of the Invention

[0018] According to the present invention, a transport system can be provided that, when an autonomous transport robot reaches a waiting location for an autonomous forklift, can accurately and quickly position a pallet stacked on a platform on the autonomous transport robot in a position where it can be lifted by the autonomous forklift. [Brief description of the drawings]

[0019] [Figure 1] 1 is a side view showing an embodiment of a transport system according to the present invention. [Diagram 2] FIG. 2 is a plan view showing the configuration and shape of the autonomous traveling transport robot. [Diagram 3] FIG. 2 is a plan view of an autonomous transport robot equipped with a pallet and a stand. [Figure 4]FIG. 2 is a block diagram showing a schematic configuration of a transport system. [Diagram 5] FIG. 1 is a block diagram showing a schematic configuration of an autonomous transport robot. [Figure 6] FIG. 1 is a side view showing the state when a pallet on an autonomous transport robot that has reached its destination is lifted and removed by an autonomous forklift. [Figure 7] FIG. 7 is a side view showing a state in which the pallet lifted by the autonomous forklift from the state shown in FIG. 6 is being brought close to a stand on another autonomous traveling and transport robot. [Figure 8] FIG. 8 is a side view showing the state when the pallet lifted by the autonomous forklift from the state shown in FIG. 7 is placed on a stand on another autonomous traveling and transport robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

[0021] One embodiment of the present invention is shown in Figures 1 to 8. In the figures, 1 is a moving path, 2 is an autonomous mobile robot (AMR: abbreviation for Autonomous Mobile Robot), 3A to 3D are pallets, 4 is a stand, and 5 is an autonomous forklift (AGF: abbreviation for Automated Guided Forklift).

[0022] The travel path 1 is a track for traveling the autonomous traveling transport robot 2, and may be, for example, a floor within the premises of a warehouse or a factory, or an outdoor road on private land.

[0023] Although not shown, guide markers (QR codes or the like) for guiding the autonomous transport robot 2 along its travel path are provided in a grid pattern on the travel path 1.

[0024] The autonomous traveling transport robot 2, which will be described in detail later, is, as is well known, an unmanned transport vehicle that has the function of transporting pallets 3A to 3D containing cargo (not shown) to a destination (a waiting location for the autonomous forklift 5) by autonomously traveling according to a predetermined program run by a computer without the need for tracks, guides, or human operation.

[0025] The cargo is goods other than people, and has a size and shape that can be stored within the pallets 3A to 3D.

[0026] Pallets 3A to 3D are constructed by assembling a bottom wall and side walls (number omitted) between four vertical support pillars (number omitted), and are configured so that cargo (not shown) can be stored without falling out through an upper opening.

[0027] Each of the pallets 3A to 3D has legs 31 provided at the four corners of the bottom wall so as to protrude downward, and a fork pocket 32 ​​is provided at the lower part (bottom) of the bottom wall.

[0028] The fork pocket 32 ​​is a space provided at the lower part (bottom) of the bottom wall by the presence of each leg 31 of the pallets 3A to 3D, and is set to a size that allows the forks 51 of the automatically operated forklift 5 to be inserted therein.

[0029] Such pallets 3A to 3D are configured such that, when stacked vertically, the lower ends of the legs 31 are engaged with the upper ends of the supports, so that the pallets are positioned in a mutually inseparable manner in the lateral directions (the X-axis and Y-axis directions of the pallets 3A to 3D). is.

[0030] However, in order to make it easier to stack the pallets 3A to 3D vertically, a small clearance is provided in each of the locking portions in the lateral direction.

[0031] The stand 4 has legs 42 provided at the four corners of a plate-like body 41 formed in a rectangular shape in a plan view, the legs 42 extending downward.

[0032] A lower marker (not shown) is attached to the center position on the underside of the body 41 of the platform 4, and serves as a guide for mounting the platform 4 on the lift table 22 of the autonomous mobile transport robot 2. Meanwhile, an upper camera 7 (see FIG. 5) is provided at the center P position on the upper surface of the body 21 of the autonomous mobile transport robot 2 to recognize the lower marker.

