Transport Station

Abstract

This improves the accuracy of entry when the AMR enters the transport station. [Solution] The transported item station 3 is supported at a height where the AMR 5, which travels autonomously and is equipped with a lifter 7 that rises and falls in the vertical direction, can enter downward, and is equipped with a loading section 11 on which the transported item is placed, and a guide member 13 that defines an entry path R along which the AMR 5 enters below the loading section 11, the guide member 13 being positioned at the detection height of an object detection sensor 9 when the AMR 5 enters the entry path R, and when the AMR 5 enters the entry path R and stops at a predetermined stopping position and the lifter 7 is raised, it rises to a position higher than the detection height of the object detection sensor 9.

Description

[Technical field]

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

[0002] 2. Description of the Related Art Factories that process materials such as sheet metal are provided with transport stations on which pallets carrying materials are placed, and the transport of materials is performed automatically by a transport vehicle moving through the transport stations.

[0003] For example, Patent Document 1 discloses an automated guided vehicle system in which an automated guided vehicle transports an object. In the automated guided vehicle system disclosed in Patent Document 1, a marker that can be recognized by a sensor of the automated guided vehicle is provided on the approach path of the object, and the automated guided vehicle is brought into contact with the marker. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-149410 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional unmanned transport system described above, the approach path for the transport vehicle to enter the transport station is not clearly defined, which causes a problem in that the approach accuracy of the transport vehicle decreases. [Means for solving the problem]

[0006] A transported item station according to one embodiment of the present invention comprises a loading section on which the transported items are placed, which is supported at a height allowing an autonomously running transport vehicle equipped with a lifter that rises and falls in the vertical direction to enter downward, and a guide member that defines an entry path along which the transport vehicle enters below the loading section, the guide member being positioned at the detection height of an object detection sensor equipped on the transport vehicle when the transport vehicle enters the entry path, and when the transport vehicle enters the entry path and raises the lifter, the guide member rises to a position higher than the detection height of the object detection sensor.

[0007] According to the transport station of one aspect of the present invention, since the guide member is provided to define the approach path for the transport vehicle to approach below the placement unit, the approach path can be clearly defined, thereby improving the approach accuracy when the transport vehicle enters the transport station. Effect of the Invention

[0008] According to one aspect of the present invention, it is possible to improve the accuracy of entry when a transport vehicle enters a transport station. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration of a transport system including a transport article station according to the first embodiment. [Diagram 2] FIG. 2 is a perspective view showing a structure of the transported article station according to the first embodiment. [Diagram 3] FIG. 3 is a perspective view showing a structure of a guide member of the transported article station according to the first embodiment. [Figure 4] FIG. 4 is a perspective view showing a structure of a marker of the transported article station according to the first embodiment. [Figure 5A] FIG. 5A is a diagram for explaining the state in which an AMR enters the entrance path of a transported article station. [Figure 5B] FIG. 5B is a diagram for explaining the state in which the AMR enters the entrance path of the transported article station. [Figure 5C] FIG. 5C is a diagram for explaining the state in which the AMR enters the entrance path of the transported article station. [Figure 5D] FIG. 5D is a diagram for explaining the state in which an AMR enters the entrance path of the transported article station. [Figure 6] FIG. 6 is a diagram for explaining the positional relationship between the detection height of the object detection sensor of the AMR and the sidewall member of the transported article station. [Figure 7A] FIG. 7A is a diagram for explaining the operation of the AMR lifting the transported article station with a lifter. [Figure 7B] FIG. 7B is a diagram for explaining the operation of the AMR lifting the transported article station with the lifter. [Figure 7C] FIG. 7C is a diagram illustrating the operation of the AMR lifting the transported article station with the lifter. [Figure 7D] FIG. 7D is a diagram for explaining the operation of the AMR lifting the transported article station with the lifter. [Figure 7E] FIG. 7E is a diagram for explaining the operation of the AMR lifting the transported article station with the lifter. [Figure 8] FIG. 8 is a diagram for explaining the relationship between the lift amount of the lifter of the AMR and the transported article station. [Figure 9] FIG. 9 is a diagram showing the structure of the lower surface of the platform of the transported article station according to the first embodiment. [Figure 10A] FIG. 10A is a diagram for explaining the function of the positioning block of the transported article station according to the first embodiment. [Figure 10B] FIG. 10B is a diagram for explaining the function of the positioning block of the transported article station according to the first embodiment. [Figure 10C] FIG. 10C is a diagram for explaining the function of the positioning block of the transported article station according to the first embodiment. [Figure 11] FIG. 11 is a diagram for explaining the positional relationship between the detection height of the object detection sensor of the AMR and the sidewall member of the transported article station. [Figure 12] FIG. 12 is a diagram for explaining the positional relationship between the detection range of the object detection sensor of the AMR and the support pillars of the transported article station. [Figure 13] FIG. 13 is a diagram for explaining the structures of a transported article station and an AMR according to the second embodiment. [Figure 14] FIG. 14 is a diagram showing the structure of a guide member of the transported article station according to the second embodiment. [Figure 15] FIG. 15 is a diagram for explaining an operation of connecting the AMR according to the second embodiment to the transported article station by the lifter. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] [First embodiment] The transported article station according to this embodiment will be described below with reference to the drawings. FIG. 1 is a diagram showing the configuration of a transport system including the transported article station according to this embodiment. The transport system 1 according to this embodiment includes a transported article station 3 and a transport vehicle (hereinafter, AMR (Autonomous Mobile Robot)) 5). A pallet P, which is an article to be transported, is placed on the transported article station 3 and is moved by the AMR 5. The AMR 5 travels autonomously while detecting surrounding objects using an object detection sensor 9.

