Transport systems and transport vehicles

Abstract

To provide a conveying system, a conveying vehicle and a station which can improve efficiency of occupied area including conveying equipment and layout flexibility.SOLUTION: There is provided a conveying system that collects packages placed on a station by a conveying vehicle that travels along a predetermined travel path. The station has a groove in the center along the travel path and includes a package holding part on which packages are placed, a sensor for detecting the packages placed on the package holding part, and a notification unit that notifies the control system of the conveying vehicle of a detection result of the packages by the sensor and a location of the station. The conveying vehicle includes a control unit that receives instructions from the control system and moves the conveying vehicle to the station, and an elevating unit that corresponds to the groove. The conveying vehicle advances or retreats while the packages are lifted by the elevating unit, and then lowers the elevating unit to collect the packages.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveying system, and Transport In the car Regarding. [Background technology]

[0002] In factories and warehouses, conveyors have traditionally been used to transport containers (an example of cargo) filled with parts picked by pickers. However, once a conveyor is installed, it places restrictions on the layout, making it difficult to change the layout.

[0003] Therefore, in order to increase the flexibility and freedom of warehouse layouts, there has been an increase in the use of automated guided vehicles (one example of a guided vehicle) to transport containers, etc. There are also several methods for moving containers using AGVs (Automatic Guided Vehicles), and methods have also been developed in which small conveyors are installed in part of the layout and containers are handed over from there. Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above technology has the problem that the small size of the conveyor restricts the layout, and the conveyor needs to be installed adjacent to the path of the automatic guided vehicle, making it difficult to install in narrow passages, etc.

[0005] The present invention has been made in view of the above, and provides a transport system that can improve the efficiency of the dedicated area including the transfer equipment and increase the flexibility of the layout. and Transport Car The purpose is to provide. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, the present invention provides , transportationA transport system in which a vehicle collects a load placed on a station, the station comprising: , medium In the center In a given direction a load holding section having a groove and on which the load is placed; a sensor for detecting the load placed on the load holding section; and a notification section for notifying a control system of the transport vehicle of the load detection result by the sensor and the location of the station, , Noboru With the descendants, Conveyor and and the groove is specified and penetrates at least one end of the luggage holding portion in the direction The transport vehicle moves to the station in response to an instruction from the control system, The lifting section of , rises above the luggage holding portion through the groove Let and lifting the luggage placed on the luggage holding section, and in a state where the luggage is lifted by the lifting section, in the predetermined direction After moving forward or backward, the lifting unit is lowered. The luggage is placed on the conveyor. Collect the luggage and move do. [Effects of the Invention]

[0007] According to the present invention, it is possible to improve the efficiency of the dedicated area including the transfer equipment and to increase the flexibility of the layout. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of a bucket conveyance system according to this embodiment. [Figure 2] FIG. 2 is a diagram showing an example of a route of the AGV in the bucket conveyance system according to this embodiment. [Figure 3] FIG. 3 is a diagram showing an example of the configuration of the server included in the bucket transportation system according to the present embodiment. [Figure 4] FIG. 4 is a sequence diagram showing an example of the flow of a process for moving an AGV to a station in the bucket conveyance system according to this embodiment. [Figure 5]FIG. 5 is a sequence diagram showing an example of the flow of the process of moving the AGV to the autorator in the bucket conveyance system according to this embodiment. [Figure 6A] FIG. 6A is a diagram showing an example of the configuration of the stations and AGVs included in the bucket conveyance system according to this embodiment. [Figure 6B] FIG. 6B is a diagram showing an example of the configuration of the stations and AGVs included in the bucket conveyance system according to this embodiment. [Figure 6C] FIG. 6C is a diagram showing an example of the configuration of the AGV included in the bucket conveyance system according to this embodiment. [Figure 7] FIG. 7 is a diagram for explaining an example of a bucket recovery operation by the AGV of the bucket transport system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, with reference to the accompanying drawings, an embodiment of a bucket transport system to which a transport system, a transport vehicle, and a station are applied will be described in detail.