[0033] When mounting the platform 4 on the autonomous mobile transport robot 2, the control device 28 of the autonomous mobile transport robot 2 causes the autonomous mobile transport robot 2 to slip under the platform 4 based on the detection output of the lower camera 6, and the control device 28 of the autonomous mobile transport robot 2 stops the autonomous mobile transport robot 2 at a position where it recognizes the lower marker (not shown) based on the detection output of the upper camera 7, and then lifts the lift table 22. This allows the platform 4 to be mounted on the lift table 22 in a well-balanced manner, that is, without tilting or shaking.

[0034] The autonomous forklift 5 is an unmanned system that lifts and transports the required items from among the pallets 3A-3D in accordance with input information from the management device 10, and is provided with forks 51 that are inserted into the fork pockets 32 of the pallets 3A-3D.

[0035] The forks 51 are adapted to be raised and lowered along the support pillars 52. The support pillars 52 are installed on the base of the automatically operated forklift 5 so as to be displaceable in the front-rear direction.

[0036] In addition, the autonomous forklift 5 has driven wheels (symbol omitted) on the front underside of its chassis and drive wheels (symbol omitted) on the rear underside of the chassis, and is configured so that the drive wheels are steered by an automatic steering device (not shown).

[0037] Next, the autonomous transport robot 2 will be described in detail.

[0038] As shown in Figures 1 and 2, the autonomous traveling transfer robot 2 includes a vehicle body 21, a lift table 22, front driven wheels 23, rear driven wheels 24, a left driving wheel 25, a right driving wheel 26, LiDAR sensors 27a, 27b, a control device 28, and the like.

[0039] As shown in FIG. 2, the vehicle body 21 is formed in a generally rectangular shape in plan view with arc-shaped front and rear portions.

[0040] A lower camera 6 (see FIG. 5) is provided at a center P position on the underside of the vehicle body 21. The lower camera 6 is provided to recognize the guide markers provided on the travel path 1.

[0041] As shown in FIGS. 2 and 3, the front-rear direction of the body 21 is the X-axis, the left-right direction of the body 21 is the Y-axis, and the swing angle (direction) from the center of the autonomous traveling transport robot 2 (see P) is θ.

[0042] As shown in FIG. 2, the lift table 22 is formed in a ring shape in a plan view, and is provided on the vehicle body 21 so as to be capable of ascending or descending. It has become like this.

[0043] The front driven wheels 23 and the rear driven wheels 24 are each configured as a pair of two wheels on the left and right, and are supported in a state in which they can rotate freely (forward and reverse).

[0044] The front driven wheels 23 are disposed on the front side of the vehicle body 21, and the rear driven wheels 24 are disposed on the rear side of the vehicle body 21.

[0045] The left driving wheel 25 is provided on the left side and in the middle of the vehicle body 21 in the front-rear direction, and the right driving wheel 26 is provided on the right side and in the middle of the vehicle body 21 in the front-rear direction.

[0046] The left driving wheel 25 and the right driving wheel 26 are each a single wheel of a differential drive type that is independently driven by separate motors 25a, 26a (see FIG. 5).

[0047] Encoders 25b, 26b are provided near the left driving wheel 25 and the right driving wheel 26 on the underside of the vehicle body 21, respectively.

[0048] The encoders 25b, 26b detect the rotation direction, rotation angle, rotation speed, etc. of the left driving wheel 25 and the right driving wheel 26, respectively.

[0049] As is well known, the LiDAR sensors 27a and 27b use laser light to measure the shape and distance of an object at a distance, and are provided midway between the front and rear of the vehicle body 21 in the left-right direction.

[0050] The detection outputs of the encoders 25b, 26b and the LiDAR sensors 27a, 27b are used when the autonomous traveling transfer robot 2 travels autonomously and when correcting positional deviations of the pallets 3A to 3D at the destination.

[0051] The control device 28 is a computer that controls various operations of the autonomous traveling transfer robot 2, and is capable of communicating with, for example, a management device 10 that is disposed externally.

[0052] The management device 10 is a computer that controls the operations of the autonomous transport robot 2 and the autonomous forklift 5, as shown in FIG.

