Omnidirectional conveying system

Abstract

To provide a conveyance structure having a simple conveyance belt system, and an omnidirectional conveyance system capable of freely conveying a to-be-conveyed object to a moving destination while having high safety by using the conveyance structure.SOLUTION: An omnidirectional conveyance system in which a plurality of conveyance structures provided with a conveyance surface is arranged at an uppermost part and a conveyance region is constituted on an XY plane comprises: a frame body in which the conveyance surface is fixed at a peripheral part of the conveyance structure; a center shaft which includes a movable body rotating in an arbitrary direction along a side surface of an inner side or an outer side of the frame body, where the movable body includes a conveyance part for conveying a person and an object and is rotatably driven by first driving means and further the conveyance part is rotatably supported at the center of the movable body and is directly or indirectly driven by second driving means; and following shafts rotatably supported while sandwiching the center shaft and being in parallel with the center shaft. A conveyor belt is wound around the center shaft and the following shafts.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an omnidirectional conveying system. [Background technology]

[0002] Means of transportation are broadly divided into two types: mobile means, such as automobiles and bicycles that move together with the target object and do not have a set trajectory, and stationary means, such as trains and escalators, that have a set trajectory to the destination.

[0003] Mobile vehicles are not particularly tied to a track, so they have the advantage that the direction of movement is not fixed (i.e., there is a high degree of freedom in the destination), but therefore, in order to operate safely, the driver (or operator) of the mobile vehicle must collect information on the presence of movable obstacles such as people and animals, and non-movable obstacles such as walls and luggage, and the distance to these obstacles, in all directions around the mobile vehicle. As the amount of information that the driver must collect is large, mistakes are likely to occur due to the driver being unable to fully grasp the obstacles, which can result in a decrease in operational safety.

[0004] On the other hand, since the trajectory of the stationary type is fixed, in order to ensure safe operation, the driver (or operator) only needs information on the presence of movable and / or non-movable obstacles and the distance to them, and this information is required on the trajectory or in the vicinity of the vehicle's movement, which has the advantage that accidents are less likely to occur and operation is safer. However, there is a disadvantage that the destination is fixed, so there is less freedom in where to go.

[0005] Although it is a stationary type, the trajectory is not fixed, and there has not been much consideration given to a means of transportation that has a high degree of freedom in destinations like a mobile type.

[0006] The invention in Patent Document 1 is an invention related to a new stationary transportation means "Euclitor (registered trademark)." Euclitor is a transportation structure that transports objects in any horizontal direction, and is laid out on the floor surface. By doing so, objects can be transported from anywhere to any destination, just like a mobile transportation means, and the system itself determines the route and controls the speed to prevent collisions between objects, so it can provide high operational safety like a stationary transportation means. In other words, it is a transportation means that combines the advantages of both mobile and stationary types.

[0007] The invention of Patent Document 1 discloses a conveying section that conveys an object on an upward-facing conveying surface in any horizontal direction, and at the same time, that has a driving body that rotates in the conveying direction within the conveying surface, a conveying structure that has an outer frame that surrounds the outer periphery of the conveying surface in the horizontal direction, and an omnidirectional conveying system in which the conveying structure is spread over a conveying area. A schematic diagram of the conveying structure of Patent Document 1 is shown in FIG.

[0008] In the conveying structure of Patent Document 1, the driving body is a belt. In order to reliably convey an object, it is necessary to make the area of ​​the conveying surface occupied by the belt as large as possible. Firstly, the reason is that the larger the area of ​​the conveying surface that the belt occupies, the greater the driving force that can be applied to the transported object. When an object is placed on the conveying surface, if the area of ​​contact with the belt is large, the force with which the object presses against the belt will be stronger, and sufficient driving force will be transmitted to the object and the object will move stably. Secondly, this is to ensure that the object can be moved from one conveying device to an adjacent conveying device. When an object has finished moving on the belt in one conveying device, if part of the object is not on the belt of the adjacent conveying device, no driving force will act on the object. In other words, if an object is not on both the belt of one conveyor and the belt of an adjacent conveyor at a moment, it will stop between the two conveyors. If the area of ​​the belt on the conveyor surface is large, the distance between the belt of one conveyor and the belt of the adjacent conveyor will be small, so this type of stoppage of the object can be avoided.

[0009] In the conveying structure of Patent Document 1, first, both ends of the belts are extended to near the outer periphery of the conveying surface, and second, the exposed length of the belt near the center of the conveying surface is made longer and the exposed length of the belt at the end of the conveying surface is made shorter in accordance with the size of the conveying surface. This ensures that the exposed surface of the belt is as large as possible within the circular outer frame, thereby making the area of ​​the conveying surface that the belt occupies as large as possible.

[0010] However, in the conveying structure of Patent Document 1, it is necessary to use belts of different lengths. Furthermore, bearings for supporting the shafts on which the belts are installed must be provided for each belt because the lengths of the individual belts are different. This inevitably requires precise adjustment of the bearing positions of the shafts for each belt. If the conveying structure of the invention described in Patent Document 1 is laid out over a wide conveying area, the number of shafts will become enormous, and considering the effort required for their manufacture and maintenance for adjusting their position, it is not easy to realize the invention of Patent Document 1. As other similar techniques, the devices shown in Non-Patent Document 1 and Non-Patent Document 2 are known. The device disclosed in Non-Patent Document 1 is a system that can drive three omni-directional wheels (omni-wheels) individually and transport objects freely in any direction and orientation. The units are configured in a hexagonal column shape and are arranged in an array. Pilot tests have already been conducted at a warehouse of German transport company DHL, and the system has the same performance as a belt conveyor, but there are problems such as the inability to move each unit individually and the power transmission between the omni-directional wheels and the uneven ground. In other words, it is not possible to change the direction of the objects being transported during their transportation, and it is difficult to move the objects with a high degree of freedom. The device disclosed in Non-Patent Document 2 is an omnidirectional transport device that uses electromagnetic force to float a plate-shaped movable part above a flat tile and move it freely. Because each unit is driven independently, it is possible to move and transport objects with a higher degree of freedom. However, because it uses magnets, it has weaknesses such as restrictions on miniaturization and the inability to handle magnetically sensitive objects. The transport load is approximately 76 kg / m 2 This is low and does not meet the standards for practical application. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] JP 2020-132299 A [Non-patent literature]

[0012] [Non-Patent Document 1] celluveyor,http: / / donar.messe.de / exhibitor / hannovermesse / 2017 / L857706 / celluveyor-flyer-eng-511765.pdf, http: / / www.biba.uni-bremen.de / en / news / article / celluveyor-success-story-withdhl.html [Non-Patent Document 2] XPlanar, https: / / www.beckhoff.co.jp / video / default.php?video=https: / / multimedia.beckhoff.com / video / en / beckhoff_hm_2019_xplanar_570x320_e.mp4&width=570&height=320&sound=1 Summary of the Invention [Problem to be solved by the invention]

