Automated guided vehicles and automated guided vehicle systems

Abstract

To provide an unmanned carrier and an unmanned carrier system capable of carrying both an article on a support base and an article on a floor surface by a common machine body.SOLUTION: An unmanned carrier 40 comprises a machine body 41, a placement part 43 having a placement surface 43b disposed on an upper portion of the machine body 41, a lifter 45 for lifting and lowering the placement part 43 with respect to the machine body 41, and a fork 50 which protrudes to the side of the machine body 41 and can be lifted and lowered with respect to the machine body 41. The unmanned carrier 40 can transfer a first article L1 placed on a support base 12 by lifting the placement part 43 by the lifter 45, and can transfer a second article L2 placed on a floor surface F by bringing the machine body 41 close to the second article L2 in a state where the fork 50 is directed to the second article L2 and then lifting the fork 50.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to automated guided vehicles and automated guided vehicle systems. [Background technology]

[0002] Conventionally, as described in Patent Document 1, an automated guided vehicle that loads and unloads items into and from an automated warehouse is known. This automated guided vehicle has a lifter that can be raised and lowered. The automated guided vehicle, which transports items on the lifter, moves under the loading platform at the loading port and lowers the lifter to transfer the items onto the loading platform. The automated guided vehicle also moves under the loading platform at the unloading port and raises the lifter to transfer the items placed on the loading platform onto the lifter. As described in Patent Document 2, an automated guided vehicle equipped with forks is also known. This automated guided vehicle uses forks (claws) to lift and transport pallets or container cars placed on the floor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 008999 [Patent Document 2] Japanese Patent Application Publication No. 6-032227 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, the items to be transported are placed on a platform (support platform) or on the floor. When both types of items exist in a single automated warehouse or factory, two different types of machines must be used. Introducing and using two different types of machines increases the cost of the entire system.

[0005] An object of the present disclosure is to provide an automated guided vehicle and an automated guided vehicle system that can transport both an item on a support platform and an item on a floor surface using a common vehicle body. [Means for solving the problem]

[0006] One aspect of the present disclosure is an automated guided vehicle that travels on a floor surface to transport items, comprising: a body capable of traveling on the floor surface; a loading section that is positioned on top of the body and has a loading surface on which items are placed; a lifter that raises and lowers the loading section relative to the body; and forks that protrude from the side of the body and can be raised and lowered relative to the body; a first item placed on a support platform that is higher than the loading surface when the loading section is in its lowest position can be transferred by raising the loading section with the lifter while the body is positioned below the support platform; and a second item placed on the floor surface can be transferred by bringing the body close to the second item with the forks facing the second item and lifting the forks.

[0007] This automated guided vehicle can transport a first item placed on a support platform using a loading section that is raised and lowered by a lifter. Also, a second item placed on the floor can be transported by inserting the forks into the fork holes or fork recesses on the underside of the second item and raising it. Therefore, a common vehicle (i.e., one vehicle, in other words, the same vehicle) can transport both items on the support platform and items on the floor. This eliminates the need to prepare different vehicles for each type of packaging.

[0008] In the automated guided vehicle, the forks may be integrally attached to the platform, and each fork may have an extension extending along the side of the vehicle body and a fork body extending horizontally from the extension. With this configuration, the platform and the fork can be raised and lowered together by the lifter. By sharing a common drive source, the above two types of articles can be transported with a simple device configuration. The vehicle body can be made compact.

[0009] In the automated guided vehicle, the forks may be movable between an unfolded position in which the fork bodies extend horizontally and a stored position in which the fork bodies are folded along the vehicle body. With this configuration, the fork bodies are moved to the unfolded position when the forks are needed, and are folded and moved (stored) to the stored position when the forks are not needed. This allows the vehicle body length to be shortened when the forks are not in use.

[0010] In an automated guided vehicle, the platform may be rotatable relative to the vehicle body. The vehicle body typically has wheels facing a predetermined direction and can only travel in a predetermined direction. By providing a rotatable platform, items can be transported in any direction when transported using the forks attached to the platform. Items can be transported in accordance with the aisle width and transfer point.