[0010] Fig. 1 is a diagram showing an example of the overall configuration of a bucket conveyance system according to this embodiment. First, an example of the overall configuration of a bucket conveyance system according to this embodiment will be described with reference to Fig. 1.

[0011] The bucket transportation system according to this embodiment is a system for transporting buckets that incorporates an AGV (Automatic Guided Vehicle) system. In this embodiment, as shown in FIG. 1, the bucket transportation system has a station 10, an AGV 20 (an example of a transport vehicle), a server 30 (an example of a control system), and an autorator 40. In other words, the bucket transportation system according to this embodiment is an example of a transportation system in which an AGV 20 traveling along a predetermined travel path retrieves a bucket (an example of cargo) placed at station 10. Here, the predetermined travel path is a travel path that is set in advance.

[0012] The station 10 is an example of a station that can wirelessly communicate with the server 30. Furthermore, the station 10 does not communicate directly with the AGV 20, but communicates with the AGV 20 via the server 30. A plurality of stations 10 may be arranged in the bucket transportation system.

[0013] Station 10 includes sensor 101 (see FIG. 6A) and notification unit 102 (see FIG. 6A). Here, sensor 101 is an example of a sensor that detects a bucket placed by a worker at station 10. In this embodiment, sensor 101 is an infrared sensor or the like, and detects the presence or absence of a bucket.

[0014] Also, here, when a bucket is detected by sensor 101, notification unit 102 notifies server 30 that the bucket has been detected. Furthermore, notification unit 102 notifies server 30 of the position information (location) of station 10. In other words, notification unit 102 is an example of a notification unit that notifies server 30 of the detection result of the bucket by sensor 101 and the location of station 10.

[0015] The AGV 20 receives a bucket retrieval instruction from the server 30 and retrieves the bucket at the station 10. After retrieving the bucket at the station 10, the AGV 20 moves to the autorator (conveyor) 40 and sends the bucket to the autorator 40. The bucket transport system may have multiple AGVs 20.

[0016] When the server 30 is notified by the station 10 that a bucket has been detected, the server 30 moves the AGV 20 to the station 10 based on the position information of the station 10. In this embodiment, the server 30 stores map information including the travel route along which the AGV 20 will be moved and the position information of the station 10, and moves the AGV 20 to the station 10 based on the map information and the position information notified from the station 10.

[0017] The server 30 is also notified by the AGV 20 whether or not the bucket has been retrieved. Then, the server 30 moves the AGV 20 that has retrieved the bucket to the autorator 40.

[0018] Fig. 2 is a diagram showing an example of a route of the AGV in the bucket conveyance system according to this embodiment. Next, an example of a route of the AGV 20 in the bucket conveyance system according to this embodiment will be described with reference to Fig. 2. In Fig. 2, ST1, ST2, and ST3 indicate stations 10.

[0019] When it is detected that a bucket has been placed at each station 10, the AGV 20 travels along the travel path (shown by a solid line) and retrieves the bucket placed at the station 10. The AGV 20 then travels along the travel path and transports the retrieved bucket to the autorator 40.

[0020] Fig. 3 is a diagram showing an example of the configuration of the server included in the bucket transportation system according to this embodiment. Next, an example of the configuration of the server 30 included in the bucket transportation system according to this embodiment will be described with reference to Fig. 3.

[0021] In this embodiment, the server 30 includes an operation server 31 and an AGV server (travel control server) 32. In this embodiment, the server 30 is separated into the operation server 31 and the AGV server 32, but this is not limitative and the server 30 may be realized by a single server.

[0022] The operation server 31 selects the AGV 20 to be operated and instructs the destination (for example, the station 10 or the automator 40) to the selected AGV 20. The operation server 31 also manages (controls) the timing of instructing the AGV 20 to operate.

