Material handling systems and automated guided vehicles

Abstract

To provide a cargo handling system for stopping an unmanned carrier at a preferable position so as to be adjacent to a truck, even when a stop position of the truck inside a predetermined area is different therefrom.SOLUTION: A cargo handling system S comprises a truck stopping area E, a truck 1 that stops inside the truck stopping area E, and an unmanned carrier 2. The unmanned carrier 2 constituted so as to stop adjacently to the truck 1 comprises a second deck, a first laser sensor, and a travel control part. The truck 1 is irradiated to a laser toward an obliquely rear side in a horizontal direction by the first laser sensor to detect a side face 11b of a front panel 11 or a side face 12b of a rear panel 12. The travel control part stops the unmanned carrier 2, when the side face 11b of the front panel 11 or the side face 12b of the rear panel 12 is detected.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cargo handling system and an automated guided vehicle used in the cargo handling system. [Background technology]

[0002] Conventionally, there is an unmanned guided vehicle that transports goods removed from an automated warehouse, as disclosed in Patent Document 1. In addition, as a cargo handling system using this type of unmanned guided vehicle 110, there is a system 100 further equipped with a wing vehicle 1 (for example, see Patent Document 2) and a manned guided vehicle 4, as shown in FIG.

[0003] In this system, (1) The wing vehicle 1 is waiting in advance within a designated area E. (2) The unmanned transport vehicle 110 transports the unloaded cargo W to the wing car 1 while loaded with the cargo W, and stops adjacent to the loading platform 10 of the wing car 1 and waits. (3) When the manned guided vehicle 4 scoops up the load W of the unmanned guided vehicle 110, the unmanned guided vehicle 110 leaves the waiting position, and the manned guided vehicle 4 loads the load W onto the loading platform 10 of the wing vehicle 1. (4) Steps (2) and (3) are repeated until the loading platform 10 of the wing truck 1 is filled. It is structured as follows.

[0004] In this type of system, it is preferable to load the load with as little space as possible from the edge of the truck bed. To do this, it is necessary to load the load at a predetermined position on the bed. If the waiting position of the automated guided vehicle is appropriate, the automated guided vehicle 4 can load the load W at the specified loading position by simply moving forward after scooping up the load W, without adjusting the left and right position, as shown in Figure 8.

[0005] However, the stopping positions of trucks within an area are not always the same, and the length of the loading platform varies depending on the type of truck, making it difficult to stop and wait the automated guided vehicles in an appropriate position. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-189463 A [Patent Document 2] JP 2001-097249 A Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, the problem that the present invention aims to solve is to provide a loading and unloading system that can stop an unmanned guided vehicle in a preferred position adjacent to a truck even if the truck's stopping position within a specified area is different each time, and an unmanned guided vehicle for use in said loading and unloading system. [Means for solving the problem]

[0008] In order to solve the above problems, the cargo handling system according to the present invention comprises: Truck parking area, a truck having a first loading platform and a front panel and / or a rear panel, the truck being parked in the truck parking area; an automated guided vehicle having a second platform, a first laser sensor, and a travel control unit, and configured to stop adjacent to the truck; the first laser sensor detects a side surface of the front panel or a side surface of the rear panel by irradiating a laser beam diagonally backward in a horizontal direction with respect to the truck; The travel control unit stops the automated guided vehicle when the side surface of the front panel or the side surface of the rear panel is detected.

[0009] The loading system preferably comprises: A first laser sensor is disposed at the front of the automated guided vehicle.

[0010] The loading system preferably comprises: The automated guided vehicle has a plurality of first laser sensors, The first laser sensors are disposed at the front and rear of the automatic guided vehicle, respectively.

[0011] The above-mentioned loading and unloading system includes, for example, The truck is a winged vehicle, The first laser sensor is configured to detect a side of the front panel of the wing vehicle.