[0011] Another aspect of the present disclosure is an automated guided vehicle system in which the automated guided vehicle travels on a floor surface to transport items, the automated guided vehicle comprising: a body capable of traveling on a floor surface; a loading section disposed on the top of the body and having a loading surface on which items are placed; a lifter for raising and lowering the loading section relative to the body; and forks protruding from the sides of the body and capable of raising and lowering relative to the body, wherein a support platform is provided on the floor surface that is higher than the loading surface when the loading section is at its lowest position and lower than the loading surface when the loading section is raised to its highest position, and the automated guided vehicle is capable of transferring a first item placed on the support platform by raising the loading section with the lifter while the vehicle is positioned below the support platform, and is capable of transferring a second item placed on the floor surface by bringing the vehicle close to the second item with the forks facing the second item and lifting the forks.

[0012] According to this automated guided vehicle system, the automated guided vehicle can transport a first item placed on a support platform using a loading section that is raised and lowered by a lifter. Furthermore, the automated guided vehicle can transport a second item placed on the floor by inserting forks into the second item fork holes or the fork recesses on the underside and raising the platform. Therefore, a common vehicle (i.e., one vehicle, in other words, the same vehicle) can transport both items on the support platform and items on the floor.

[0013] In the automated guided vehicle system, the lifter can position the placement unit at least at a first height where the placement unit is at its lowest end, a third height where the placement unit is at its highest end, and a second height where the placement unit is at a position intermediate between the first and third heights, and when the automated guided vehicle is transporting a second item with the forks and transferring a first item placed on the support platform, the lifter can position the placement unit at the second height and enter below the support platform. With this configuration, transportation of the second item using the forks and transportation of the first item on the placement unit can be performed simultaneously.

[0014] In the automated guided vehicle system, the forks can be moved between an unfolded position in which the fork bodies extend horizontally and a stowed position in which the fork bodies are folded along the vehicle body, and the route or area in which the automated guided vehicle can travel may differ when the fork bodies are in the unfolded position and when they are in the stowed position. This configuration increases the freedom in route selection and widens the area in which the automated guided vehicle can travel when the forks are not in use. This automated guided vehicle system can transport two types of items while also improving transport efficiency. [Effects of the Invention]

[0015] According to the present disclosure, both items on a support platform and items on the floor can be transported using a common vehicle. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic plan view showing the configuration of an automated guided vehicle system according to an embodiment of the present disclosure. [Figure 2] Fig. 2(a) is a front view showing a state in which a first article is being transferred to and from the receiving port, and Fig. 2(b) is a front view showing a state in which the first article is placed in the receiving port. [Figure 3] Fig. 3(a) is a side view showing the unfolded state of the forks of the automatic guided vehicle, and Fig. 3(b) is a side view showing the retracted state of the forks of the automatic guided vehicle. [Figure 4] Fig. 4(a) is a side view showing the automated guided vehicle in a state where the placement unit is located at a second height, and Fig. 4(b) is a side view showing the automated guided vehicle in a state where the placement unit is located at a third height. [Figure 5] FIG. 5 is a block diagram showing a schematic configuration of an automatic guided vehicle. [Figure 6] 6(a) and 6(b) are a plan view and a side view, respectively, showing a state in which a first article is being conveyed on the placement unit. [Figure 7] Fig. 7(a) is a side view showing a state in which the fork is inserted into a second object, and Fig. 7(b) is a side view showing a state in which the second object is being transported by the fork. [Figure 8] 8(a) to 8(c) are plan views each showing various travel directions of the machine body during transport of the second article. [Figure 9] 9(a) and 9(b) are a plan view and a side view, respectively, showing a state in which a first article and a second article are conveyed simultaneously. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicated description will be omitted.

[0018] As shown in Figures 1 and 2, the automated warehouse system (automated guided vehicle system) 1 of this embodiment includes one or more automated warehouses 30 each having a rack 10 and a stacker crane 20, an automated guided vehicle 40 that moves items L in and out of the multiple automated warehouses 30, and a controller 100 that is a control device that manages the automated warehouse system 1.

[0019] In the following, the terms "upper" and "lower" correspond to the upper and lower in the vertical direction. The "Z direction" is the vertical direction and is the direction of the rows of the rack 10. The "X direction" is the horizontal direction and is the longitudinal direction of the rack 10. The "Y direction" is the horizontal direction perpendicular to the X and Z directions and is the direction in which the automated warehouses 30 are arranged side by side.

[0020] The automated warehouse 30 is installed, for example, inside a building. The automated warehouse 30 automatically stores the items L transported by the automated guided vehicles 40 using the stacker crane 20, and also automatically removes the stored items L using the stacker crane 20. When multiple automated warehouses 30 are installed, the automated warehouses 30 may be arranged side by side along the Y direction. There are no particular restrictions on the size, shape, weight, etc. of the items L, and any object can be used as the item L as long as it can be transported by the loading section 43 and forks 50 (described in detail below) of the guided vehicles 40.