[0011] The transported article station 3 is supported at a height that allows the AMR 5, which travels autonomously and has a lifter 7 that rises and falls in the vertical direction, to enter downward, and is equipped with a placement section 11 on which the transported article is placed, and a guide member 13 that defines an entry path R along which the AMR 5 enters below the placement section 11. The guide member 13 is disposed at the detection height of an object detection sensor 9 equipped on the AMR 5 when the AMR 5 enters the entry path R, and when the AMR 5 enters the entry path R and raises the lifter 7, the guide member 13 rises to a position higher than the detection height of the object detection sensor 9.

[0012] The AMR 5 is a transport vehicle that autonomously controls its travel while detecting surrounding objects, and transports an article station 3 on which a pallet P is placed. The AMR 5 includes a lifter 7 and an object detection sensor 9. The AMR 5 also includes a battery (not shown) and travels using power supplied from the battery.

[0013] The lifter 7 is a lifting mechanism that moves up and down, and the top plate moves up and down. Although it is possible to place an object to be transported, such as a pallet P, on the lifter 7 and move it, in this embodiment, the lifter 7 is raised to connect with the object station 3, and the object station 3 is moved.

[0014] The object detection sensor 9 irradiates detection light around the AMR 5 and receives the light reflected by surrounding objects to detect objects present around the AMR 5. For example, the object detection sensor 9 can be configured with LiDAR (Light Detection and Ranging) and acquires point cloud data indicating the distance to objects present around the AMR 5. The object detection sensors 9 are provided at the front and rear of the AMR 5.

[0015] Next, the structure of the transported article station 3 will be described with reference to Fig. 2. Fig. 2 is a perspective view showing the structure of the transported article station 3. As shown in Fig. 2, the transported article station 3 includes a placement unit 11, a guide member 13, and a caster unit 15.

[0016] The placement section 11 is composed of an upper placement section 21 on which a pallet P, which is a transported object, is placed, and a lower placement section 22 on which objects other than the pallet P are placed. The placement section 11 is provided with a plurality of support columns 23 that support the placement section 11 at a height that allows the AMR 5 to enter the entry route R.

[0017] The upper placement section 21 is composed of a rectangular frame 24 corresponding to the size of the pallet P, and the center of the frame 24 is reinforced by a beam 25. In addition, a handle 26 is provided in the front-rear direction of the frame 24 to allow an operator to manually move the transported article station 3.

[0018] The lower placement section 22 includes a plate 27 on which the transported object is placed, and pillars 28 for supporting the upper placement section 21 are provided at the four corners of the plate 27. The length of the pillars 28 is set according to the height of the transported object to be placed on the lower placement section 22.