[0013] The object of the present invention is to provide a conveying structure in which the belt occupies a large area on the conveying surface, thereby allowing the transported object to be transported stably, the direction of the transported object can be changed during transport, the load of the object that can be transported is within a practical range, and there is no need to use multiple belts of different lengths, and furthermore, there is no need to provide a shaft bearing that supports the conveying belt for each belt, and the position of the shaft bearing that supports the conveying belt does not need to be precisely adjusted for each belt, and to provide an omnidirectional conveying system in which, by spreading the conveying structure over a wide conveying area, the object can be freely transported from anywhere to any destination, like a mobile transportation means, and which has a high level of safety like a stationary transportation means. [Means for solving the problem]

[0014] The invention according to claim 1 is an omnidirectional conveying system in which a plurality of single conveying structures each having a conveying surface at the top are arranged to form a conveying area that spreads with almost no gaps on the XY plane, the conveying surface including a frame body fixed to the periphery of the conveying structure and a movable body that rotates in any direction along the inner or outer side of the frame body, the movable body including a conveying section that conveys people and / or objects, the movable body being rotationally driven by a first driving means, the conveying section including a central shaft supported rotatably in the center of the movable body and driven directly or indirectly by a second driving means, and a conveying section including a conveying section that conveys people and / or objects on either side of the central shaft. At least one of each was distributed a driven shaft supported rotatably in parallel with the central shaft, , arranged on the left and right of the central shaft The driven shaft Between each The conveyor belt Alternate left and right The present invention relates to an omnidirectional conveying system characterized in that the conveying system is wound.

[0015] The invention according to claim 2 relates to the omnidirectional conveying system according to claim 1, wherein the first driving means is provided on the conveying structure.

[0016] The invention according to claim 3 relates to the omnidirectional conveying system according to claim 1, wherein the first driving means is provided on the movable body.

[0017] The invention according to claim 4 relates to the omnidirectional conveying system according to any one of claims 1 to 3, characterized in that a covering belt is provided to cover the outside of the conveying belt.

[0018] The invention according to claim 5 is an omnidirectional conveying system, the omnidirectional conveying system including a detection unit for detecting a position of the conveyed object. 、 A destination recognition unit that determines the destination of the transported item, Part and a control unit that instructs the operation of the transport structure, the control unit including an information processing system consisting of a processor, a memory, and an input / output device, a driver that sends a control command to the first drive means and a driver that sends a control command to the second drive means based on a command from the information processing system, a command connection to the first drive means and a command connection to the second drive means, the information processing system including a route calculation unit that calculates a transport route for the transported object based on the position of the transported object calculated from image data transmitted from the detection unit and the destination of the transported object transmitted from the purpose recognition unit, and a direction on a horizontal plane of each of the movable bodies of the transport structure located on the transport route. the omnidirectional conveying system according to any one of claims 1 to 4, characterized in including a movable body direction calculation means for calculating a direction of the movable body and a timing when the direction of the movable body on a horizontal plane is required; a timing calculation means for calculating a drive voltage to be applied to the second driving means of each of the conveying structures located on the conveying path, its polarity, and the application timing; a movable body direction output means for instructing a driver that sends a control command to the first driving means to rotate the movable body on the horizontal plane at an appropriate time; and a timing output means for instructing a driver that sends a control command to the second driving means of the drive voltage to be applied to the second driving means at an appropriate time and its polarity.

[0019] The invention according to claim 6 is an omnidirectional conveying system, characterized in that the object recognition unit includes a monitor panel and a mouse. 5 The present invention relates to an omnidirectional conveying system as described above.

[0020] The invention according to claim 7 is an omnidirectional conveying system, characterized in that the object recognition unit includes a touch panel. 5 or 6 The present invention relates to an omnidirectional conveying system as described above. Effect of the Invention

[0021] According to the invention of claim 1, the omnidirectional conveying system of the present invention is configured by arranging a plurality of single conveying structures each having a conveying surface at the top, forming a conveying area that spreads almost without gaps on the XY plane, so that within the conveying area, the direction of the conveyed object can be changed during conveying, and the conveyed object can be freely conveyed from any point to any destination. Furthermore, the current and future positions of the plurality of conveyed objects on the conveying area are managed in a unified manner as long as they are within the conveying area, and collisions are avoided, providing a high level of safety. The conveying structure has a conveying surface that includes a frame body fixed to the periphery of the conveying structure and a movable body that rotates in any direction along the inner or outer side of the frame body, the movable body including a conveying section that conveys people and / or objects, and the movable body is rotationally driven by a first driving means, so that the objects to be conveyed can be moved in any direction on the conveying structure by the conveying section. The conveying section includes a central shaft rotatably supported at the center of the movable body and driven directly or indirectly by the second driving means, and driven shafts rotatably supported on either side of the central shaft, and the conveying belt is wound around the central shaft and the driven shaft, so that the proportion of the area of ​​the conveying surface that is exposed by the conveying belt can be increased, and the conveyed objects are moved stably. Furthermore, there is no need to use multiple conveying belts of different lengths, and there is no need to provide multiple bearings for each conveying belt on the shaft on which the conveying belt is installed, and the bearing position of the shaft does not need to be precisely adjusted for each belt. In this way, the invention according to claim 1 of the present invention can maintain a large area of ​​the conveying surface that is occupied by the conveying belt with a relatively simple configuration.

[0022] According to the invention as set forth in claim 2, the first driving means is provided on the transport structure, and therefore the movable body is rotationally driven on the transport surface by the first driving means.

[0023] According to the invention defined in claim 3, the first driving means is provided on the movable body, so that the movable body is rotationally driven on the conveying surface by the first driving means.

[0024] According to the invention of claim 4 of the present invention, a covering belt is provided to cover the outside of the conveyor belt, eliminating the gaps that existed between multiple conveyor belts, and protrusions of the transported object are no longer trapped in the gaps between the belts to hinder the transport, thereby improving the stability of the transport.

[0025] According to the invention as set forth in claim 5, the transported object can be transported safely and efficiently from the current position in the transport area to the destination.

[0026] According to the invention as set forth in claim 6, the destination recognition unit for determining the destination of the transported object is characterized by including a monitor panel and a mouse, so that the destination can be input reliably.