[0012] The loading system preferably comprises: the automated guided vehicle further comprises a second laser sensor; The second laser sensor detects the distance to the rear surface of the front panel or the front surface of the rear panel by emitting a laser beam diagonally forward in the horizontal direction toward the truck, The travel control unit decelerates the travel speed of the automatic guided vehicle when the distance between the second laser sensor and the rear surface of the front panel or the front surface of the rear panel reaches a predetermined distance.

[0013] The loading system preferably comprises: distance measurement start points located adjacent to each other along the length of the track; a distance output unit configured to output a distance traveled by the automated guided vehicle from a position of the distance measurement start point, and outputting a first distance from the position of the distance measurement start point to a position where the automated guided vehicle stops after a side surface of the front panel or a side surface of the rear panel is detected; A memory unit that stores a length of the load to be transported and a predetermined second distance between the loads; a distance calculation unit that calculates a third distance from the position of the distance measurement start point to the position where the next automated guided vehicle stops adjacent to the track based on the first distance, the length of the load to be transported, and the second distance, The travel control unit stops the automatic guided vehicle based on the third distance calculated by the distance calculation unit and the distance output by the distance output unit.

[0014] In order to solve the above problems, the present invention provides an automated guided vehicle used in a cargo handling system, comprising: The automated guided vehicle loading and unloading system is A predetermined area; a truck having a first loading platform and a front panel and / or a rear panel, the truck being parked in a truck parking area; The automated guided vehicle is configured to stop adjacent to the truck; The second loading platform, A first laser sensor; A travel control unit, the first laser sensor detects a side surface of the front panel or a side surface of the rear panel by irradiating a laser beam diagonally backward in a horizontal direction with respect to the truck; The travel control unit stops the automated guided vehicle when the side surface of the front panel or the side surface of the rear panel is detected. Effect of the Invention

[0015] The cargo handling system according to the present invention can stop an automated guided vehicle at a desired position adjacent to a truck, even if the stopping position of the truck within a specified area is different each time. [Brief description of the drawings]

[0016] [Figure 1] 1 is an overall view of a loading and unloading system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a side view of the automated guided vehicle shown in FIG. [Diagram 3] FIG. 2 is a front view of the automated guided vehicle shown in FIG. [Figure 4] FIG. 2 is a plan view of the automated guided vehicle shown in FIG. [Diagram 5] FIG. 2 is a block diagram of a transportation vehicle stopping system. [Figure 6] 13A and 13B are diagrams illustrating the deceleration and stopping motion of an automated guided vehicle. [Figure 7] FIG. 2 is a flow diagram of the transport vehicle stopping system. [Figure 8] FIG. 1 is a diagram showing a conventional cargo handling system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the cargo handling system and an automated guided vehicle used in the cargo handling system of the present invention will be described with reference to the attached drawings. In the drawings, a double-headed arrow X indicates the traveling direction of the automated guided vehicle, a double-headed arrow Y indicates the left-right direction, and a double-headed arrow Z indicates the up-down direction.

[0018] Fig. 1 is an overall view of a cargo handling system S according to this embodiment. As shown in Fig. 1, the cargo handling system S includes a truck stopping area E, a wing vehicle 1, an unmanned guided vehicle 2, a management device 3, and a manned guided vehicle 4. First, each component of the cargo handling system S will be described.

[0019] <Truck Stop Area> As shown in Fig. 1, the truck stopping area E is an area surrounded by a white line WL, and is wide enough for a truck (wing vehicle) 1 to stop therein. Magnetic bars T for guiding an automatic guided vehicle 2 are provided along the X direction on the left and right outer sides of the white line WL. Furthermore, a distance measurement start point P1 is provided on the inside of the left and right magnetic bars T, and a plurality of distance correction points P2 are provided at predetermined intervals in the X direction on the outside of the left and right magnetic bars T. The distance measurement start point P1 and the distance correction point P2 are constituted by magnetic bars.

[0020] <Wing car> The winged vehicle 1 is facing left in Fig. 1 and parked in the truck parking area E. The winged vehicle 1 corresponds to the "truck" of the present invention. The winged vehicle 1 has a first loading platform 10, a front panel 11, a rear panel 12, and left and right wing side panels (not shown).