[0021] In each automated warehouse 30, a pair of racks 10 are arranged facing each other with a gap in the Y direction, with the X direction as the longitudinal direction. Each rack 10 has a plurality of support bases 12 (see FIG. 2) in the X and Z directions that support items L. The racks 10 store the items L in a matrix in the X and Z directions. A first rack 10A, which is a rack 10 in one of a pair of adjacent automated warehouses 30, and a second rack 10B, which is a rack 10 in the other automated warehouse 30, are arranged adjacently (closely) facing each other, for example.

[0022] The stacker crane 20 travels on a traveling rail 22 extending in the X direction between racks 10 facing each other in the Y direction in each automated warehouse 30. The stacker crane 20 includes a traveling carriage that can travel along the traveling rail 22, and a lifting platform that can be raised and lowered along a mast on the traveling carriage and is equipped with a transfer device. The stacker crane 20 transports a first item L1, which is one type of item L, between the loading section of the rack 10 and an inbound port and an outbound port installed outside the rack 10. The stacker crane 20 transfers (loads and unloads) the first item L1 to and from the loading section of the rack 10, the inbound port, and the outbound port. The operation of the stacker crane 20 is controlled by a controller 100.

[0023] There are no particular limitations on the stacker crane 20, and various known stacker cranes can be used. Examples of stacker crane 20 that can be used include a rear hook type that hooks onto the rear end of the first item L1 to take it in, a clamp type that clamps both sides of the first item L1 to hold and transfer it, a fork type that scoops up the first item L1 with a slide fork and transfers it, and a front hook type that hooks onto the front end of the first item L1 to take it in.

[0024] The automated guided vehicle 40 is a transport vehicle that travels unmanned on a floor surface F. An AGV (Automatic Guided Vehicle) is used as the automated guided vehicle 40. Hereinafter, the "automated guided vehicle 40" will be simply referred to as the "transport vehicle 40." The operation of the transport vehicle 40 is controlled by a controller 100. The transport vehicle 40 travels, for example, along a route R1 that is set in advance relative to the rack 10. The transport vehicle 40 is capable of transferring a first item L1 between an inbound port and an outbound port. The transport vehicle 40 travels in a first area A1 that includes, for example, a plurality of support platforms 12 arranged in the X direction and positions Pa and Pb outside the rack 10 for transferring the item L1 to and from the stacker crane 20. Some of the plurality of support platforms 12 may be provided with a picking station, a rail-guided vehicle system, or conveyors 4 and 5 for transporting the item L to an inbound / outbound port. The transport vehicle 40 can travel based on a two-dimensional code such as a barcode or QR code (registered trademark) placed on the floor surface F. The transport vehicle 40 may travel while being guided along a route R1. There are no particular limitations on the guidance method used by the transport vehicle 40, and it may be, for example, a magnetic guidance system or a laser guidance system. The route R1 is configured, for example, by a magnetic tape (magnetic marker), a laser reflector, a rail, or the like.

[0025] In the automated warehouse system 1 of this embodiment, the transport vehicle 40 can not only store and retrieve the first item L1 from the rack 10, but also transport the second item L2 placed (i.e., laid flat) on the floor surface F. The second item L2 is, for example, a pallet. The second item L2 may also be a tank or a wheeled cart (basket cart). As shown in FIG. 1, flat storage areas 15 on which the second item L2 is placed are set at appropriate locations on the floor surface F. The flat storage areas 15 are arranged, for example, in the X direction. Multiple rows of the flat storage areas 15 may be lined up. The transport vehicle 40 travels, for example, along a predetermined route R2. The transport vehicle 40 can transfer the second item L2 to and from the flat storage areas 15. The transport vehicle 40 travels in a second area A2 that includes the flat storage areas 15 and is adjacent to the first area A1. For example, processing equipment is located on the extension of the route R2 in the second area A2. The transport vehicle 40 can travel based on a two-dimensional code such as a barcode or QR code placed on the floor surface F. The transport vehicle 40 may travel while being guided along a route R2. The guidance method is not particularly limited, and may be, for example, a magnetic guidance method or a laser guidance method. The route R2 is configured, for example, by a magnetic tape (magnetic marker), a laser reflector, a rail, or the like.