[0027] According to the seventh aspect of the present invention, the destination recognition unit that determines the destination of the transported article is characterized by including a touch panel, so that the destination can be input reliably and easily. [Brief description of the drawings]

[0028] [Figure 1] FIG. 2 is a perspective view of a transport structure according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram showing a modified example of the transport structure of FIG. [Diagram 3] 2A and 2B are diagrams showing a driving means for a conveyor shaft of the conveyor structure in Fig. 1, where (a) is a side view of the conveyor structure, and (b) is a perspective view of the main driving parts of the conveyor belt extracted from (a). [Figure 4]2 is a diagram showing a rotation drive means for a movable body of the transport structure in FIG 1. It shows a configuration in which a first drive means is provided on the movable body. (a) is a side view of the transport structure, and (b) is a perspective view of the rotation drive main part (a) (a part surrounded by a dashed line). [Diagram 5] 2 is a diagram showing a rotation driving means for a movable body according to a modified example of the transport structure of FIG 1. FIG 2 shows a configuration in which a first driving means is provided on the bottom plate of the transport structure. [Figure 6] 1 is a diagram showing the principle of transporting an object according to the present invention, in which (a) to (c) show a case where the distance between the belts is small compared to the size of the object, and (d) to (e) show a case where the distance between the belts is large compared to the size of the object. [Figure 7] 2A and 2B are diagrams illustrating a frame for connecting the transport structures of the embodiment in Fig. 1. (a) is a perspective view of the frame, and (b) shows how the transport structures are connected to each other via the frame. [Figure 8] 10A and 10B are diagrams illustrating a frame for connecting transport structures according to still another embodiment of the present invention, in which (a) is a perspective view of the frame, and (b) shows how the transport structures are connected to each other via the frame. [Figure 9] 1A and 1B are top views of an omnidirectional transport system according to yet another embodiment of the present invention, in which (a) shows a state in which the transport structures are arranged vertically and horizontally, and (b) shows a state in which the transport structures are arranged in a honeycomb shape. [Figure 10] 10A and 10B are diagrams showing a first embodiment of the omnidirectional conveying system of FIG. 9, in which (a) is a wiring diagram of the omnidirectional conveying system, and (b) is a top view of the omnidirectional conveying system. [Figure 11] FIG. 10 is a diagram showing a second embodiment of the omnidirectional conveying system of FIG. [Figure 12] FIG. 10 is a diagram showing a third embodiment of the omnidirectional conveying system of FIG. [Figure 13] 10 is a diagram showing a linear conveyance experiment of the omnidirectional conveyance system shown in FIG. 10(a) is a diagram showing the configuration of the experimental apparatus, and (b) is a diagram showing the change in conveyance speed with respect to the weight of the conveyed object. [Figure 14]10A and 10B are diagrams showing a direction-changing experiment of the transport structure in Fig. 9. (a) is a top view before transport, and (b) is a top view after transport. [Figure 15] FIG. 1 is a diagram showing a conventional example of a transport structure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an omnidirectional conveying system according to the present invention will be described in detail with reference to the accompanying drawings.

[0030] [Construction of the transport structure] FIG. 1 shows a conveying structure (2) which is a part of an omnidirectional conveying system (1) according to the present invention. The conveying structure (2) includes a frame (5) having a polygonal outer shape with a circular hole opened in the center, and a movable body (6) in contact with the inner peripheral surface of the hole of the frame (5). The movable body (6) has a two-layer structure. The upper surface of the upper plate (16) is the conveying surface (3), which is part of the conveying section (7) that conveys the conveyed object (15) (people and / or objects). The lower plate (17) is provided with a first driving means (27) that rotates the conveying surface to any angle, and a second driving means (25) that generates the power required for the conveying section. The upper plate (16) and the lower plate (17) are connected by a rib (18), so that the upper plate (16) and the lower plate (17) rotate together by the first driving means (27). The conveying section (7) includes a central shaft (9) rotatably supported at the center of the movable body (6), and driven shafts (10) rotatably supported on either side of the central shaft (9) and parallel to the central shaft (9). The central shaft (9) and the two driven shafts (10) are parallel to each other and are disposed parallel to the conveying surface (3). A conveyor belt (11) is wound around each of the central shaft (9) and the driven shaft (10). The upper surface of the conveyor belt (11) is exposed so as to be flush with the conveying surface (3). A total of eight conveyor belts (11) are wound around two pairs of shafts, four between the central shaft (9) and one driven shaft (10) and four between the central shaft (9) and the other driven shaft (10), so that a large portion of the upper surface of the conveyor belts (11) can be exposed. As a result, a large area of ​​the conveyor belts (11) can be secured for the conveying surface (3).

[0031] In the conveying structure (2) according to this embodiment, it is not necessary to use conveying belts of different lengths as in Patent Document 1. In the conveying structure (2) according to this embodiment, since the conveying belts (11) are the same length, multiple conveying belts (11) can be wound around one shaft, and it is not necessary to prepare a different shaft for each conveying belt (11), and it is not necessary to provide bearings for the central and driven shafts (9, 10) that support the conveying belt (11) for each conveying belt as in Patent Document 1. Naturally, the bearing positions of the central and driven shafts (9, 10) that support the conveying belt (11) do not need to be precisely adjusted for each conveying belt (11), but can be adjusted all at once.

[0032] In this embodiment, it is possible to secure a large ratio of the area of ​​the conveyor belt (11) to the conveyor surface (3), and at the same time, it is possible to relatively easily realize a structure in which the ratio of the area of ​​the conveyor belt (11) is increased. When a large number of conveyor structures (2) are laid out, maintenance is relatively easy and reliability is high.

[0033] A modified example of the conveying structure (2) is shown in Fig. 2. Fig. 2 shows a configuration in which the outer sides of the eight conveying belts (11) exposed on the conveying surface (3) are further covered with a covering belt (19). The width of the covering belt (19) may be larger than the width of the conveying belts (11). By covering the conveying belts (11) with the covering belt (19), the gaps that originally existed between the multiple conveying belts (11) are eliminated, and protrusions of the conveyed object (15) are no longer caught in the gaps between the conveying belts (11) and hinder the conveying, which increases the stability of the conveying and improves the conveying capacity.

[0034] FIG. 3 shows the part that drives the conveyor belt (11). Here, FIG. 3(a) is a side view of the conveyor structure, and FIG. 3(b) is a perspective view of the main driving part of the conveyor belt (11) extracted from FIG. 3(a). As shown in FIG. 3(a), the movable body (6) has a two-layer structure. The movable body (6) includes an upper plate (16), a lower plate (17), and a rib (18) that connects the two. A reduction geared motor (22), which is the second driving means (25), is fixed to the lower plate (17), and the drive shaft (12) is connected to the output shaft of the reduction geared motor (22). The central shaft (9) and the driven shaft (10) are rotatably supported by the upper plate (16) (not shown). As shown in FIG. 3(b), a conveyor belt (11) is wound between the central shaft (9) and the driven shaft (10), and a drive belt (13) is wound between the drive shaft (12) and the central shaft (9).