[0019] The pillars 23 support the height of the mounting portion 11 so that the height of the AMR 5 is higher than the height of the AMR 5 so that the AMR 5 can enter below the mounting portion 11. In other words, the mounting portion 11 is supported by the multiple pillars 23 at a height that allows the AMR 5 to enter below. The length of the pillars 23 is set to match the height of the caster portion 15 so that the lower surface of the plate 27 is at a height that is the sum of the height of the AMR 5 and a predetermined clearance.

[0020] The guide member 13 defines an entry path R along which the AMR 5 enters below the placement unit 11. Thus, the guide members 13 are disposed on the left and right of the entry path R, and define the left and right ends of the entry path R. The guide members 13 are also provided so as to be movable in the up and down direction along the support pillars 23. Specifically, the guide members 13 are disposed at the detection height of the object detection sensor 9 when the AMR 5 enters the entry path R, and when the AMR 5 enters the entry path R and lifts the lifter 7, the guide members 13 rise to a position higher than the detection height of the object detection sensor 9.

[0021] The caster section 15 supports the placement section 11 so that it can move. The placement section 11 is fixed to the caster section 15 by means of supports 23. The caster section 15 also functions as a grounding section where the transported article station 3 is grounded. Casters 17 are provided on both ends of the caster section 15 in the front-rear direction, respectively, so that the transported article station 3 is a freely movable cart. However, the casters 17 do not have to be provided, in which case the transported article station 3 functions as a placement stand.

[0022] Next, the structure of the guide member 13 will be described with reference to Fig. 3. Fig. 3 is a perspective view showing the structure of the guide member 13. As shown in Fig. 3, the guide member 13 includes a sidewall member 31 that forms the side surface of the entry path R and is provided so as to be movable in the vertical direction, and a lifter contact member 32 that has a shape that protrudes from the sidewall member 31 above the entry path R. Furthermore, the guide member 13 includes a slider 33 and a marker 34.

[0023] The sidewall member 31 is disposed at the detection height of the object detection sensor 9 when the AMR 5 enters the entry path R. Then, when the AMR 5 enters the entry path R and lifts the lifter 7, the lifter contact member 32 comes into contact with the lifter 7. Thereafter, the lifter contact member 32 rises in conjunction with the lifter 7 rising, and the sidewall member 31 rises to a position higher than the detection height of the object detection sensor 9.

[0024] Because the sidewall member 31 is disposed at the detection height of the object detection sensor 9 while the AMR 5 is entering the approach route R, the AMR 5 can proceed to a predetermined stopping position on the approach route R while constantly detecting the sidewall member 31. Because the length of the sidewall member 31 is set to be the same as the length of the approach route R, the object detection sensor 9 can constantly detect the side of the approach route R from when the AMR 5 enters the approach route R until it reaches the predetermined stopping position.

[0025] Further, the sidewall member 31 is provided with a through hole 35 for inserting the support 23, and the sidewall member 31 can move up and down along the inserted support 23. Therefore, when the AMR 5 raises the lifter 7 and the lifter contact member 32 comes into contact with the lifter 7 and rises, the sidewall member 31 also rises. At this time, the sidewall member 31 rises to a position higher than the detection height of the object detection sensor 9. As a result, after the AMR 5 lifts the transported article station 3 and starts moving, the sidewall member 31 no longer blocks the detection range of the object detection sensor 9, and the object detection sensor 9 can secure its detection range.

[0026] The lifter contact member 32 is a metal member with an L-shaped cross section fixed to the upper surface of the sidewall member 31, extends upward from the upper surface of the sidewall member 31 and is bent 90 degrees to protrude above the entry path R. The length by which it protrudes above the entry path R is set to a length that allows the AMR 5 to sufficiently contact the lifter 7 when it enters the entry path R. In addition, the width of the lifter contact member 32 is set to obtain sufficient strength.

[0027] The lifter contact member 32 is provided with a contact portion 36 made of a resin material at a portion that comes into contact with the lifter 7. Because the lifter contact member 32 is a metal member, if it comes into direct contact with the lifter 7, there is a risk that the lifter 7 will be damaged. Therefore, the contact portion 36 made of a resin material is provided on the contact surface with the lifter 7 to prevent the lifter 7 from being damaged. In FIG. 3, the contact portion 36 is provided at the tip of the lifter contact member 32, but it may be provided at another portion as long as it is on the contact surface with the lifter 7.