[0026] In this way, in the automated warehouse system 1, two types of items L are to be transported: a first item L1 supported by the support base 12 of the rack 10, and a second item L2 placed in the flat storage area 15. The first item L1 and the second item L2 may be different, or may be similar items with no particular distinction between them. In the automated warehouse system 1, the first item L1 and / or the second item L2 may be moved from the rack 10 to the flat storage area 15, or from the flat storage area 15 to the rack 10.

[0027] The configuration of the transport vehicle 40 will be described in detail with reference to FIG. 3(a) and other drawings. As shown in FIG. 3(a), the transport vehicle 40 includes a vehicle body 41 capable of traveling on a floor surface F, a platform 43 disposed on the upper portion of the vehicle body 41, and a lifter 45 capable of raising and lowering the platform 43 relative to the vehicle body 41. The vehicle body 41 includes a traveling unit 46 (see FIG. 5) including a traveling motor and various other devices necessary for unmanned traveling, such as a battery, inside a vehicle body 41a, which is a housing. A pair of drive wheels 47 constituting part of the traveling unit 46 and two pairs of auxiliary wheels 49 (front and rear) are attached to the lower portion of the vehicle body 41a. The traveling unit 46 causes the transport vehicle 40 to travel in a predetermined direction in which the drive wheels 47 and the auxiliary wheels 49 are directed. The transport vehicle 40 is capable of traveling in two directions (forward and backward) along a predetermined direction. Furthermore, the automated guided vehicle 40 can perform a spin turn (the vehicle body 41a rotates around the center of the vehicle body 41a as an axis and changes direction on the spot) by rotating the pair of drive wheels 47 in opposite directions.

[0028] For example, a pair of LiDAR (laser radar) sensors 72 are attached to the front and rear ends of the vehicle body 41a, at the center of the vehicle body 41a in the width direction. The LiDAR sensors 72 can detect objects and / or the surrounding environment around the vehicle body 41. The LiDAR sensors 72 can detect, for example, obstacles around the vehicle body 41, other transport vehicles 40, etc. The LiDAR sensors 72 may detect the support base 12 and / or the first item L1 when the first item L1 is stored in or removed from the rack 10, or may detect the flat storage area 15 and / or the second item L2 when the second item L2 is transported to the flat storage area 15. The LiDAR sensors 72 transmit detection signals to a transport vehicle controller 60, which will be described later. The transport vehicle controller 60 controls each part of the transport vehicle 40, including the running unit 46, based on the detection signals from the LiDAR sensors 72. The LiDAR sensor 72 may be provided only at the front end of the aircraft main body 41a. Also, instead of the LiDAR sensor 72, other sensors such as millimeter wave radar or a camera may be used.

[0029] The placement unit 43 has a rectangular top plate portion 43a fixed to the upper end surface of the lifter 45. The forks 50, which will be described later, are integrally attached to the top plate portion 43a. The top plate portion 43a includes a placement surface 43b (upper surface) on which the first item L1 is placed. The lifter 45 includes a lifting motor (not shown) and the like, which raises and lowers the placement unit 43 and the forks 50 in the vertical direction. When the transport vehicle 40 travels on a horizontal floor surface F, the lifting direction by the lifter 45 is the vertical direction, i.e., the Z direction.

[0030] 3(a), 4(a), and 4(b), the lifter 45 can position the mounting portion 43 at at least a first height H1 at which the mounting portion 43 is located at its lowest end, a third height H3 at which the mounting portion 43 is located at its highest end, and a second height H2 at which the mounting portion 43 is located midway between the first height H1 and the second height H2. The height of the mounting portion 43 here may be, for example, the height position of the mounting surface 43b. The height of the mounting portion 43 may be continuously adjustable between the first height H1 and the third height H3.

[0031] As shown in FIG. 5, the transport vehicle 40 further includes a turning mechanism 71 that rotates the machine body 41 and the mounting unit 43 (and the forks 50) relative to one another. The turning mechanism 71 includes a turning shaft and a turning motor built into the machine body main body 41a. The turning mechanism 71 rotates the machine body 41 or the mounting unit 43 around a turning axis Z (see FIGS. 8(a) to 8(c)) that extends in the vertical direction. The turning mechanism 71 includes a locking mechanism that can allow (free to rotate) or prohibit (lock) the relative rotation of the machine body 41 and the mounting unit 43 (and the forks 50). In this way, the locking mechanism switches the turning mechanism 71 between being able to rotate and being unable to rotate.

[0032] That is, in the swivelable state, the transport vehicle 40 can change only the orientation of the vehicle body 41a without changing the orientation of the first item L1 placed on the placement section 43. That is, by performing the spin turn described above and rotating the placement section 43 in the opposite direction to the rotation direction of the vehicle body 41, the orientation of the first item L1 with respect to the floor surface F does not change.