[0035] The bearings (not shown) that support the drive shaft (12) and the central shaft (9) on the upper plate (16) are designed to be at the ends of the conveying surface (3), which has the effect of allowing the conveying belt (11) to occupy a wider area and of consolidating the covering belt (19) into one. However, they may be installed at positions other than the ends of the conveying surface (3). For example, in this case, multiple driven shafts (10) may be installed depending on the shape of the conveying surface (3), and multiple covering belts (19), such as two, may be used.

[0036] In order to rotate the conveyor belt (11) in the intended direction, the movable body (6) is rotated on a horizontal plane. There are two methods for doing so. One is to provide the first driving means (27) on the movable body (6) itself, and the other is to provide the first driving means (27) on the bottom plate (21) of the conveyor structure (2).

[0037] FIG. 4 shows the former. Here, FIG. 4(a) is a side view of the conveying structure, and FIG. 4(b) is a perspective view of the main part of the movable body (encircled by the dashed line) in FIG. 4(a) that rotates the movable body (6) itself. The lower plate (17) is provided with a first driving means (27) that rotates the movable body (6) itself. Here, the first driving means (27) is a servomotor (26). The servomotor (26) is installed facing downward, and a first gear (23) is attached to the output shaft of the servomotor (26). A second gear (24) is fixed to the bottom plate (21) of the conveying structure (2) so as not to rotate, and the second gear (24) does not move relative to the ground and the bottom plate (21) of the conveying structure (2). The first gear (23) is engaged with the second gear (24).

[0038] FIG. 5 shows the latter. In the latter configuration, a first driving means (27) is provided at a position off-center on the bottom plate (21) of the conveying structure (2). The first driving means (27) is a servomotor (26), but the first driving means does not necessarily have to be a servomotor, and other means obvious to those skilled in the art may be used. The servomotor (26) is installed facing upward, and a first gear (23) is attached to the output shaft (S) of the servomotor (26). A vertical shaft (28) is attached to the center of the bottom plate (21) of the conveying structure (2) facing vertically upward. The vertical shaft (28) is rotatably supported on the bottom plate (21) by a bearing such as a bearing (not shown). A second gear (24) is fixed to the vertical shaft (28), and the lower plate (17) of the movable body (6) is connected to the tip of the vertical shaft (28). The second gear (24) meshes with the first gear (23). The material of the conveying structure (2), including the movable body (6), the frame (5), the central shaft (9), the driven shaft (10), and the drive shaft (12), is not limited, and may be made of synthetic resin such as ABS resin, polyvinyl chloride resin, melamine resin, or styrene resin, or may be made of metal such as iron, stainless steel, aluminum, or brass.

[0039] [Function of the transport structure] Fig. 6 shows the principle by which an object (15) is conveyed. Fig. 6(a) to Fig. 6(c) show the case where the gap between the belts is small compared to the size of the object (15), and Fig. 6(d) to Fig. 6(e) show the case where the gap is large. In Fig. 6(a), when the object (15) is placed on the conveying surface (3) of the conveying structure (2), the object (15) is pressed against the conveying belt X (see reference symbol 14X in Fig. 6(a)) by its own weight, and moves in the driving direction of the conveying belt X (14X) due to friction with the driven conveying belt X (14X). Since most of the object (15) is still on the conveying belt X (14X) until the leading edge of the object (15) first reaches the leading edge of the conveying belt X (14X), the object (15) continues to move due to friction with the conveying belt X (14X). Next, as shown in Fig. 6(b), when the rear end of the transported object (15) reaches the front end of the transport belt X (14X), the driving force is no longer transmitted from the main transport belt X (14X) to the transported object (15), but since the gap between the belt X (14X) and the belt Y (see reference symbol 14Y in Fig. 6(b)) is small compared to the size of the transported object (15), the front end of the transported object (15) is placed on the transport belt Y (14Y) of the adjacent transport structure (2). Therefore, the driving force is transmitted to the adjacent transport belt Y (14Y), and the transported object (15) moves on the transport belt Y (14Y) in its driving direction, as shown in Fig. 6(c).

[0040] In Fig. 6(d) and (e), the gap between the belts is larger than the size of the object (15). As shown in Fig. 6(d), the object (15) moves on the conveyor belt X (14X) in the driving direction. However, since the gap between the conveyor belt X (14X) and the adjacent conveyor belt is larger than the size of the object (15), even if the rear end of the object (15) reaches the front end of the conveyor belt X (14X), the front end of the object (15) does not get on the conveyor belt Y (14Y) of the adjacent conveyor structure (2). As shown in Fig. 6(e), the driving force is not transmitted from the adjacent conveyor belt Y (14Y) to the object (15), and the object does not move on the conveyor belt Y (14Y) in the driving direction. As described above, it can be seen that transportation is possible when the gap between the transport belt X (14X) and the adjacent transport belt Y (14Y) is small compared to the size of the object (15). Therefore, to ensure reliable transportation of the object (15), the gap between the transport belt X (14X) and the adjacent transport belt Y (14Y) must be small compared to the size of the object (15). In other words, the area of ​​the transport belt (11) relative to the transport surface (3) must be large.

[0041] As shown in Figures 3(a) and 3(b), a drive belt (13) is wound between a drive shaft (12) inside the movable body (6) and a central shaft (9) at the top of the movable body (6). A motor (22) with a reduction gear is connected to the drive shaft (12). When the motor (22) with a reduction gear rotates, the drive shaft (12) rotates, which drives the drive belt (13) to rotate the central shaft (9) at the top of the movable body (6). This drives multiple conveyor belts (11), and the transported object (15) placed on the conveyor belt (11) can be moved in the driving direction of the conveyor belt (11).

[0042] The rotation of the movable body (6) on a horizontal plane will now be described. As shown in Fig. 4, a second gear (24) is fixed to the bottom plate (21) of the transport structure (2) so as not to rotate, and the second gear (24) is engaged with the first gear (23). Therefore, when a servo motor (26) provided on the lower plate (17) of the movable body (6) rotates the first gear (23), the movable body (6) rotates around the center of the bottom plate (21) of the transport structure (2). By supplying a signal to the servo motor (26), the movable body (6) rotates a specified angle on a horizontal plane. The lower plate (17) and upper plate (16) of the movable body (6) are joined by ribs (18), so the lower plate (17) and upper plate (16) rotate in the same manner. By rotating the conveyor section (7) provided on the upper plate (16) of the movable body (6), the driving direction of the conveyor belt (11) can be directed in the direction in which the object (15) is to be conveyed.