[0053] This management device 10 executes at least the following processes: inputting information about the destination (waiting location of the autonomous forklift 5) to which pallets 3A-3D containing cargo (inventory items) are to be transported, as well as positional deviation information described below, into the control device 28 of the autonomous mobile transport robot 2; inputting information about the pallets (3A-3D) to be lifted by the autonomous forklift 5 at the destination into the control device (not shown) of the autonomous forklift 5; and updating and storing the locations of the pallets 3A-3D one by one.

[0054] In addition, the management device 10 executes a process of having the measuring device 20 measure the positions of the fork pockets 32 of the pallets 3A to 3D on the autonomous traveling transport robot 2 and the positions of the forks 51 of the autonomously operated forklift 5 when the autonomous traveling transport robot 2 reaches the destination.

[0055] The measuring device 20 includes, for example, a surveillance camera and various measurement sensors, and outputs a measurement signal to the management device 10.

[0056] The monitoring camera of the measuring device 20 is installed in the space above the moving path 1 as shown in FIG. The camera 1 captures images of the pallets 3A-3D and the forks 51 of the autonomous forklift 5 that have arrived at the destination. Although not shown, a plurality of measurement sensors of the measuring device 20 are installed around the autonomous forklift 5 and around the arrival position of the autonomous transport robot 2.

[0057] Then, in order to insert the forks 51 of the autonomous forklift 5 into the fork pockets 32 of the pallets 3A to 3D that have reached the destination, the management device 10 determines whether or not there is any misalignment of the fork pockets 32 relative to the forks 51 based on the output of the measuring device 20, and if it determines that there is a misalignment, executes a process to correct the misalignment using the autonomous mobile transport robot 2.

[0058] The control device 28 of the autonomous traveling transfer robot 2 executes a process of controlling the left driving wheel 25 and the right driving wheel 26 so as to correct the positional deviation in accordance with the positional deviation information input from the management device 10.

[0059] For example, based on the output of the surveillance camera of the measuring device 20 and a measurement sensor (not shown), the management device 10 recognizes the coordinates of predetermined positions on the outer periphery of the pallets 3A to 3D (see, for example, measurement points X1 to X6 in Figure 3), and also recognizes the coordinates of predetermined positions on the outer periphery of the forks 51 of the autonomous forklift 5, and by comparing the position and orientation of the forks 51 with the position and orientation of the fork pockets 32, determines whether or not there is a positional misalignment of the fork pockets 32 relative to the forks 51.

[0060] Next, a procedure for transferring pallets 3A to 3D from the autonomous traveling transport robot 2 to another autonomous traveling transport robot 2n will be described with reference to Fig. 6 to Fig. 8. Note that Fig. 6 to Fig. 8 show simplified configurations and shapes of each part.

[0061] In this embodiment, although not shown, a platform 4 on which four pallets 3A to 3D, each containing a cargo, are stacked vertically is disposed at a predetermined position on the moving path 1.

[0062] The management device 10 inputs information such as the pick-up location for picking up the stand 4 on which the four pallets 3A to 3D are stacked, and information such as the destination to which the four pallets 3A to 3D are transported (the waiting location of the automatically driven forklift 5) to which the four pallets 3A to 3D are transported, to the control device 28 of the autonomously traveling transport robot 2, while also inputting information such as the pallets to be lifted by the automatically driven forklift 5 at the destination (the three pallets 3B to 3D above the second level from the bottom out of the four pallets 3A to 3D) to the control device (not shown) of the automatically driven forklift 5.

[0063] First, the control device 28 of the autonomous mobile transport robot 2 controls the autonomous mobile transport robot 2 to arrive at the location of the stand 4 on which the four pallets 3A to 3D are stacked vertically, based on the information of the pick-up location.

[0064] When the autonomous mobile transport robot 2 reaches the pick-up location, the autonomous mobile transport robot 2 slips under the platform 4, and then the lift table 22 of the autonomous mobile transport robot 2 is raised to lift the platform 4 and mount it on the vehicle body 21.

[0065] Thereafter, the control device 28 of the autonomous mobile transfer robot 2 controls the autonomous mobile transfer robot 2 to reach the destination based on the information of the destination.