[0028] The slider 33 is provided on the upper surface of both ends of the sidewall member 31 in the front-rear direction, and has a function of sliding the guide member 13 up and down relative to the plate 27 shown in Fig. 2. That is, the upper end of the slider 33 is fixed to the lower surface of the plate 27, and the slider 33 has a function of sliding the sidewall member 31 up and down. Therefore, since the sidewall member 31 is held so as to be movable up and down, the guide member 13 can move up and down relative to the plate 27.

[0029] The markers 34 are reflective members that reflect the detection light from the object detection sensors 9, and are provided on both ends of the side wall member 31 that serve as the entrances and exits of the entry path R. The markers 34 are provided on the front and rear surfaces of the side wall member 31, respectively, and have curved shapes that protrude from the front and rear surfaces. Because the markers 34 have retroreflective properties and are curved, the object detection sensors 9 can detect the reflected light from the markers 34 over a wide range.

[0030] The marker 34 is provided so that its position can be adjusted relative to the sidewall member 31. Specifically, as shown in Fig. 4, a through hole 41 on the fixing member 42 side, into which a bolt for fixing the marker 34 is inserted, is an elongated hole having a predetermined width in the left-right direction, so that the position of the marker 34 can be easily adjusted in the left-right direction. Furthermore, the marker 34 is provided on the fixing member 42, and a through hole 43 into which a bolt for fixing the fixing member 42 to the sidewall member 31 is inserted is an elongated hole having a predetermined width in the front-rear direction. Therefore, the position of the marker 34 can be easily adjusted in the front-rear direction as well.

[0031] [Entering the transport station] 5A to 5D, the operation of the AMR 5 entering the transported article station 3 will be described below. Figures 5A to 5D are diagrams for explaining the manner in which the AMR 5 enters the entrance path R of the transported article station 3, and are diagrams showing the positional relationship between the AMR 5 and the guide member 13 as viewed from above.

[0032] As shown in FIG. 5A, the AMR 5 recognizes the position of the article station 3 by the object detection sensor 9 detecting the marker 34, and moves in the direction of the article station 3.

[0033] As shown in FIG. 5B, the AMR 5 moves so that the center 52 of the AMR 5 is located on the perpendicular bisector 51 of the line connecting the two markers 34 .

[0034] As shown in Fig. 5C, the AMR 5 enters along the side surface of the sidewall member 31. At this time, the AMR 5 may move along the center position of the sidewall members 31 on both sides, or may move along a position a predetermined distance away from the sidewall member 31 on one side. Furthermore, as shown in Fig. 6, the sidewall member 31 is disposed at the detection height H of the object detection sensor 9 when the AMR 5 enters the entry path R. Therefore, the object detection sensor 9 can detect the sidewall member 31, and the AMR 5 can enter the entry path R along the sidewall member 31.

[0035] 5D, when the AMR 5 detects a marker 34 on the opposite side to the marker 34 detected at the start of entry, the AMR 5 recognizes a predetermined stopping position based on the position of the marker 34 and stops there. In this way, entry of the AMR 5 into the transported goods station 3 is completed.

[0036] [Connection between AMR and transport station] 7A to 7E and 8, the operation of the AMR 5 to connect with the article station 3 will be described below. FIGS. 7A to 7E are diagrams for explaining the operation of the AMR 5 lifting the article station 3 with the lifter 7, and are diagrams showing the positional relationship between the AMR 5 and the article station 3 as viewed from the side. FIG. 8 is a diagram showing the relationship between the amount of lift of the lifter 7 and the article station 3.

[0037] As shown in Fig. 7A, when the AMR 5 has completed entering the article station 3, the upper surface of the AMR 5 is not in contact with the article station 3. This is because, as shown in Fig. 8, there is an entry clearance of 10 mm, and therefore, when the lift width of the lifter 7 is 0 mm, the upper surface of the AMR 5 does not come into contact with the article station 3.

[0038] As shown in Fig. 7B, when the lifter 7 starts to rise, the lifter 7 first comes into contact with the contact portion 36 of the lifter contact member 32. As shown in Fig. 8, when the lifter 7 rises by 10 mm or more, the lifter 7 comes into contact with the contact portion 36 of the lifter contact member 32 and lifts the guide member 13, so that the guide member 13 starts to move upward.