[0043] As shown in FIG. 5, the second gear (24) attached to the vertical shaft (28) meshes with the first gear (23). Therefore, when the servo motor (26) rotates and the first gear (23) rotates, the lower plate (17) of the movable body (6) rotates around the vertical shaft (28) of the bottom plate (21) of the conveying structure (2) as its central axis. By supplying a signal to the servo motor (26), the movable body (6) rotates a specified angle on a horizontal plane. By rotating the conveyor part (7) provided on the upper plate (16) of the movable body (6), the driving direction of the conveyor belt (11) can be oriented in the direction in which the object (15) is to be conveyed.

[0044] [Omnidirectional conveying system] The multiple conveying structures (2) are connected via a frame (5). FIG. 7 is a diagram showing the arrangement of the frame (5) and the transport structures (2) connected to each other via the frame (5). As shown in Fig. 7(a), the frame (5) may have a hexagonal outer periphery and a circular inner periphery. By making the outer periphery of the frame (5) hexagonal and bringing the sides of the outer periphery into contact with each other, a large number of transport structures (2) can be arranged in a honeycomb shape as shown in Fig. 7(b).

[0045] As shown in Fig. 8(a), the frame (5) may have a shape sandwiched between three circular arcs. By contacting the outer periphery of the transport structure (2) with each of the circular arcs and arranging the frame (5) and the transport structure (2) without any gaps, a large number of transport structures (2) can be arranged in a honeycomb shape as shown in Fig. 8(b). Arranging the conveying structure (2) in a honeycomb shape produces the following advantageous effects in conveying the object (15) to be conveyed.

[0046] FIG. 9 is a top view of the omnidirectional conveying system (1) according to the present invention. In the omnidirectional conveying system (1), a plurality of single conveying structures (2) each having a conveying surface (3) at the top are arranged to form a conveying area (4) that spreads almost without gaps on the XY plane. The omnidirectional conveying system (1), which has a plurality of conveying structures (2) arranged in a planar manner with no gaps, conveys an object (15) to be conveyed in any horizontal direction.

[0047] By arranging a large number of conveying structures (2) in a honeycomb pattern, the distance between the movable bodies (6), and therefore the distance between the conveying belts (11), can be minimized and made constant. As an example, Figure 9(a) shows a case where the transport structure (2) is arranged in a vertical and horizontal direction (hereinafter referred to as a vertical and horizontal arrangement), and Figure 9(b) shows a case where the transport structure (2) is arranged in a honeycomb shape (hereinafter referred to as a honeycomb arrangement). In the case of a vertical / horizontal arrangement, the center-to-center distance between adjacent transport structures (2) (hereinafter referred to as the center-to-center distance of the transport structures) varies depending on the adjoining direction of the transport structures (2). The center-to-center distance of the transport structures when the transport structures (2) are adjacent to each other diagonally is larger than the center-to-center distance of the transport structures when the transport structures (2) are adjacent to each other vertically and horizontally. If the center-to-center distance of the transport structures when the transport structures (2) are adjacent to each other vertically and horizontally is a, the center-to-center distance of the transport structures when the transport structures (2) are adjacent to each other diagonally is a×√2. On the other hand, in the case of a honeycomb arrangement, the center distance between the carriers is all the same (a) regardless of the direction of adjacency.

[0048] Therefore, when the article (15) is transported diagonally to an adjacent transport structure (2) using the vertical-horizontal arrangement, the article (15) must overcome a larger gap in the belts than when a similar transport is performed using the honeycomb arrangement, which may cause the transport to become unstable. Conversely, it can be seen that the honeycomb arrangement provides higher stability when the article (15) is transported diagonally to an adjacent transport structure than when the vertical-horizontal arrangement is used.

[0049] In order to reduce the distance between the transport structures (2), it is preferable to make the area of ​​the upper surface of the frame (5) as small as possible while still ensuring strength. By reducing the area of ​​the upper surface of the frame (5), the center-to-center distance of the transport structures is reduced, improving stability when transporting the transported object (15).

[0050] In order to reduce the distance between the conveying structures (2), it is also effective to make the conveying structures (2) themselves smaller. In other words, if the conveying structures (2) are smaller, the center-to-center distance between the conveying structures will naturally be smaller. This reduces the distance of the gaps between the belts that are obstacles to conveyance, improving the stability of conveyance. Furthermore, since the frequency of direction changes can be increased, the conveying path can be made finer.

[0051] However, the transport structure (2) cannot be made arbitrarily small. If it is considered to cover a certain area with transport structures (2), the number of transport structures (2) would become enormous if the transport structures (2) were made small, and the number of maintenance works for the transport structures (2) would also become enormous.

[0052] The omnidirectional conveying system (1), which is equipped with a plurality of conveying structures (2) arranged in a planar manner with no gaps between them, conveys objects in any horizontal direction. The omnidirectional conveying system (1) is equipped with a detection unit (30) that detects the position of the conveyed object (15), a destination recognition unit (31) that determines the destination of the conveyed object (15), and a control unit (32) that instructs the operation of the conveying unit (7) and the direction changing unit.

[0053] The detection unit (30) may include a sensor for detecting the position of the object (15) on the conveying area, as described below. (1) A device such as a mobile phone or smartphone equipped with a GPS function, or a dedicated remote controller equipped with a GPS function, which is carried by a person riding the omnidirectional conveying system (1) or attached to an object on the omnidirectional conveying system (1) and transmits location information obtained by the GPS function to the control unit (32). (2) Cameras installed around the omnidirectional transport system (1) capture images of objects and people riding on the omnidirectional transport system (1) and transmit image data to the control unit (32). The control unit (32) recognizes the position from the image data. (3) A pressure sensor, acceleration sensor, temperature sensor, sonic pressure sensor, light sensor, camera, etc. that is installed in the omnidirectional conveying system (1) to detect objects and people and transmits the detected position data to the control unit (32).

[0054] The destination recognition unit 31 can recognize the destination of the transported object 15 in the transport area of ​​the omnidirectional transport system 1. The destination recognition unit 31 can be any of the following: (1) If the destination has been decided before the trip The device may be a mobile phone, a smartphone, or a similar device, a touch panel, a dedicated remote controller, or the like, and the destination is input by using keys, a touch screen, a mouse, or the like, and transmitted to the control unit (32). (2) If the destination changes at any time (2-1) Using pressure sensors, acceleration sensors, temperature sensors, sonic pressure sensors, light sensors, etc., it detects weight shifts and movements that block light, and infers the direction in which the person wants to move. (2-2) The artificial intelligence determines the person's intention and destination based on the following items, etc., and operates the omnidirectional transport system (1). The artificial intelligence is provided in a device such as a mobile phone or a smartphone, or a dedicated remote controller, etc. The artificial intelligence may also be provided in the control unit (32). "Language understanding," "logical reasoning," "learning from experience," "swarm intelligence algorithms," and "Bayesian estimation theory"

[0055] The control unit (32) includes an information processing system (32e) consisting of a processor, a memory, and an input / output device, a driver (32a) that sends control commands to the first driving means (27) and a driver (32b) that sends control commands to the second driving means (25) based on commands from the information processing system, and a command connection (32c) to the first driving means (27) and a command connection (32d) to the second driving means (25).