[0021] <Automated Guided Vehicle> 2 to 4 show the side, front and plan views, respectively, of the automated guided vehicle 2. Also, FIG. 5 is a block diagram of the automated guided vehicle 2 and the management device 3. As shown in FIGS. 2 to 5, the automated guided vehicle 2 has wheels 20, a vehicle body 21, a second loading platform 22, four point detection units 23, two deceleration sensors 24, two stop sensors 25, a travel control unit 26 and a distance output unit 27. The deceleration sensor 24 corresponds to the "second laser sensor" of the present invention, and the stop sensor 25 corresponds to the "first laser sensor" of the present invention. The automated guided vehicle 2 is configured to be able to travel in either the forward or backward direction.

[0022] The vehicle body 21 is placed on wheels 20 provided on all four sides, and the second loading platform 22 is placed on the upper surface of the vehicle body 21. The second loading platform 22 is composed of conveyor rollers, which allows the automated guided vehicle 2 to receive a load W that has been removed from the automated warehouse.

[0023] As shown in Fig. 4, the four point detection units 23 are provided on the rear side of the vehicle body 21, one each at the front and rear ends in the traveling direction, and one each at the left and right ends of the rear side of the vehicle body 21. The two point detection units 23 provided in the traveling direction are configured to detect a magnetic bar T. Also, as shown in Fig. 1, when the automated guided vehicle 2 travels to the right of the winged vehicle 1, the point detection unit 23 at the left end detects the distance measurement start point P1, and the point detection unit 23 at the right end detects the distance correction point P2.

[0024] Furthermore, when the automated guided vehicle 2 travels on the left side of the winged vehicle 1, the front-to-rear direction is reversed from when the automated guided vehicle 2 travels on the right side of the winged vehicle 1. Therefore, when the automated guided vehicle 2 travels on the left side of the winged vehicle 1, the point detection unit 23 at the left end detects the distance measurement start point P1, and the point detection unit 23 at the right end detects the distance correction point P2.

[0025] The two deceleration sensors 24 are configured by laser sensors, and as shown in Figs. 2 and 3, are provided above the front left side of the vehicle body 21 and above the rear left side of the vehicle body 21, respectively. As shown in Figs. 4 and 6A, the front deceleration sensor 24 is configured to detect the distance from the rear surface 11a of the front panel 11 by irradiating the wing vehicle 1 with a laser diagonally forward in the horizontal direction when the automatic guided vehicle 2 travels on the right side of the wing vehicle 1. The irradiation angle of the laser of the deceleration sensor 24 is adjusted so that the automatic guided vehicle 2 decelerates from a position that is a predetermined distance away from a predetermined stopping position of the automatic guided vehicle 2 with respect to the front panel 11, and the predetermined distance may be, for example, 500 mm to 900 mm. The angle at which the laser of the deceleration sensor 24 is irradiated may be inclined at 10° to 80° with respect to the traveling direction of the automatic guided vehicle 2, and may be inclined at 50° to 70°.

[0026] In addition, since the rear deceleration sensor 24 is positioned at the front of the traveling direction when the unmanned guided vehicle 2 travels on the left side of the winged vehicle 1, it is configured to detect the distance to the rear surface 11a of the front panel 11 by irradiating a laser diagonally forward in the horizontal direction toward the winged vehicle 1.

[0027] In this way, by having front and rear deceleration sensors 24, the automatic guided vehicle 2 can detect the distance to the rear surface 11a of the front panel 11 whether it is traveling on the right or left side of the winged vehicle 1.

[0028] The two stop sensors 25 are constituted by laser sensors, and are provided below the deceleration sensors 24, respectively, as shown in FIGS.