[0039] As shown in FIG. 7C, when the lifter 7 rises further, the lifter 7 comes into contact with the positioning blocks 71 and 72. As shown in FIG. 8, when the lifter 7 rises by 15 mm or more, the lifter 7 comes into contact with the positioning blocks 71 and 72. Here, the arrangement of the positioning blocks 71 and 72 will be described with reference to FIG. 9. FIG. 9 is a view of the transport station 3 as seen from below. As shown in FIG. 9, beam members 73, 74, and 75 are provided on the lower surface of the plate 27 that forms the lower surface of the placement section 11. The beam member 73 is provided with a positioning block 71 that reduces errors in the front-rear direction, and the beam member 74 is provided with a positioning block 72 that reduces errors in the left-right direction.

[0040] As shown in Fig. 7D, when the lifter 7 rises further, the position of the transported article station 3 is corrected by the positioning blocks 71 and 72. As shown in Fig. 8, when the lifter 7 rises to 35 mm, the lifter 7 rises while contacting the inclined surfaces of the positioning blocks 71 and 72, so that the position of the transported article station 3 is corrected.

[0041] Incidentally, while the lifter 7 is rising from 10 mm to 35 mm, it is in contact with the contact portion 36 of the lifter contact member 32 to lift the guide member 13, and when it reaches 35 mm, the lifting of the guide member 13 is completed. At this time, the lifter 7 is in contact with the beam members 74, 75 shown in Fig. 9, and the lifter contact member 32 is raised into the space formed between the beam members 74, 75. Therefore, the lifter contact member 32 is not visible in Fig. 7D.

[0042] 10A to 10C, the functions of the positioning blocks 71 and 72 will be described. In Figs. 10A to 10C, the function of the positioning block 72 that reduces errors in the left-right direction will be described, but the function of the positioning block 71 that reduces errors in the front-rear direction is similar.

[0043] As shown in Fig. 10A, the positioning block 72 is provided on the underside of a beam member 74. That is, the positioning block 72 is provided on the underside of the placement section 11 with which the lifter 7 comes into contact when the AMR 5 enters the entry path R, stops at a predetermined stopping position, and the lifter 7 is raised. Fig. 10A shows a case in which the actual stopping position of the AMR 5 is shifted by an error A from the predetermined stopping position.

[0044] 10B, when the lifter 7 is raised, the lifter 7 comes into contact with the positioning block 72. That is, the positioning block 72 is disposed at a position where the positioning block 72 comes into contact with the peripheral portion of the lifter 7 when the lifter 7 is raised when the AMR 5 enters the approach path R and stops deviating from the predetermined stopping position.

[0045] The positioning block 72 has a shape that is inclined toward the center of the stopping position. As a result, when the lifter 7 continues to rise, the transported article station 3 moves leftward in Fig. 10B. As a result, as shown in Fig. 10C, when the lifter 7 rises and contacts the beam member 74, the position of the transported article station 3 has been corrected so that the error A becomes smaller.

[0046] As shown in FIG. 7E, when the lifter 7 rises further, the article station 3 is lifted by the lifter 7, and the AMR 5 and the article station 3 are connected. As shown in FIG. 8, when the lifter 7 rises by 35 mm or more, the article station 3 is lifted and rises. At this time, the position of the guide member 13 also rises together with the article station 3. Then, when the lifter 7 rises to 55 mm, the lifting of the article station 3 is completed. Thereafter, the AMR 5 transports the article station 3 to a specified location.

[0047] 11, the sidewall member 31 is raised to a position higher than the detection height H of the object detection sensor 9. That is, when the AMR 5 enters the entry path R and raises the lifter 7, the contact portion 36 of the lifter contact member 32 comes into contact with the lifter 7 and rises, and the sidewall member 31 rises to a position higher than the detection height H of the object detection sensor 9. As a result, when the AMR 5 lifts up the transported article station 3 and moves, the detection range of the object detection sensor 9 is no longer blocked by the guide member 13, and the detection range can be secured.

[0048] 12, the object detection sensors 9 are disposed at the left end at the front of the AMR 5 and at the right end at the rear of the AMR 5. Each object detection sensor 9 has a detection range of 270 degrees, and the detection range is outside the dotted line 80. In this way, the object detection sensor 9 is capable of detecting the entire surroundings of the AMR 5 by using a pair of sensors.