[0056] The information processing system (32e), consisting of a processor, a memory, and an input / output device, has a route calculation means (not shown) that calculates the transport route of the transported item (15) based on the position of the transported item (15) calculated from the image data transmitted from the detection unit (30) and the destination of the transported item (15) transmitted from the purpose recognition unit (31). When there is one article (15) to be transported, the route calculation means calculates the shortest route connecting the current position of the article (15) and the destination. When there are multiple objects 15 in the transport area, a route is determined so that the objects 15 do not collide with each other and so that the objects 15 can be transported efficiently from their starting point to their destination. Here, "efficient" means that the total transport time of all the objects 15 is minimized, rather than that the transport route is optimal for each of the objects 15, in other words, that overall optimization is achieved.

[0057] The information processing system, which is composed of a processor, a memory, and an input / output device, includes a movable body direction calculation means for calculating the direction in a horizontal plane of each movable body (6) of a conveying structure (2) located on the conveying path and the timing when the direction in the horizontal plane of the movable body (6) is required, and a timing calculation means for calculating the drive voltage to be applied to each second drive means (25) of the conveying structure (2) located on the conveying path, its polarity, and the application timing. The information processing system, which is composed of a processor, a memory, and an input / output device, includes a movable body direction output means for instructing a driver (32a), which sends a control command to the first driving means (27), to rotate the movable body (6) on a horizontal plane at an appropriate time, and a timing output means for instructing the driver (32a), which sends a control command to the second driving means (25), to apply a driving voltage to the second driving means (25) at an appropriate time and its polarity.

[0058] [First embodiment] A first embodiment of the omnidirectional conveying system (1) is shown in Fig. 10. Fig. 10(a) is a wiring diagram of the omnidirectional conveying system (1), and Fig. 10(b) is a top view of the omnidirectional conveying system (1). The detection unit (30) of this system is a camera (37). The camera (37) photographs the transported object (15) carried on the omnidirectional transport system (1). The camera (37) transmits image data of the transported object (15) to the control unit (32). This system shows a case where the destination (33) is determined in advance. The purpose recognition unit (31) is a monitor panel (36) and a mouse (38) connected to the control unit (32). The monitor panel (36) shows a top view of the omnidirectional transport system (1), and the destination (33) can be input by clicking the mouse (38) on the monitor panel (36) to where the transported item (15) is to be delivered. The destination recognition unit (31) may be a touch pad (39) wirelessly connected to the control unit (32). A top view of the omnidirectional transport system (1) is displayed on the touch pad (39), and the destination (33) can be input by touching the location where the transported object (15) is to be delivered on the touch pad (39).

[0059] The core of the control unit (32) is an information processing system. First, the information processing system recognizes the position of the transported object (15) from the image data. Secondly, the information processing system calculates the transport route of the article (15) by a route calculation means based on the current position (34) of the article (15) and the destination (33) information input from the purpose recognition unit (31). Since there is only one article (15) in this embodiment, the transport route may be the shortest route between the current position (34) of the article (15) and the destination (33). Thirdly, the information processing system identifies the conveying structure (2) on the conveying path, calculates by a movable body direction calculation means what direction and at what timing the movable body (6) of the conveying structure (2) on the conveying path should have, and creates a movable body direction table showing the result. Fourth, the information processing system uses a timing calculation means to calculate what voltage should be applied and at what timing to the second driving means (25) of the transport structure (2) on the transport path, and creates a drive timing table showing this. Sixth, the information processing system instructs the driver (32a), which sends a control command to the first driving means (27), on the appropriate direction of the movable body (6) on the horizontal plane at the appropriate time, using the movable body direction output means, in accordance with the created movable body direction table. The information processing system instructs the driver (32b), which sends a control command to the second driving means (25), on the belt driving direction and applied voltage at the appropriate time, using the timing output means, in accordance with the created drive timing table. Seventh, a driver (32a) that sends control commands to the first driving means (27) and a driver (32b) that sends control commands to the second driving means (25) transmit signals to the first driving means (27) and the second driving means (25), respectively, based on commands from the information processing system.

[0060] An example of the movable body direction table is shown in Table 1. For simplicity, it is assumed that the transported object (15) moves a distance of 1 in 1 second. In Table 1, in order to transport the transported object (15) from the starting point to the destination (33), for example, the transport structure ε needs to face in the direction (-1, 0) from 0 to 1 second, the transport structure δ needs to face in the direction (-1 / 2, -√3 / 2) or between (-1, 0) and (-1 / 2, -√3 / 2) from 1 to 2 seconds, and if the size of the transport structure does not affect the transport direction, the structure ζ needs to face in the direction (-1 / 2, -√3 / 2) from 2 to 3 seconds. Of course, in order to achieve reliable transport, the transport structures (2) may be driven at slightly different times.

[0061] [Table 1]

[0062] An example of a timing table is shown in Table 2. Here, the second column shows the voltage. It is known that when a voltage of 7.2 V is applied to the second driving means (25), the conveyor belt (11) is driven at a speed of 1. From this relationship, the voltage can be converted into a speed. Table 2 shows that the belt of the conveyor structure ε needs to be driven at a speed of 1 from 0 to 1 second, and the belt of the conveyor structure δ needs to be driven at a speed of 1 from 1 to 2 seconds. The same can be interpreted for the conveyor structure ζ.

[0063] [Table 2]

[0064] These processes are repeated sequentially during transportation. Each time, the difference between the position of the transported object assumed in the previous movable body direction table and timing table and the actual position of the transported object (15) is extracted, and the tables are corrected taking this difference into consideration. In this way, the transported object (15) is transported to the destination (33).

[0065] The first driving means (27) may be a servo motor (26). The servo motor (26) may be driven by DC, AC, or pulses. By sending a signal to the servo motor (26) of the first driving means (27), the direction of the movable body (6) on the horizontal plane is set to the direction instructed by the information processing system (32). The second drive means (25) may be a DC or AC motor. By applying a voltage to the motor in a positive and negative direction, the conveyor belt (11) is driven in a forward and reverse direction.