[0029] As shown in Figures 4 and 6B, the front stop sensor 25 is configured to irradiate the winged vehicle 1 with a laser diagonally backward in the horizontal direction to detect the right side surface 11b of the front panel 11 when the automated guided vehicle 2 travels to the right of the winged vehicle 1. The angle at which the laser is irradiated by the stop sensor 25 may be inclined at 96° to 105°, preferably at 98° to 100°, with respect to the traveling direction of the automated guided vehicle 2. By irradiating the laser diagonally backward with respect to the forward traveling direction, the stop sensor 25 does not erroneously detect the side surface 11b of the front panel 11 even if the winged vehicle 1 is parked tilted to the left or right with respect to the left and right white lines WL.

[0030] In addition, the rear stop sensor 25 is configured to detect the left side 11b of the front panel 11 by irradiating a laser horizontally and diagonally backward toward the winged vehicle 1 when the unmanned guided vehicle 2 travels on the left side of the winged vehicle 1.

[0031] In this way, by having the front and rear stop sensors 25, the automatic guided vehicle 2 can detect the side surface 11b of the front panel 11 whether it is traveling on the right or left side of the winged vehicle 1.

[0032] The driving control unit 26 is configured to control the driving of the unmanned guided vehicle 2 by rotating and stopping the wheels 20, and causes the unmanned guided vehicle 2 to drive along the magnetic rods T detected by two point detection units 23 provided in the direction of travel.

[0033] Furthermore, the travel control unit 26 decelerates the travel speed of the automated guided vehicle 2 when the distance between the rear surface 11a of the front panel 11 detected by the deceleration sensor 24 and the deceleration sensor 24 reaches a predetermined distance. That is, the automated guided vehicle 2 can decelerate based on the distance from the front panel 11 regardless of the stopping position of the wing vehicle 1, so that even if the stopping position of the wing vehicle 1 in the truck stopping area E is different each time, or even if the model of the wing vehicle 1 is different each time, the automated guided vehicle 2 can decelerate from a position at a predetermined distance from the front panel 11. The predetermined distance may be 500 mm to 900 mm, as described above.

[0034] Furthermore, the travel control unit 26 is configured to stop the automated guided vehicle 2 after traveling a predetermined distance or after a predetermined time has elapsed when the side surface 11b of the front panel 11 is detected by the stop sensor 25. That is, the automated guided vehicle 2 stops by detecting the front panel 11 regardless of the stopping position of the wing vehicle 1, so that even if the stopping position of the wing vehicle 1 in the truck stopping area E is different each time, or even if the model of the wing vehicle 1 is different each time, the automated guided vehicle 2 can stop at a predetermined position relative to the front panel 11. The distance that the automated guided vehicle 2 travels until it is stopped after detecting the side surface 11b of the front panel 11 may be, for example, 100 mm to 140 mm.

[0035] In addition, the travel control unit 26 is configured to make the unmanned guided vehicle 2 travel the third distance calculated by the distance calculation unit 31 from the distance measurement start point P1, as will be described later, and then to stop the unmanned guided vehicle 2.

[0036] The automated guided vehicle 2 that transports the load W (hereinafter referred to as the "first load W") loaded adjacent to the front panel 11 in this manner will be referred to as the "first automated guided vehicle 2" hereinafter.

[0037] The distance output unit 27 is a travel encoder, and outputs the distance traveled by the automatic guided vehicle 2 from the position of the distance measurement start point P1. The distance output unit 27 outputs a first distance from the position of the distance measurement start point P1 to the position where the side surface 11b of the front panel 11 is detected and the automatic guided vehicle 2 stops. The output first distance is transmitted to the management device 3. The distance output unit 27 is configured to output the first distance while correcting the output distance by referring to the distance from the distance measurement start point P1 at each distance correction point P2 detected by the point detection unit 23 and the output distance.

[0038] <Management device> As shown in FIG. 5, the management device 3 includes a storage unit 30 and a distance calculation unit 31.

[0039] The memory unit 30 stores the length of the load W to be transported and a predetermined second distance between the loads W. The second distance between the loads W refers to the distance between the loads W when a plurality of loads W are loaded on the first loading platform 10. In this embodiment, the length of the load W to be transported is stored as 1800 mm, and the second distance is stored as 20 mm.