[0049] Here, within the dotted line 81 indicating the outer periphery of the transported article station 3, the pillars 23A and 23B supporting the placement unit 11 are provided. Of these, the pillar 23A is provided inside the dotted line 80, and is therefore installed outside the detection range of the object detection sensor 9. In other words, the pillar 23A is disposed at a position outside the detection range of the object detection sensor 9 when the AMR 5 enters the approach route R and stops at a predetermined stopping position. This makes it possible to prevent blind spots from being created in the detection range of the object detection sensor 9 by the pillar 23A, and therefore to ensure a wide detection range of the object detection sensor 9. This makes it possible to improve safety when the AMR 5 moves the transported article station 3.

[0050] Furthermore, the support pillar 23B is disposed at a position within the detection range of the object detection sensor 9 when the AMR 5 enters the approach route R and stops at a predetermined stopping position. As a result, the support pillar 23B creates a blind spot in the detection range of the object detection sensor 9. However, this blind spot is small enough that a person cannot enter, so safety is not compromised. Furthermore, by detecting the shape of the support pillar 23B with the object detection sensor 9, the AMR 5 can recognize that the transported article station 3 has shifted relative to the AMR 5. Therefore, if an impact is applied to the transported article station 3 due to a collision or a large step during transport, the AMR 5 can detect the fall or shift of the transported article station 3 and immediately stop the AMR 5.

[0051] [Effects of the first embodiment] As described above in detail, in the transported article station 3 according to this embodiment, the guide member 13 is disposed at the detection height of the object detection sensor 9 when the AMR 5 enters the entry route R. This allows the entry route to be clearly defined by the guide member 13, thereby improving the entry accuracy when the AMR 5 enters the transported article station 3.

[0052] Furthermore, when the AMR 5 enters the entry route R and stops at a predetermined stopping position, and the lifter 7 is raised, the guide member 13 rises to a position higher than the detection height of the object detection sensor 9. This prevents the detection range of the object detection sensor 9 from being blocked when the transported article station 3 is lifted and moved, and the detection range of the object detection sensor 9 can be secured. This improves safety when the AMR 5 moves the transported article station 3.

[0053] In this way, the transported item station 3 of this embodiment can achieve both improved entry accuracy when the AMR 5 enters the transported item station 3 and ensuring the detection range of the object detection sensor 9 when the transported item station 3 is lifted and moved.

[0054] In particular, to improve the entry accuracy of the AMR 5 when it enters the transported article station 3, a member that clearly defines the entry path R, such as the guide member 13, is necessary. However, if a member such as the guide member 13 is simply installed, the detection range of the object detection sensor 9 will be blocked when the transported article station 3 is moved, and the AMR 5 cannot move safely. Therefore, in the transported article station 3 according to this embodiment, when the transported article station 3 is moved, the guide member 13 is raised to a position higher than the detection height of the object detection sensor 9. This makes it possible to improve the entry accuracy of the AMR 5 when it enters the transported article station 3, and also ensure the detection range of the object detection sensor 9 when the AMR 5 lifts up the transported article station 3 and moves.

[0055] In the article station 3 according to this embodiment, the guide member 13 includes a sidewall member 31 that forms a side surface of the entry path R and is provided to be movable in the vertical direction, and a lifter contact member 32 that has a shape that protrudes from the sidewall member 31 above the entry path R. The sidewall member 31 is disposed at the detection height of the object detection sensor 9 when the AMR 5 enters the entry path R, and when the AMR 5 enters the entry path R and stops at a predetermined stopping position and the lifter 7 is raised, the contact portion 36 of the lifter contact member 32 comes into contact with the lifter 7 and rises, and the sidewall member 31 rises to a position higher than the detection height of the object detection sensor 9. This makes it possible to improve the entry accuracy when the AMR 5 enters the article station 3, and to ensure the detection range of the object detection sensor 9 when the article station 3 is lifted and moved.

[0056] Furthermore, in the transported article station 3 according to this embodiment, positioning blocks 71, 72 are provided on the underside of the placement unit 11 with which the lifter 7 comes into contact when the AMR 5 enters the approach route R and stops at a predetermined stopping position, and the lifter 7 is raised. The positioning blocks 71, 72 are disposed at positions that come into contact with the periphery of the lifter 7 when the lifter 7 is raised when the AMR 5 enters the approach route R and stops at a position shifted from the predetermined stopping position, and have a shape that is inclined toward the center of the stopping position. As a result, even if the AMR 5 stops at a position shifted from the predetermined stopping position, the lifter 7 can be raised to automatically reduce errors.