[0023] The AGV server 32 instructs and controls the AGVs 20 to travel to their destinations (i.e., the routes to their destinations). In doing so, the AGV server 32 organizes the traffic of the AGVs 20 to prevent collisions between multiple AGVs 20, and instructs the AGVs 20 on the shortest routes to their destinations.

[0024] Specifically, the operation server 31 includes a communication unit 311 , a baggage transfer point storage unit 312 , an AGV selection unit 313 , and a movement instruction generation unit 314 .

[0025] The communication unit 311 receives the status of the AGV 20 from the AGV server 32. The communication unit 311 also transmits to the AGV server 32 an instruction to the AGV 20 to move the bucket to the transportation point. The communication unit 311 also receives a bucket transportation request from the station 10.

[0026] The baggage transfer point storage unit 312 stores baggage transfer points in the map information stored in the AGV server 32. Here, the baggage transfer points are position information indicating the positions of the station 10 and the autorator 40.

[0027] The AGV selection unit 313 selects an AGV 20 that does not have a bucket and moves the selected AGV 20 to the station 10. The AGV selection unit 313 also selects an AGV 20 that has a bucket and moves the selected AGV 20 to the autorator 40.

[0028] The movement instruction generation unit 314 instructs the location to which the AGV 20 should be moved in response to the bucket transportation request received from the station 10. The movement instruction generation unit 314 also instructs the AGV 20 selected by the AGV selection unit 313 to move. Furthermore, since the autorator 40 is located at a predetermined location, the movement instruction generation unit 314 instructs the AGV 20 to move to that location.

[0029] The AGV server 32 also includes a communication unit 321 , an AGV information storage unit 322 , a traffic control unit 323 , a travel route generation unit 324 , a map storage unit 325 , and an exclusive section storage unit 326 .

[0030] The communication unit 321 communicates with external devices such as the AGV 20 and the operation server 31. For example, the communication unit 321 transmits the status of the AGV 20 to the operation server 31. Furthermore, when the movement instruction generation unit 314 instructs the AGV 20 to move, the communication unit 321 notifies the AGV 20 selected by the AGV selection unit 313 of a travel route generated by a travel route generation unit 324 (described later). In this way, the communication unit 321 instructs the AGV 20 to move to the destination.

[0031] The AGV information storage unit 322 stores the status of the AGV 20. The traffic control unit 323 controls the travel of the AGV 20 to prevent collisions between the AGVs 20. The travel route generation unit 324 generates a travel route to the destination of the AGV 20. The map storage unit 325 stores map information. The exclusive section storage unit 326 stores exclusive sections, among the travel routes that the AGV 20 can travel, on which the AGV 20 is not allowed to travel.

[0032] 4 is a sequence diagram showing an example of the flow of the process of moving the AGV to the station in the bucket conveyance system according to this embodiment. Next, an example of the flow of the process of moving the AGV 20 to the station 10 in the bucket conveyance system according to this embodiment will be described with reference to FIG.

[0033] The sensor 101 of the station 10 detects that a bucket has been placed at the station 10 (step S401). When the sensor 101 detects that a bucket has been placed at the station 10, the notification unit 102 of the station 10 notifies the operation server 31 that the bucket has been detected and requests the AGV 20 to move (step S402).

[0034] When the station 10 requests the AGV 20 to move, the communication unit 311 of the operation server 31 acquires (receives) the status of the AGV 20 from the AGV server 32 (step S403). The AGV selection unit 313 selects an AGV 20 that does not have a bucket based on the status of the AGV 20 (step S404). Next, the movement instruction generation unit 314 instructs the AGV server 32 to move the AGV 20 selected by the AGV selection unit 313 to the station 10 (step S405).

[0035] 5 is a sequence diagram showing an example of the flow of the process of moving the AGV to the autorator in the bucket transportation system according to this embodiment. Next, an example of the flow of the process of moving the AGV 20 to the autorator 40 in the bucket transportation system according to this embodiment will be described with reference to FIG.