[0033] Due to the above-described various operations of the transport vehicle 40, the movement patterns of the article L are classified into the following three types. 1.Item L rotates. 1-1. Only the placement portion 43 is rotated by the rotation mechanism 71. 1-2. The turning mechanism 71 does not rotate, and the placement unit 43 rotates together with the rotation of the travel unit 46. 2.Item L does not rotate. 2-1. The rotating mechanism 71 rotates the placement unit 43, and the traveling unit 46 rotates in the opposite direction.

[0034] As shown in FIG. 3(a), the transport vehicle 40 has forks 50 that protrude from the sides of the vehicle body 41. The forks 50 can be raised and lowered together with the mounting portion 43. As shown in FIGS. 3(a) and 3(b), the forks 50 are integrated with the top plate portion 43a. The forks 50 have a pair of extension portions 54 (see FIG. 6(a)) that extend horizontally from two corners of the top plate portion 43a, a pair of extension portions 51 that are integrally provided at the tips of the extension portions 54, hang down from the mounting surface 43b, and extend along the side surfaces of the vehicle body 41, and a pair of fork main bodies 52 that extend horizontally (laterally) from the extension portions 51.

[0035] 3(a) and 3(b), the fork body 52 is connected to the lower end of the fork body 52 via a hinge 53. The hinge 53 has a horizontal rotation axis. The fork 50 is movable between an unfolded position P2 in which the fork body 52 extends horizontally and a stored position P1 in which the fork body 52 is folded along the machine body 41 (extension portion 51). To unfold and fold (i.e., open and close) the fork body 52, the fork 50 may include an opening / closing motor, a gear mechanism, etc.

[0036] When the fork body 52 is folded, the fork body 52 extends in the vertical direction. The height of the tip of the fork body 52 is lower than the placement surface 43b of the placement portion 43. When in the storage position P1, the fork body 52 does not prevent the first item L1 from being placed on the placement surface 43b. Furthermore, when the first item L1 is placed on the placement surface 43b, the fork 50 can unfold or fold the fork body 52 (i.e., open and close). As shown in Figures 8(a) to 8(c), when the transport vehicle 40 rotates relatively around the rotation axis Z, the fork 50 (extension portion 51, fork body 52, and hinge portion 53) is positioned in a protruding position so as not to interfere with the vehicle body 41. Regardless of whether the fork main body 52 is located at the storage position P1 or the deployed position P2, or whether the mounting portion 43 is located at the first height H1, the second height H2, or the third height H3, the forks 50 are always located around the machine body 41. In other words, the shape and size of the top plate 43a and the extension portion 54 are set so that the forks 50 do not interfere with the machine body 41. The machine body 41 has an outer shape and size that fits within the cylindrical path (path centered on the pivot axis Z) drawn by the extension portion 51.

[0037] 5, the transport vehicle 40 includes a transport vehicle controller 60 that controls each part of the transport vehicle 40. A travel control unit 64 of the transport vehicle controller 60 receives commands from the controller 100 and controls the travel of the transport vehicle 40 from a predetermined departure position to an arrival position. The transport vehicle controller 60 includes a platform unit 43 that controls the lifter 45 to raise and lower the platform unit 43 to a predetermined height position, a rotation control unit 62 that controls the rotation of the rotation mechanism 71 and the rotation lock and release, an opening / closing control unit 63 that controls the opening and closing of the fork body unit 52 of the fork 50, and the above-mentioned travel control unit 64.

[0038] The guided vehicle controller 60 is a computer having a ROM (Read Only Memory) storing programs etc., a RAM (Random Access Memory) for temporarily storing data, a storage medium such as an HDD (Hard Disk Drive), a processor such as a CPU (Central Processing Unit), a communication circuit etc. The guided vehicle controller 60 stores input data in the RAM based on signals output by the CPU, loads programs stored in the ROM into the RAM, and executes the programs loaded into the RAM to realize various functions.

[0039] Next, the transfer of the item L (first item L1 and / or second item L2) by the transport vehicle 40 will be described. First, referring to FIG. 2, the transfer of the first item L1 onto the support base 12 of the rack 10 will be described. As shown in FIG. 2, at the receiving port I, the transport vehicle 40 receives the item L into the automated warehouse 30. At the receiving port I, a support base 12 on which the item L is placed is provided. The support base 12 has a space S below the support base 12 that allows the transport vehicle 40 to slip in. The support base 12 is installed, for example, between a pair of support pillars 11 spaced apart by a distance greater than the width of the transport vehicle 40. The distance between the support bases 12 is greater than the width of the placement section 43 in the X direction. The distance between the support bases 12 is smaller than the width of the first item L1 in the X direction.