[0057] Furthermore, the placement section 11 of the transported article station 3 according to this embodiment is supported by a plurality of support pillars 23 at a height that allows the AMR 5 to enter downward. The plurality of support pillars 23A are disposed at positions outside the detection range of the object detection sensor 9 when the AMR 5 enters the approach route R and stops at a predetermined stopping position. This makes it possible to prevent blind spots from being created in the detection range of the object detection sensor 9 by the support pillars 23A, thereby ensuring a wide detection range of the object detection sensor 9. This improves safety when the AMR 5 moves around the transported article station 3.

[0058] The multiple support pillars 23B of the transported article station 3 according to this embodiment are disposed in a position within the detection range of the object detection sensor 9 when the AMR 5 enters the approach route R and stops at a predetermined stopping position. As a result, the support pillars 23B create a blind spot in the detection range of the object detection sensor 9. However, this blind spot is small enough that a person cannot enter, so safety is not compromised. In addition, by detecting the shape of the support pillars 23B with the object detection sensor 9, the AMR 5 can recognize that the transported article station 3 has shifted relative to the AMR 5. Therefore, when an impact is applied to the transported article station 3 due to a collision or a large step during transport, the AMR 5 can detect the fall or shift of the transported article station 3 and immediately stop the AMR 5.

[0059] Furthermore, the lifter contact member 32 of the transported article station 3 according to this embodiment is provided with a contact portion 36 made of a resin material at a portion that comes into contact with the lifter 7. This makes it possible to prevent the lifter contact member 32 from damaging the lifter 7 even if the lifter contact member 32 is made of a metal material to ensure strength.

[0060] Furthermore, in the article station 3 according to this embodiment, markers 34 that reflect detection light from the object detection sensors 9 are provided on both ends of the sidewall member 31 that serve as the entrances and exits of the approach route R. This not only enables the AMR 5 to accurately enter the article station 3 using the markers 34, but also enables the AMR 5 to accurately stop at a predetermined stopping position using the markers 34.

[0061] Furthermore, the marker 34 of the transported article station 3 according to this embodiment is provided so that its position can be adjusted relative to the sidewall member 31. This allows the position of the marker 34 to be easily finely adjusted, so that the object detection sensor 9 can reliably detect the reflected light from the marker 34.

[0062] [Second embodiment] A second embodiment of the present invention will now be described with reference to the drawings. In the description of the drawings, the same parts are given the same reference numerals and detailed description will be omitted.

[0063] This embodiment differs from the first embodiment in that the lifter 7 of the AMR 5 has a convex member 91 that moves up and down as shown in Figure 13, and the lifter contact member 32 of the transported item station 3 has a through hole 92 into which the convex member 91 is inserted as shown in Figure 14.

[0064] 14, the lifter contact member 32 is formed of a connecting member 93 that connects the left and right side wall members 31. The connecting member 93 is a flat plate-shaped member, and is provided in the center in the front-rear direction of the side wall members 31. Two through holes 92 are provided side by side in the front-rear direction in the center in the left-right direction of the connecting member 93.

[0065] 13, the lifter 7 includes a convex member 91 disposed in the center of the AMR 5 in the left-right direction, and two of them are provided in the front-rear direction corresponding to the positions of the through holes 92. The convex member 91 has a tapered shape at the tip, so that even if there is an error in the stopping position of the AMR 5, it can be corrected.

[0066] When the AMR 5 enters the entry path R of the article station 3 and stops at a predetermined stopping position, it raises the lifter 7 as shown in Fig. 15. As a result, the convex member 91 is inserted into the through hole 92 and the lifter 7 comes into contact with the connecting member 93, and as the lifter 7 rises, the connecting member 93 rises, causing the guide member 13 to rise as well. At this time, the guide member 13 is raised, but the article station 3 is in contact with the ground via the caster section 15. In other words, the AMR 5 does not lift the article station 3. Therefore, when the AMR 5 starts to move thereafter, the article station 3 is not lifted and moves, but moves due to the rotation of the caster 17 while the caster section 15 is in contact with the ground.