[0036] The communication unit 311 of the operation server 31 acquires (receives) the status of the AGV 20 from the AGV server 32 (step S501). Next, the AGV selection unit 313 selects the AGV 20 that retrieved the bucket based on the status of the AGV 20 (step S502). Next, the movement instruction generation unit 314 instructs the AGV server 32 to move the AGV 20 selected by the AGV selection unit 313 to the autorator 40 (step S503).

[0037] Figures 6A and 6B are diagrams showing an example of the configuration of a station and an AGV included in a bucket transportation system according to this embodiment. Figure 6C is a diagram showing an example of the configuration of an AGV included in a bucket transportation system according to this embodiment. Next, an example of the configuration of station 10 and AGV 20 included in a bucket transportation system according to this embodiment will be described using Figures 6A, 6B, and 6C.

[0038] Station 10 has a sensor 101 that detects a bucket placed in a baggage holding section 601 (described later), and a notification section 102 that includes a wireless module that notifies operation server 31 that the bucket has been detected by sensor 101. Station 10 also has a passage 602 along which AGV 20 moves while holding a bucket.

[0039] Station 10 also has a luggage holding section 601. The luggage holding section 601 is a place where a bucket (cargo) is placed. That is, luggage holding section 601 is an example of a luggage holding section where a bucket is placed. Furthermore, luggage holding section 601 has a groove 603 for a lifting plate (an example of a lifting section) 611 (described later) of AGV 20 to lift the bucket. This allows AGV 20 to lift the bucket from groove 603 using lifting plate 611 (described later).

[0040] Here, groove 603 is an example of a groove provided in the center of luggage holding unit 601 along a predetermined travel path of AGV 20. Groove 603 penetrates at least one of the front and rear ends of luggage holding unit 601 in the travel direction of AGV 20. In other words, groove 603 penetrates at least one end of luggage holding unit 601 in the travel direction of AGV 20.

[0041] Furthermore, the load holding section 601 may have one or more stepped shapes. Here, the stepped shape is a shape in which the surface on which the buckets are placed becomes lower in stages toward the center in the width direction perpendicular to the travel path of the AGV 20. This makes it possible to place buckets of various sizes on the load holding section 601 without dropping multiple types of buckets.

[0042] The AGV 20 has a lifting plate 611 (an example of a lifting unit) that corresponds to the groove 603. The lifting plate 611 rises above the load holding unit 601 via the groove 603, and lifts up the bucket placed on the load holding unit 601. Next, the AGV 20 moves forward or backward to leave the groove 603, with the bucket lifted above the load holding unit 601 by the lifting plate 611. Thereafter, the AGV 20 lowers the lifting plate 611 to retrieve the bucket from the station 10.

[0043] This allows the station 10 to be placed on the travel path of the AGV 20, and eliminates the need to install facilities anywhere other than on the travel path of the AGV 20, thereby improving the efficiency of the dedicated floor space, including the transfer facilities, and increasing the flexibility of the layout. In addition, the station 10 can be configured to be lightweight and compact, so the position of the station 10 can be easily changed.

[0044] The AGV 20 may also be provided with a conveyor 701 on its upper portion. In this case, the lifting plate 611 is shaped so as to be able to protrude from between the pulleys (rollers) 702 of the conveyor 701. In other words, the lifting plate 611 is provided in the gaps between the pulleys of the conveyor 701.

[0045] AGV 20 then enters groove 603 of load holding section 601 of station 10 and raises lifting plate 611 above load holding section 601, thereby lifting the bucket placed on load holding section 601. This allows the bucket collected from station 10 to be placed on conveyor 701, so that the bucket transferred at station 10 can be easily handed over to autorator 40.

[0046] In this embodiment, the lifting plate 611 has a shape that extends in the front-to-rear direction of the AGV 20. This allows a large margin to be set for the lifting plate 611 to prevent contact with the station 10 even if the lifting plate 611 of the AGV 20 is tilted with respect to the station 10 when rising.