[0066] The autonomous traveling of the autonomous traveling transport robot 2 is controlled by a control device 28 which aligns a plurality of guide markers (not shown) installed on the moving path 1 with a lower camera installed on the autonomous traveling transport robot 2. The autonomous mobile transport robot 2 recognizes the actual movement path of the autonomous mobile transport robot 2 one by one at Ra6, and based on the recognition results, it is confirmed whether the actual movement path of the autonomous mobile transport robot 2 deviates from the movement path.

[0067] In this way, the control device 28 checks the movement route of the autonomous traveling transfer robot 2 while the autonomous traveling transfer robot 2 is traveling autonomously, thereby enabling accurate control of the traveling of the autonomous traveling transfer robot 2.

[0068] In this way, when the autonomous mobile transport robot 2 reaches the destination and stops, the lifting table 22 of the autonomous mobile transport robot 2 is lowered to abut the leg 42 of the platform 4 on the moving path 1 and move the lifting table 22 away from the platform 4.

[0069] Thereafter, the control device (not shown) of the autonomous forklift 5 executes a process of transferring the three pallets 3B to 3D on the autonomous mobile transport robot 2 that has reached the destination onto a platform 4n on another autonomous mobile transport robot 2n shown in FIG. 7, based on the information of the three pallets 3B to 3D to be lifted.

[0070] Specifically, as shown in FIG. 6, three pallets 3B to 3D to be lifted are lifted by an automatically-operated forklift 5 from the autonomous transport robot 2 that has reached the destination, and then the automatically-operated forklift 5 is moved backwards to pull them away from the stand 4.

[0071] Thereafter, as shown in FIG. 7, the autonomous forklift 5 lifting the three pallets 3B to 3D is moved to a location where a rack 4n different from the rack 4 that has reached the destination is located.

[0072] Next, as shown in FIG. 8, the autonomous forklift 5 holding the three pallets 3B to 3D is moved forward to approach the platform 4n, and the support pillars 52 of the autonomous forklift 5 together with the forks 51 are slid forward to position the three pallets 3B to 3D on the forks 51 onto the platform 4n, and then the forks 51 are lowered to load the three pallets 3B to 3D onto the platform 4n.

[0073] Meanwhile, in the process of lifting the three pallets 3B to 3D to be lifted from the autonomous transport robot 2 that has reached the destination using the forks 51 of the autonomous forklift 5, the management device 10 causes the measuring device 20 to measure the positional deviation of the fork pocket 32 ​​of the second-lowest pallet 3B relative to the fork 51.

[0074] Incidentally, the platform 4 is mounted at the center P position of the lifting table 22 of the autonomous mobile transport robot 2, and the control device 28 of the autonomous mobile transport robot 2 is adapted to stop the robot at the destination by detecting a guide marker (not shown) installed on the moving path 1 with the lower camera 6. Therefore, the autonomous mobile transport robot 2 and the platform 4 are accurately positioned in the X-axis direction and the Y-axis direction at the destination. However, the control device 28 of the autonomous mobile transport robot 2 is not adapted to recognize the orientation θ of the autonomous mobile transport robot 2 and the platform 4 relative to the forks 51 of the self-driving forklift 5 at the destination.

[0075] Furthermore, the control device 28 of the autonomous traveling transfer robot 2 is not configured to recognize the positions in the X-axis direction, the Y-axis direction, and the orientation θ of the pallets 3A to 3D on the stand 4.

[0076] Furthermore, although the lower ends of the legs 31 of each of the four pallets 3A to 3D are positioned by engaging with the upper ends of support columns (symbols omitted), a small clearance is provided in the lateral direction (the X-axis and Y-axis directions of the pallets 3A to 3D) at each of the engaging portions.

[0077] For these reasons, it is possible that the position of the fork pocket 32 ​​of the second lowest pallet 3B relative to the forks 51 of the autonomous forklift 5 will be shifted at the destination.

[0078] Therefore, the management device 10 determines whether or not there is any misalignment of the fork pocket 32 ​​of the second-lowest pallet 3B relative to the fork 51 based on the output of the measuring device 20, and if it determines that there is a misalignment, inputs information for correcting the misalignment to the control device 28 of the autonomous mobile transport robot 2.