[0040] Based on the first distance, the length of the load W being transported, and the second distance, the distance calculation unit 31 calculates a third distance from the position of the distance measurement start point P1 to the point where the unmanned guided vehicle 2 transporting the nth load W following the first load W (hereinafter referred to as the "nth unmanned guided vehicle 2") stops adjacent to the truck.

[0041] For example, when the first distance is 8150 mm, the third distance from the distance measurement start point P1 to when the n-th automated guided vehicle 2 stops is calculated by the following formula. Formula... 3rd distance = 8150mm-(1800mm+20mm)*(n-1)

[0042] Therefore, in the case of the second automated guided vehicle 2, the third distance is 6330 mm. The distance calculation unit 31 transmits the third distance calculated by the formula to the n-th automated guided vehicle 2. The distance calculation unit 31 repeats this process a number of times specified by the management device 3. As described above, the travel control unit 26 causes the automated guided vehicle 2 to travel the third distance received from the distance calculation unit 31 from the distance measurement start point P1, and then stops the vehicle.

[0043] When the designated number of transports to the right side of the loading platform 10 of the wing vehicle 1 are completed, the management device 3 may transmit a loading command to the n-th automated guided vehicle 2 to transport the load W to the opposite side of the wing vehicle 1. As a result, the automated guided vehicle 2 that has received the loading command transports the load W to the opposite side (left side) of the loading platform 10 of the wing vehicle 1 while detecting the distance measurement start point P1 and the rear surface 11a and side surface 11b of the front panel 11 again.

[0044] <Manned guided vehicle> As shown in FIG. 1, the manned guided vehicle 4 is a forklift, and has forks and a lifting device capable of raising and lowering the forks.

[0045] The manned guided vehicle 4 scoops up the load W loaded on the automatic guided vehicle 2, and when the automatic guided vehicle 2 retreats, it moves forward and loads the load W onto the wing vehicle 1. Because the automatic guided vehicle 2 is waiting in an appropriate position, the manned guided vehicle 4 can load the load W at the specified loading position simply by moving forward after scooping up the load W, without having to adjust its left or right position.

[0046] <Loading system operation> Next, the operation of the cargo handling system S will be described with reference to the flow chart of FIG.

[0047] (1) First, the wing vehicle 1 waits in the truck parking area E with the wing side panel open (S1 in FIG. 7).

[0048] (2) Next, the first automated guided vehicle 2 receives the load W in the outgoing area (S2 in FIG. 7) and transports the load W to the truck stop area E (S3 in FIG. 7).

[0049] (3) Next, the first automated guided vehicle 2 moves forward while detecting the distance measurement start point P1 and the distance correction point P2 (S4 in FIG. 7).

[0050] (4) Next, when the first automated guided vehicle 2 detects the rear surface 11a of the front panel 11, it starts to decelerate (S5 in FIG. 7).

[0051] (5) Next, when the first automated guided vehicle 2 detects the side surface 11b of the front panel 11, it travels a predetermined distance and then stops (S6 in FIG. 7).

[0052] (6) Next, the first automated guided vehicle 2 outputs the first distance and transmits the first distance to the management device 3 (S7 in FIG. 7).

[0053] (7) The manned guided vehicle 4 picks up the load W from the automatic guided vehicle 2 and loads the load W onto the wing vehicle 1 (S8 in FIG. 7), and the management device 3 calculates the third distance to the n-th vehicle (S9 in FIG. 7).

[0054] (8) The n-th automated guided vehicle 2 receives the next load W in the shipping area (S10 in FIG. 7) and transports the load W to the truck stop area E (S11 in FIG. 7).

[0055] (9) If the specified number of transports to the right side of the loading platform 10 of the wing vehicle 1 have not been completed (No in S12 of Figure 7), the management device 3 transmits the third distance to the nth unmanned guided vehicle 2 (S13 of Figure 7).

[0056] (10) When the n-th automated guided vehicle 2 detects the distance measurement start point P1 (S14 in FIG. 7), it travels a third distance and then stops (S15 in FIG. 7).