[0047] Fig. 7 is a diagram for explaining an example of a bucket recovery operation by the AGV included in the bucket transportation system according to this embodiment. Next, an example of a bucket recovery operation by the AGV 20 included in the bucket transportation system according to this embodiment will be described with reference to Fig. 7.

[0048] When the AGV 20 arrives at the location of the station 10, the AGV 20 lowers the lifting plate 611 below the load holding unit 601 and causes the lifting plate 611 to enter the groove 603 of the load holding unit 601 of the station 10 (step S701). Next, the AGV 20 stops the lifting plate 611 when the lifting plate 611 enters the groove 603 of the load holding unit 601 and is positioned below the bucket (step S702).

[0049] Next, the AGV 20 raises the lifting plate 611 above the load holding unit 601 to lift the bucket (step S703). Furthermore, with the bucket raised above the load holding unit 601 by the lifting plate 611, the AGV 20 moves forward and passes the lifting plate 611 through the groove 603 of the load holding unit 601 (step S704). Thereafter, the AGV 20 lowers the lifting plate 611 to place the bucket on the conveyor 701 and retrieve the bucket (step S705).

[0050] As described above, the bucket conveyance system according to this embodiment allows the station 10 to be located on the travel path of the AGV 20, and eliminates the need to install facilities anywhere other than on the travel path of the AGV 20, thereby improving the efficiency of the dedicated floor space, including the transfer facilities, and increasing the flexibility of the layout. Furthermore, the station 10 can be configured to be lightweight and compact, so the position of the station 10 can be easily changed. [Explanation of symbols]

[0051] 10 Stations 20 AGV 30 servers 40 Autolator 101 Sensors 102 Notification Department 31 Operation Server 32 AGV Server 601 Luggage holding section 602 Passage 603 Groove 611 Lifting platform 701 Conveyor [Prior art documents] [Patent documents]

[0052] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-292915

Claims

1. A transport system in which a transport vehicle collects luggage placed on a station, The station a baggage holding portion having a groove in a predetermined direction in the center and on which the baggage is placed; a sensor that detects the luggage placed in the luggage holding section; a notification unit that notifies a control system of the transport vehicle of the result of detection of the package by the sensor and the location of the station, The transport vehicle is A lifting section; a conveyor; the groove penetrates through at least one end of the luggage holding portion in the predetermined direction, The transport vehicle moves to the station in response to an instruction from the control system, the lifting unit is raised above the luggage holding unit through the groove to lift the luggage placed on the luggage holding unit; A conveying system in which the luggage is lifted by the lifting unit and moved forward or backward in the specified direction, and then the lifting unit is lowered to place the luggage on the conveyor, recover the luggage, and move it.

2. The conveyor is provided on the top of the transport vehicle, The conveying system according to claim 1 , wherein the lifting section is provided in a gap between rollers of the conveyor.

3. A conveying system as described in claim 1, wherein the luggage holding section has at least one stepped shape.

4. A conveying system as described in claim 1, wherein the lifting section has a shape that extends in one direction, and the extension direction of the lifting section is aligned with the specified direction in the groove to raise the lifting section and lift the luggage placed in the luggage holding section.

5. A transport vehicle that receives instructions from a control system and retrieves luggage placed in a luggage holding section of a station, A lifting section; a conveyor; the lifting unit rises above a baggage holding unit of the station to lift up the baggage placed on the baggage holding unit; The transport vehicle moves forward or backward with the load lifted by the lifting unit, and then lowers the lifting unit to place the load on the conveyor, retrieve the load, and move.

6. The conveyor is provided on an upper portion of the transport vehicle, The transport vehicle according to claim 5 , wherein the lifting section is provided in a gap between rollers of the conveyor.

7. A transport vehicle as described in Claim 5, wherein the lifting section has a shape that extends in one direction and can move forward or backward in the direction in which the lifting section extends.

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