[0079] The control device 28 controls the left driving wheel 25 and the right driving wheel 26 of the autonomous mobile transfer robot 2 so as to correct the positional deviation. The correction work by the control device 28 utilizes the output of the measuring device 20 detected by the management device 10.

[0080] The left drive wheel 25 and the right drive wheel 26 are driven independently to generate driving force for moving the autonomous mobile transport robot 2 forward, backward, sideways, and rotate, and this configuration makes it easy to control the orientation θ of the autonomous mobile transport robot 2.

[0081] Therefore, correcting the positional deviation using the autonomous traveling transfer robot 2 can be performed more easily and quickly than correcting the positional deviation using the automatically operated forklift 5.

[0082] As described above, according to the embodiment of the present invention, it becomes possible to quickly and accurately insert the forks 51 of the autonomous forklift 5 into the fork pockets 32 of any of the pallets 3A to 3D on the platform 4 mounted on the autonomous transport robot 2 that has been stopped at the destination.

[0083] Therefore, it is possible to quickly perform the operations from stopping the autonomous traveling transfer robot 2 at the destination to lifting any one of the pallets 3A to 3D on the autonomous traveling transfer robot 2 by the automatically operated forklift 5.

[0084] Therefore, for example, when the pallets 3A to 3D on the autonomous traveling transport robot 2 are transferred to another autonomous traveling transport robot 2n by the automatically operated forklift 5, this is advantageous in shortening the transfer operation time.

[0085] In addition, the configurations described in the above embodiments are merely examples of the present invention and are not limited to them. They can be modified as appropriate within the scope of the claims and within the scope equivalent to said scope.

[0086] (1) In the above embodiment, the configuration of the autonomous traveling transfer robot 2 and the outer shape of the vehicle body 21 are not particularly limited.

[0087] (2) In the above embodiment, an example is given in which the pallet 3A is not configured to be engaged and positioned on the stand 4. However, the present invention is not limited to this. Although not shown in the figures, it is possible to configure the pallet 3A to be engaged and positioned on the stand 4. [Industrial Applicability]

[0088] The present invention can be suitably used in a transport system. [Explanation of symbols]

[0089] 1. Migration Path 2. Autonomous transport robot 2n Other autonomous transport robots 21 Body 22 Lifting table 23 Front driven wheel 24 Rear driven wheel 25 Left driving wheel 25a motor 25b Encoder 26 Right drive wheel 26a Motor 26b Encoder 27a,27b LiDAR sensor 28 Control device 28a Interface 3A~3D Palette 31 legs 32 Fork Pocket 4 Mounting 41 Torso 42 Legs 4n Other mounts 5. Self-driving forklifts 51 Fork 52 Pillar 6. Bottom Camera 7. Top Camera 10 Management device 20 Measuring Equipment P Center of lift table X1~X6 measurement points

Claims

[Claim 1] The system includes a plurality of pallets on which cargo is stored, a stand on which the plurality of pallets are vertically stacked, an autonomous mobile transport robot that crawls into a space below the stand and travels while holding up the stand, an automatically operated forklift that is on standby in the vicinity of a destination to which the pallets are to be transported and that lifts up and carries the required pallet from the autonomous mobile transport robot when the autonomous mobile transport robot reaches the destination, a measuring device that measures the position of the pallet on the autonomous mobile transport robot when the autonomous mobile transport robot reaches the destination, and a management device that executes the following processes: A fork pocket into which the forks of the autonomous forklift are inserted is provided at the bottom of the pallet, The autonomous traveling transport robot includes a lift table for raising and lowering the platform, and drive wheels for generating a drive force for moving forward, backward, sideways, and rotating; The management device performs a process of measuring the position of the pallet on the autonomous mobile transport robot and the position of the fork by the measuring device when the autonomous mobile transport robot equipped with a platform on which the plurality of pallets are stacked reaches the destination; a process of determining whether or not there is misalignment of the fork pocket relative to the fork based on the output of the measuring device, and if it is determined that there is misalignment, correcting the misalignment using the autonomous mobile transport robot.

Images