[0040] As shown in Figures 1 and 2, a transport vehicle 40 carrying an item L on a loading section 43 located at a third height H3 enters the storage port I (see Figure 2(a)). The transport vehicle 40 proceeds until it is completely inside the space S and stops, and then the lifter 45 lowers the loading section 43 to the second height H2, thereby transferring the first item L1 from the transport vehicle 40 onto the support platform 12 (see Figure 2(b)).

[0041] The first item L1 is delivered from the delivery port O in the reverse order to the above-described receiving procedure.

[0042] In this way, the transport vehicle 40 can transfer the first item L1 placed on the support base 12 that is higher than the placement surface 43b when the placement portion 43 is located at the lowest end (the first height H1 described above). The transport vehicle 40 transfers the first item L1 by raising the placement portion 43 with the lifter 45 while the machine body 41 is located below the support base 12. At this time, the placement portion 43 (and the machine body 41) is located below the first item L1 supported on the support base 12. As shown in FIGS. 6(a) and 6(b), the transport vehicle 40 transfers the first item L1 by directing the forks 50 toward the front or rear of the machine body 41 (the end side where the LiDAR sensor 72 is provided) while folding the fork main bodies 52 of the forks 50 and positioning them in the storage position P1. In the example shown in Figure 6(b), the transport vehicle 40 transports the first item L1 with the loading section 43 positioned at the second height H2, but this is not limited to this and the first item L1 may be transported with the loading section 43 positioned at the first height H1.

[0043] The transport vehicle controller 60 recognizes that a command to transfer the first item L1 from the support base 12 has been assigned to the transport vehicle 40. In this case, the opening / closing control unit 63 moves (flips up) the fork main body 52 to the storage position P1. The lifting / lowering control unit 61 also moves the placement unit 43 to the second height H2 and the third height H3 to transfer the first item L1.

[0044] Next, with reference to FIGS. 7 and 8, the transfer of the second item L2 to the flat storage area 15 will be described. The transport vehicle controller 60 recognizes that a command to transfer the second item L2 from the flat storage area 15 has been assigned to the transport vehicle 40. In this case, the opening / closing control unit 63 moves the fork main body 52 to the deployed position P2. The lifting / lowering control unit 61 moves the placement unit 43 to the first height H1. The pair of parallel fork holes L2a of the second item L2 has a spacing corresponding to the pair of fork main bodies 52. The travel control unit 64 moves the vehicle 41 toward the second item L2 with the fork main body 52 facing the fork holes L2a of the second item L2. More specifically, the travel control unit 64 positions the fork main body 52 so that it faces the fork holes L2a formed in the second item L2, and controls the travel of the vehicle 41 so that it moves straight in the extension direction of the fork holes L2a. At this time, the LiDAR sensor 72 may detect the fork holes L2a. On the other hand, travel control toward the flat placement area 15 or the second item L2 may be performed while reading marks or the like on the floor surface F without using the LiDAR sensor 72.

[0045] When the fork main body 52 reaches a position where it has fully penetrated the fork holes L2a (see FIG. 7(a)), the travel control unit 64 controls the travel unit 46 to stop the machine body 41. Thereafter, the lifting control unit 61 controls the lifter 45 to raise the forks 50. The transport vehicle 40 transfers the second item L2 from the flat storage area 15 by using the lifter 45 to raise the placement unit 43 to the second height H2 (see FIG. 2(b)). In this way, the second item L2 is scooped from the flat storage area 15. The transfer (unloading) of the second item L2 from the placement unit 43 to the flat storage area 15 is performed in the reverse order of the above. During unloading, the second item L2 is placed in the flat storage area 15 specified on the layout map while using the guidance of the transport vehicle 40. In the transfer example shown in FIG. 7 etc., a further item LX is placed on the second item L2.

[0046] In this way, the transport vehicle 40 can transfer the second item L2 placed on the floor surface F by bringing the body 41 close to the second item L2 with the forks 50 facing the second item L2 and raising the forks 50. In this specification, the term "second item L2 placed on the floor surface F" refers to both a case in which the second item L2 is in contact with the floor surface F (the second item L2 is placed directly on the floor surface F) and a case in which the second item L2 is placed at a position higher than the floor surface F (the second item L2 is placed a predetermined distance from the floor surface F). The second item L2 placed on the floor surface F is an item placed at a position lower than the placement surface 43b when the placement section 43 is positioned at the lowest end (first height H1).