[0057] (11) The manned guided vehicle 4 picks up the load W from the n-th unmanned guided vehicle 2 and loads the load W onto the wing vehicle 1 (S8 in FIG. 7).

[0058] (12) When the specified number of transports to the right side of the loading platform 10 of the wing vehicle 1 is completed (Yes in S12 of Figure 7), the management device 3 sends a loading command to the nth unmanned guided vehicle 2 to transport the load W to the opposite side (left side) of the wing vehicle 1, and the nth unmanned guided vehicle 2 transports the load W as the first unmanned guided vehicle 2 on the opposite side (left side) of the wing vehicle 1 (S16 in Figure 7).

[0059] Although one embodiment of the cargo handling system and the automated guided vehicle of the present invention has been described above, the cargo handling system and the automated guided vehicle of the present invention are not limited to the above embodiment. For example, the cargo handling system and the automated guided vehicle of the present invention may be embodied in the following modified examples.

[0060] <Modification> The truck equipped with the cargo handling system S is not limited to the winged vehicle 1 as long as the inner surfaces 11a, 12a and the side surfaces 11b, 12b of the front panel 11 or the rear panel 12 can be detected by the deceleration sensor 24 and the stop sensor 25.

[0061] In the above embodiment, the winged vehicle 1 is parked facing left in the truck stopping area E, but when the winged vehicle 1 is parked facing right, the automated guided vehicle 2 may decelerate and stop by detecting the front surface 12a and side surface 12b of the rear panel 12 instead of the rear surface 11a and side surface 11b of the front panel 11. In this case, the deceleration sensor 24 irradiates the truck with a laser diagonally forward in the horizontal direction to detect the distance to the front surface 12a of the rear panel 12. Also, in this case, the stop sensor 25 irradiates the winged vehicle 1 with a laser diagonally backward in the horizontal direction to detect the side surface 12b of the rear panel 12.

[0062] There may be multiple automated guided vehicles 2. Even in this case, the first automated guided vehicle 2 detects the front panel 11 or the rear panel 12, decelerates, and stops, and the second and subsequent automated guided vehicles 2 stop after traveling the third distance from the distance measurement start point P1.

[0063] There is no particular limitation on the type of the automated guided vehicle 2. For example, the second platform 22 of the automated guided vehicle 2 does not have to be of the roller type.

[0064] The loading / unloading system S may be configured with a forklift-type unmanned guided vehicle instead of the manned guided vehicle 4. In the loading / unloading system S, the unmanned guided vehicle 2 can stop at a predetermined position regardless of the stopping position of the truck, so that the forklift-type unmanned guided vehicle can load the load W at a predetermined loading position on the first loading platform 10 simply by scooping up the load W and then moving forward a predetermined distance.

[0065] The magnetic bar T, the distance measurement start point P1 and the distance correction point P2 may be, for example, color tape, and in this case, the point detector 23 may be a detector that optically detects the color tape. Also, the magnetic bar may be composed of a magnetic tape.

[0066] The storage unit 30 and the distance calculation unit 31 may be disposed, for example, in the automated guided vehicle 2. In this case, the automated guided vehicle 2 calculates the third distance by itself.

[0067] The automated guided vehicles 2 may transport the load W alternately from the front of the first loading platform 10 of the wing vehicle 1 to the left and right. Even in this case, the first automated guided vehicles 2 on each side of the loading platform 10 decelerate and stop when they detect the front panel 11 or rear panel 12, and the second and subsequent automated guided vehicles 2 stop after traveling the third distance from the distance measurement start point P1. [Explanation of symbols]

[0068] S Cargo Handling System E Truck Stop Area P1 Distance measurement start point P2 Distance correction point LA1 deceleration sensor optical axis LA2 Stop sensor optical axis WL white line W load T magnetic bar 1. Winged vehicle (truck) 10 First Cargo Platform 11 Front Panel 11a Rear of front panel 11b Side of the front panel 12 Rear Panel 12a Front of rear panel 12b Rear panel side 2. Automated Guided Vehicles 20 wheels 21 Body 22 Second Cargo Platform 23 Point detection section 24 Deceleration sensor (second laser sensor) 25 Stop sensor (first laser sensor) 26 Driving control unit 27 Distance output section 3 Management device 30 Storage section 31 Distance calculation unit 4 Manned guided vehicle 100 Conventional System