[0067] [Effects of the second embodiment] As described above in detail, the transported article station 3 according to this embodiment includes the caster parts 15 that movably support the placement part 11, the lifter 7 includes the convex member 91 that moves up and down, and the lifter contact member 32 includes the through hole 92 into which the convex member 91 is inserted. As a result, the AMR 5 and the transported article station 3 can be connected and moved simply by inserting the convex member 91 into the through hole 92. Therefore, since there is no need to lift the transported article station 3, the AMR 5 can easily move the transported article station 3 without requiring a large driving force.

[0068] In addition, in the transported article station 3 according to this embodiment, the protruding member 91 has a tapered tip. This allows the lifter 7 to be raised automatically to correct any error even if the AMR 5 stops at a position other than the designated stopping position.

[0069] As described above, the embodiment of the present invention has been described, but the description and drawings forming a part of this disclosure should not be understood as limiting this invention. From this disclosure, various alternative embodiments, examples and operating techniques will become apparent to those skilled in the art. [Explanation of symbols]

[0070] 1. Transport system 3. Transport Station 5 AMR (Automated Mechanic Transport Vehicle) 7 Lifter 9 Object detection sensor 11 Placement section 13 Guide member 15 Caster section 21 Upper loading section 22 Lower placement section 23, 23A, 23B, 28 posts 24 Frame 25 Beam 26 Handle 27 Plate 31 Side wall member 32 Lifter contact member 33 Slider 34 Marker 35, 41, 43, 92 Through holes 36 Contact part 42 Fixing member 71, 72 Positioning block 73, 74, 75 Beam members 80, 81 dotted line 91 Convex member 93 Connecting members A error H Detection height P Palette

Claims

1. A placement section on which an object to be transported is placed, the placement section being supported at a height that allows an autonomously traveling transport vehicle having a lifter that moves up and down to enter below the placement section; a guide member that defines an approach path through which the transport vehicle approaches below the placement unit, The guide member is disposed at a detection height of an object detection sensor provided on the transport vehicle when the transport vehicle enters the entrance path, and is raised to a position higher than the detection height of the object detection sensor when the transport vehicle enters the entrance path and raises the lifter. Transport station.

2. The guide member is A side wall member that forms a side surface of the entrance path and is provided so as to be movable in the vertical direction; a lifter contact member having a shape protruding from the side wall member above the entry path, the side wall member is disposed at a detection height of the object detection sensor when the transport vehicle enters the entrance path, When the transport vehicle enters the entrance path and raises the lifter, the lifter contact member comes into contact with the lifter and rises, and the side wall member rises to a position higher than the detection height of the object detection sensor.

2. The transport station of claim 1.

3. a positioning block is provided on a lower surface of the placement section with which the lifter comes into contact when the transport vehicle enters the entrance path and raises the lifter; The positioning block is disposed at a position where it comes into contact with a peripheral portion of the lifter when the lifter is raised when the transport vehicle enters the entrance path and stops at a position shifted from a predetermined stopping position, and has a shape that is inclined toward the center of the stopping position.

3. A transport station according to claim 1 or 2.

4. The placement unit is supported by a plurality of columns at a height that allows the transport vehicle to enter downward, A part of the plurality of pillars is disposed at a position outside the detection range of the object detection sensor when the transport vehicle enters the entrance path and stops at a predetermined stopping position.

3. A transport station according to claim 1 or 2.

5. Another part of the plurality of pillars is disposed at a position within a detection range of the object detection sensor when the transport vehicle enters the entrance path and stops at a predetermined stopping position.

5. The transport station of claim 4.

6. The lifter contact member has a contact portion made of a resin material at a portion where the lifter contacts the lifter.

3. The transport station of claim 2.

7. Markers that reflect detection light from the object detection sensor are provided on both ends of the side wall member that serves as an entrance and exit of the entry path.

3. The transport station of claim 2.

8. The marker is provided so that its position can be adjusted with respect to the side wall member.

8. The transport station of claim 7.

9. The carrier further includes a caster portion that movably supports the carrier, The lifter includes a convex member that moves up and down in a vertical direction, The lifter contact member has a through hole into which the convex member is inserted.

3. The transport station of claim 2.

10. The convex member has a tapered tip.

10. The transport station of claim 9.

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