[0047] When the fork 50 is used to transport the second item L2 and the item LX, and the first item L1 is not being transported, the weight balance of the machine body 41 becomes unbalanced. For example, a balance adjustment unit (center of gravity adjustment unit) may be provided in the machine body 41 to eliminate the imbalance.

[0048] The transport vehicle 40 may also transport the first item L1 while transporting the second item L2 with the forks 50. In this case, the transport vehicle 40 supports the second item L2 with the forks 50, positions the placement section 43 at the second height H2 with the lifter 45, and enters below the support base 12. Then, the transport vehicle 40 raises the placement section 43 with the lifter 45 in the manner described above (see Figures 3(a) and 3(b)), lifts the first item L1, and transports it.

[0049] The transport vehicle 40 may transport the first item L1 and / or the second item L2 with the fork body 52 at a position higher than the LiDAR sensor 72 (with the mounting portion 43 raised to the third height H3 as shown in FIG. 4(b)). Naturally, when transporting the second item L2, the fork body 52 is located in the deployed position P2.

[0050] According to the transport vehicle 40 and automated warehouse system 1 of the present embodiment described above, a first item L1 placed on the support platform 12 can be transported by the placement unit 43, which is raised and lowered by the lifter 45. Furthermore, a second item L2 placed on the floor surface F can be transported by inserting the forks 50 into the fork holes L2a of the second item L2 or into the fork recesses on the underside of the second item L2 and raising it. Therefore, a common vehicle (i.e., one vehicle, in other words, the same vehicle) can transport both items on the support platform 12 and items on the floor surface F. This eliminates the need to prepare transport vehicles for each package type. Furthermore, according to the transport vehicle 40 and automated warehouse system 1 of the present embodiment, a common (single type) vehicle 41 can transport items of different package types, so the number of vehicles can be allocated according to changes in the load between package types. Alternatively, it is not necessary to prepare a maximum number of vehicles for each package type. Conventionally, a number of transport vehicles corresponding to the maximum required capacity for each package type was required, but this is no longer necessary.

[0051] The transport vehicle 40 has a loading surface 43b of the loading section 43 and a loading surface (fork body 52) of the fork 50. Of these two horizontal loading surfaces (support surfaces), one loading surface is located above the machine body 41, and the other loading surface is located to the side of the machine body 41. The two loading surfaces are offset in plan view and do not overlap. Furthermore, the methods of lifting items on the two loading surfaces are different. The transport vehicle 40 uses both a type that lifts from below the support base and a type that lifts by inserting the forks.

[0052] Since the forks 50 are integrally attached to the placement unit 43, the placement unit 43 and the forks 50 can be raised and lowered together by the lifter 45. By using a common drive source, the above two types of articles can be transported with a simple device configuration. The machine body 41 can be made compact.

[0053] When the forks 50 are needed, the fork bodies 52 are moved to the unfolded position P2, and when the forks 50 are not needed, the fork bodies 52 are folded and moved (stored) to the stored position P1. This allows the length of the vehicle to be shortened when the fork bodies 52 are not in use.

[0054] The placement unit 43 is rotatable relative to the machine body 41. The machine body 41 can normally travel only in a predetermined direction. According to this embodiment, as shown in Figures 8(a) to 8(c), by providing a rotatable placement unit 43, the second item L2 can be transported in any direction when transported using the forks 50 integrally attached to the placement unit 43. The item can be transported in accordance with the aisle width and the transfer point.

[0055] The placement section 43 can be positioned at at least three different heights: a first height H1, a second height H2, and a third height H3. With this configuration, as shown in Figures 9(a) and 9(b), the second item L2 can be transported using the fork 50 and the first item L1 can be transported on the placement section 43 simultaneously.

[0056] Although the embodiments of the present disclosure have been described above, the present invention is not limited to the above-described embodiments. For example, the support base 12 may be configured as a conveyor such as a roller conveyor or a chain conveyor.

[0057] In the automated guided vehicle system, the route or area that the guided vehicle 40 can travel may differ when the fork bodies 52 are in the deployed position P2 and when they are in the stored position P1. This configuration increases the degree of freedom in route selection and widens the area that the guided vehicle 40 can travel in when the fork bodies 52 are not in use. This automated guided vehicle system can transport two types of articles while also improving transport efficiency.