[0066] The distance and direction in which the object (15) is transported by one transport structure (2) is determined by a transport vector

number

number

[0067] In Fig. 10(b), seven transport structures (α, β, γ, δ, ε, ζ, η) are arranged in a honeycomb shape. The horizontal axis is x and the vertical axis is y. The transported object (15) is first transported by transport structure ε in which the direction of the movable body (6) on the horizontal plane is oriented at -180° with respect to the x-axis, then transported by transport structure δ in which the direction of the movable body (6) on the horizontal plane is oriented at -120° with respect to the x-axis, and finally transported by transport structure ζ in which the direction of the movable body (6) on the horizontal plane is oriented at -120° with respect to the x-axis, to reach the destination.

[0068] In this case, the transfer vector in the transfer structure ε

number

number

number

number

number

[0069] [Second embodiment] A second embodiment of the omnidirectional transport system (1) is shown in FIG. 11. FIG. 11 shows a transport system for people and luggage in a crowded area, such as a train station, a shopping mall, or an airport. If the item to be transported is luggage, the area may be a warehouse. The transport structures (2) are laid out in a honeycomb pattern in an area centered on the station. A human user may ride on the transport structure (2) and move around the transport area (4).

[0070] The detection unit 30 may be a smartphone 52 equipped with a GPS function. The smartphone 52 of the user A 51 continuously transmits the current position 34 to the control unit 32 of the omnidirectional conveyance system 1 via the Internet, so that the control unit 32 can know which conveyance structure 2 the user A 51 is on.

[0071] The destination recognition unit (31) may be a smartphone (52). For example, if a user A (51) wants to go from a station (53) to a department store (54), first, the user A (51) may start an app on the smartphone to display a map showing an area where the user A can travel, and input the destination by touching the department store (54). The destination information may be immediately transmitted to the control unit (32). Secondly, the information processing system of the control unit (32) calculates the transportation route of user A (51) by the route calculation means in the same way as shown in [Embodiment 1]. However, since many users are in the transportation area at the same time in urban areas, the transportation routes of all users are checked and the route of user A (51) is calculated so that user A (51) does not collide with other users. If this is not possible, the transportation routes of users other than user A (51) are changed. Third, optimization correction is performed so that all users can efficiently reach their destinations (33). As mentioned above, efficient here means that the total transportation time for all users is minimized, rather than that the transportation route is optimal for each individual user, in other words, that overall optimization is achieved. Calculation of the route revealed that transport structure I, transport structure II, transport structure III, transport structure II, transport structure E, transport structure H, transport structure I, transport structure T, transport structure T, transport structure II, transport structure N, and transport structure L are on the transport route. Fourth, similar to the first embodiment, the information processing system calculates, using a movable body direction calculation means, the timing and direction in which the movable body (6) should face for each of the transport structures I to L on the transport path, and creates a movable body direction table showing the results. Fifth, in order to realize an envisaged transport path, the information processing system uses a timing calculation means to calculate what voltage should be applied and at what timing to the second driving means (25) of each of the transport structures i to r on each transport path, and creates a drive timing table showing the calculation. Sixth, the information processing system instructs the driver (32a), which sends a control command to the first driving means (27), to rotate the movable body (6) on a horizontal plane at an appropriate time, using the movable body direction output means, in accordance with the created movable body direction table. The information processing system instructs the driver (32b), which sends a control command to the second driving means (25), to rotate the motor of the second driving means (25) in the forward or reverse direction and to supply voltage, using the timing output means, in accordance with the created drive timing table, in an appropriate time. Seventh, a driver (32a) that sends control commands to the first driving means (27) and a driver (32b) that sends control commands to the second driving means (25) transmit signals to the first driving means (27) and the second driving means (25), respectively, based on commands from the information processing system.

[0072] These processes are repeated sequentially. Each time, the difference between the position of the transported object assumed in the previous movable body direction table and timing table and the actual position of the transported object (15) is extracted, and the table is corrected taking this difference into consideration. In this way, User A (51) is transported to the department store (54).

[0073] [Third embodiment] A third embodiment of the omnidirectional conveying system (1) is shown in Fig. 12. User A (51) may change his / her destination to a movie theater (55) midway to a department store (54). First, for example, at a waypoint, user A (51) starts an app on his / her smartphone and touches the smartphone to input a changed destination. The changed destination is transmitted to the control unit (32). Second, the information processing system immediately calculates a new route using the route calculation means. This calculation is the same as the calculation shown in [Embodiment 2]. By calculating the new route, it is clear that transport structure W, transport structure W, transport structure K, transport structure Y, transport structure T, transport structure R, transport structure S, transport structure T, and transport structure N are on the route. Thirdly, the information processing system generates an updated movable body direction table and a timing table by the movable body direction calculation means and the timing calculation means, in which the transport structure y to the transport structure t are provided with updated parameters. Fourth, the information processing system issues a command to rotate the movable body (6) on a horizontal plane at an appropriate time by the movable body direction output means in accordance with the updated movable body direction table. The information processing system issues a command to the driver (32a) that sends a control command to the second driving means (25) at an appropriate time by the timing output means to instruct the motor of the second driving means (25) to rotate in the forward or reverse direction and to supply a voltage to the driver (32a) in accordance with the updated drive timing table. Fifth, a driver (32a) that sends control commands to the first driving means (27) and a driver (32b) that sends control commands to the second driving means (25) transmit signals to the first driving means (27) and the second driving means (25), respectively, based on commands from the information processing system.

[0074] In the case where it is desired to change the destination of user A (51) most quickly, the direction of the movable body (6) of the conveying structure (2) on which user A (51) is currently riding may be immediately changed in the horizontal plane.

[0075] However, if the direction of the movable body (6) of the transport structure (2) on which the user A is currently riding is immediately changed, the user A (51) may lose his / her balance. In this case, although the direction change of the user A (51) will be delayed by one step, for the safety of the user A (51), the direction of the movable body (6) of the transport structure (2) on which the user A (51) is currently riding may not be changed, and instead, the direction of the movable body (6) of the transport structure (2) on which the user A (51) will next ride (on which the user A is not currently riding) may be changed before the user A (51) rides on it. This prevents the user A (51) from losing his / her balance.