Claims

1. Truck parking areas, a truck having a first loading platform and a front panel and / or a rear panel, the truck being parked in the truck parking area; an automated guided vehicle having a second platform, a first laser sensor, and a travel control unit, and configured to stop adjacent to the truck; the first laser sensor is configured to detect the side of the front panel or the rear panel by irradiating a laser diagonally backward in the traveling direction of the track in a horizontal direction when the automated guided vehicle is traveling next to the first platform toward the front panel or the rear panel, thereby preventing erroneous detection of the rear surface of the front panel or the front surface of the rear panel as the side of the front panel or the side of the rear panel, The travel control unit stops the automated guided vehicle when a side surface of the front panel or a side surface of the rear panel is detected.

2. The cargo handling system according to claim 1 , wherein the first laser sensor is disposed at a front portion of the automated guided vehicle.

3. The automated guided vehicle includes a plurality of the first laser sensors, 2. The cargo handling system according to claim 1, wherein each of the first laser sensors is disposed at a front portion and a rear portion of the automated guided vehicle.

4. The truck is a wing vehicle, The loading and unloading system of claim 1 , wherein the first laser sensor is configured to detect a side of the front panel of the wing vehicle.

5. The automated guided vehicle further includes a second laser sensor, the second laser sensor, when the automated guided vehicle is traveling next to the first bed toward the front panel or the rear panel, irradiates a laser diagonally forward in a traveling direction in a horizontal direction with respect to the track to detect a distance to a rear surface of the front panel or a distance to a front surface of the rear panel; 2. The loading and unloading system according to claim 1, wherein the travel control unit decelerates the travel speed of the automated guided vehicle when a distance between the second laser sensor and a rear surface of the front panel or a front surface of the rear panel becomes a predetermined distance.

6. A truck parking area; a truck having a first loading platform and a front panel and / or a rear panel, the truck being parked in the truck parking area; an automated guided vehicle having a second platform, a first laser sensor, and a travel control unit, and configured to stop adjacent to the truck; distance measurement start points arranged adjacent to each other in the longitudinal direction of the track; a distance output unit configured to output a distance traveled by the automated guided vehicle from the position of the distance measurement start point, and outputting a first distance from the position of the distance measurement start point to a position where the automated guided vehicle stops after a side surface of the front panel or a side surface of the rear panel is detected; A memory unit that stores a length of a load to be transported and a second predetermined distance between the loads; a distance calculation unit that calculates a third distance from a position of the distance measurement start point to a position where the next automated guided vehicle stops adjacent to the track based on the first distance, a length of the load to be transported, and the second distance, the first laser sensor detects a side surface of the front panel or a side surface of the rear panel by irradiating a laser beam diagonally backward in a horizontal direction with respect to the track; A loading and unloading system, wherein when a side of the front panel or a side of the rear panel is detected, the traveling control unit stops the unmanned guided vehicle based on the third distance calculated by the distance calculation unit and the distance output by the distance output unit.

7. An automated guided vehicle used in a loading and unloading system, The loading and unloading system includes: Truck parking areas, a truck having a first loading platform and a front panel and / or a rear panel, the truck being parked in the truck parking area; The automated guided vehicle is configured to stop adjacent to the truck; A second loading platform; A first laser sensor; A travel control unit, the first laser sensor is configured to detect the side of the front panel or the side of the rear panel by irradiating a laser diagonally backward in the traveling direction of the track in a horizontal direction when the automated guided vehicle is traveling next to the first loading platform toward the front panel or the rear panel, thereby preventing erroneous detection of the rear surface of the front panel or the front surface of the rear panel as the side of the front panel or the side of the rear panel, The travel control unit stops the automated guided vehicle when a side surface of the front panel or a side surface of the rear panel is detected.

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