[0058] The fork body 52 may be manually deployed and folded (i.e., opened and closed).

[0059] The specific configuration of the fork 50 is not limited to the above embodiment. The fork 50 may be non-foldable. That is, the fork main body 52 may be fixed in a state where it is always extended horizontally. The fork 50 may also be provided separately from the mounting portion 43. The fork 50 may also be attached to a support (cylinder) that constitutes the lifter 45. A separate mechanism may also be provided to rotate the fork 50 relative to the machine body 41. The extension portion 51 is not limited to a configuration in which it hangs down from the mounting surface 43b, and the extension portion 51 may also be attached to the lifter 45.

[0060] The placement unit 43 may also have a conveyor capable of transporting the first item L1 horizontally. In this case, the transport vehicle 40 is not positioned below the support base 12, but the body 41 is positioned to the side of the support base 12. The forks 50 may be installed on a side perpendicular to the conveying direction of the conveyor. This prevents the stored forks 50 (fork main body 52) from getting in the way when transferring the first item L1. [Explanation of symbols]

[0061] 1...automated warehouse system (automated guided vehicle system), 10...rack, 15...flat storage area, 20...stacker crane, 30...automated warehouse, 40...guide vehicle (automated guided vehicle), 41...machine body, 43...loading section, 43a...top plate section, 43b...loading surface, 45...lifter, 46...traveling section, 50...fork, 51...extension section, 52...fork main body section, 53...hinge section, 54...extension section, 60...guide vehicle controller, 71...turning mechanism, 72...LiDAR sensor, F...floor surface, H1...first height, H2...second height, H3...third height, L1...first item, L2...second item, P1...storage position, P2...deployed position.

Claims

1. An automated guided vehicle that travels on a floor surface to transport an article, a machine body capable of running on the floor surface; a loading section disposed on an upper portion of the aircraft body and having a loading surface on which the item is placed; a lifter that raises and lowers the placement unit relative to the machine body; a fork that protrudes from a side of the machine body and is capable of ascending and descending relative to the machine body, a first article placed on a support platform that is higher than the placement surface when the placement section is positioned at the lowest end can be transferred by raising the placement section with the lifter while the machine body is positioned below the support platform; An automated guided vehicle capable of transferring a second item placed on the floor surface by bringing the vehicle body close to the second item with the forks facing the second item and lifting the forks.

2. The fork is integrally attached to the mounting portion, The fork is an extension portion extending along a side surface of the fuselage; The automated guided vehicle according to claim 1 , further comprising: a fork body portion extending horizontally from the extension portion.

3. 3. The automated guided vehicle according to claim 1, wherein the forks are movable between an extended position where the fork bodies extend horizontally and a stored position where the fork bodies are folded along the vehicle body.

4. The automated guided vehicle according to any one of claims 1 to 3, wherein the platform is rotatable relative to the vehicle body.

5. An automated guided vehicle system in which an automated guided vehicle travels on a floor surface to transport an article, The automated guided vehicle is a machine body capable of running on the floor surface; a loading section disposed on an upper portion of the aircraft body and having a loading surface on which the item is placed; a lifter that raises and lowers the placement unit relative to the machine body; a fork that protrudes from a side of the machine body and is capable of ascending and descending relative to the machine body, a support base is provided on the floor surface, the support base being higher than the placement surface when the placement section is located at the lowest end and lower than the placement surface when the placement section is raised to the highest end; The automated guided vehicle is The first article placed on the support platform can be transferred by raising the placement section with the lifter while the machine body is positioned below the support platform, An automated guided vehicle system capable of transferring a second item placed on the floor surface by bringing the vehicle body close to the second item with the forks facing the second item and raising the forks.

6. The lifter can position the placement section at least at a first height where the placement section is located at the lowest end, a third height where the placement section is located at the highest end, and a second height where the placement section is located at an intermediate position between the first height and the third height, 6. The automated guided vehicle system of claim 5, wherein when the automated guided vehicle is transporting the second item using the forks and transferring the first item placed on the support platform, the automated guided vehicle uses the lifter to position the placement section at the second height and enters below the support platform.

7. The fork is movable between an unfolded position in which the fork body extends horizontally and a stored position in which the fork body is folded along the vehicle body, 7. The automated guided vehicle system according to claim 5, wherein a route or an area that the automated guided vehicle can travel is different when the fork body is in the extended position from when the fork body is in the stored position.

Images