[0076] These processes are repeated sequentially. Each time, the difference between the position of the transported object assumed in the previous movable body direction table and timing table and the actual position of the transported object (15) is extracted, and the tables are corrected taking this difference into account. In this way, User A (51) is transported to the movie theater (55). EXAMPLES

[0077] [Example 1] The omnidirectional conveying system of the present invention will be described in detail below based on an embodiment, however, the present invention is not limited to this embodiment. A demonstration experiment was carried out to show that the omnidirectional conveying system (1) of this embodiment actually functions. FIG. 13 shows a configuration for transporting goods (15) in a linear direction. As shown in FIG. 13(a), three conveying structures (2) were connected in a line. The polarity of the power supplied to the second driving means (25) was set so that the conveying belts (11) of all three conveying structures (2) were driven in the same direction, and 7.2 V was applied to the motor of the second driving means (25) to move the conveying belts (11). When an object (15) was placed on the conveying surface (3), the object (15) moved in a line by the conveying belt (11). The size of the metal disk used as the object (15) was 120 mm in diameter and 15 mm in height. The weight of the object (15) was changed in the range of 1.0 kg to 7.5 kg.

[0078] The conveying state was recorded as a video by a camera. The camera used was a "SONY compact digital camera RX100M4." The video recorded by the camera was analyzed to measure the conveying speed. The relationship with the conveying speed was investigated. The results are shown in FIG. 13(b). When the weight of the conveyed object (15) was in the range of 1.0 kg to 4.0 kg, the conveying speed was approximately 14 m / min. However, when the weight of the conveyed object (15) exceeded 4.0 kg, the conveying speed gradually decreased, and when the weight of the conveyed object (15) was 7.0 kg, the conveying speed was 10.5 m / min. When the weight of the conveyed object (15) was heavier than 7.5 kg, the second driving means (25) was not driven even when a voltage was applied. Thus, it was found that the omnidirectional conveying system according to this embodiment can perform linear conveyance for the conveyed object (15) having a realistic weight.

[0079] [Example 2] Fig. 14 is an embodiment showing an example of direction change. Three conveyor structures (2) were connected in a honeycomb shape. The first driving means (27) was driven so that the driving direction of the conveyor belt (11) of the conveyor structure (2) on the carry-in side was set to be different from the driving direction of the conveyor belt (11) of the conveyor structure (2) on the carry-out side. The conveyed object (15) placed on the conveyor belt (11) on the carry-in side changed direction clockwise at the center of the conveying surface (3), and moved on the carry-out side in a different direction from the carry-in side. In this way, it was found that the omnidirectional conveying system of this embodiment not only allows the conveyed object (15) to be conveyed in a straight line, but also allows the conveyed object (15) to be conveyed in a different direction. [Industrial Applicability]

[0080] The present invention provides a conveying structure in which the belt occupies a large area on the conveying surface, so that the conveyed object can be conveyed stably, the direction of the conveyed object can be changed during conveying, the load of the conveyed object is within a practical range, and it is not necessary to use a plurality of belts of different lengths, and furthermore, it is not necessary to provide a shaft bearing for supporting the conveying belt for each belt, and the position of the shaft bearing for supporting the conveying belt does not need to be precisely adjusted for each belt, and the conveying structure is suitably used to provide an omnidirectional conveying system that can freely convey the conveyed object from anywhere to any destination like a mobile type conveying means and has high safety like a stationary type conveying means by spreading the conveying structure over a wide conveying area. Also, by coloring the belt, when the omnidirectional conveying system of the present invention is viewed from above, it is possible for the omnidirectional conveying system of the present invention to convey information, and therefore the omnidirectional conveying system of the present invention can also be used as a display. [Explanation of symbols]

[0081] 1 Omnidirectional conveying system 2. Transport structure 3. Conveying surface 4. Transport Area 5 Frame 6 Movable body 7. Conveyor 9 Central Shaft 10 Driven shaft 11 Conveyor belt 12 Drive shaft 13 Drive belt 19 Covered Belt 21 Bottom plate 25 Second driving means 27 First driving means 30 Detection unit 31 Purpose recognition part 32 Control section 32a: A driver for sending a control command to the first driving means 32b A driver for sending a control command to the second driving means 32c Command connection to first driving means 32d Command connection to second driving means 32e Information Processing Systems 33 Destination 36 Monitor Panel 38 Mouse 39 Touchpad S Output shaft

Claims

1. An omnidirectional conveying system in which a plurality of single conveying structures each having a conveying surface at a top thereof are arranged to form a conveying area having a substantially tight spread on an XY plane, a frame body, the conveying surface being fixed to a periphery of the conveying structure; a movable body that rotates in any direction along an inner or outer side surface of the frame body, The movable body includes a transport unit that transports people and / or objects, The movable body is rotationally driven by a first driving means, The conveying unit includes a central shaft rotatably supported at the center of the movable body and driven directly or indirectly by a second driving means; at least one driven shaft is disposed on each of the left and right sides of the central shaft and is supported rotatably in parallel with the central shaft; A conveyor belt is wound alternately between the central shaft and the driven shafts disposed on the left and right of the central shaft, An omnidirectional conveying system.

2. 2. The omnidirectional conveying system according to claim 1, wherein said first drive means is provided on said conveying structure.

3. 2. The omnidirectional conveying system according to claim 1, wherein the first driving means is provided on the movable body.

4. 4. The omnidirectional conveying system according to claim 1, further comprising a covering belt for covering an outer side of the conveying belt.

5. An omnidirectional conveying system, The omnidirectional conveying system includes a detection unit that detects the position of a conveyed object, a destination recognition unit that determines a destination of the conveyed object, and a control unit that instructs the operation of the conveying unit, the control unit includes an information processing system including a processor, a memory, and an input / output device, a driver that sends a control command to the first driving means and a driver that sends a control command to the second driving means based on a command from the information processing system, and a command connection to the first driving means and a command connection to the second driving means; The information processing system includes: a route calculation unit that calculates a route for the transported object based on the position of the transported object calculated from the image data transmitted from the detection unit and the destination of the transported object transmitted from the purpose recognition unit; a movable body direction calculation means for calculating a direction of the movable body of each of the transport structures located on the transport path on a horizontal plane and a timing when the direction of the movable body on the horizontal plane is required; a timing calculation means for calculating a drive voltage to be applied to the second drive means of each of the transport structures located on the transport path, a polarity of the drive voltage, and a timing of application of the drive voltage; a movable body direction output means for instructing a driver who sends a control command to the first driving means to rotate the movable body on a horizontal plane at an appropriate time; a timing output means for instructing a driver for sending a control command to the second driving means as to a driving voltage to be applied to the second driving means at an appropriate time and its polarity; Characterized in that it comprises The omnidirectional conveying system according to any one of claims 1 to 4.

6. An omnidirectional conveying system, 6. The omnidirectional transfer system according to claim 5, wherein the object recognition unit includes a monitor panel and a mouse.

7. An omnidirectional conveying system, 7. The omnidirectional conveying system according to claim 5, wherein the object recognition unit includes a touch panel.

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