Automated Transportation and Delivery Systems

Abstract

An automatic movement device according to the present disclosure is for use in a delivery system for delivering articles, and is provided with: a vehicle body part which has travelling wheels and travels; a drive part for driving the travelling wheels; loading parts which are disposed on the vehicle body part and receive loading of conveyance objects or engage with the conveyance objects so as to move the conveyance objects; and a control unit that controls the drive part and the loading parts. Two or more of the loading parts are disposed on the vehicle body part.

Description

[Technical Field]

[0001] This specification discloses an automated transport device and delivery system. [Background technology]

[0002] Conventionally, an automatic transport device has been proposed that includes a drive unit having right and left wheels and wheel drive means, a pivot mechanism that supports the drive unit so that it can pivot relative to the tabletop, and a coil spring arranged vertically around the pivot mechanism to apply force applied to the tabletop to the right and left wheels (see, for example, Patent Document 1).This device is said to be able to further reduce the height of the automatic transport device itself while maintaining running performance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-76683 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, automatic moving devices are used, for example, in delivery systems that deliver goods, and moving goods more efficiently has long been a challenge. However, although Patent Document 1 can improve running stability and reduce the decrease in goods movement efficiency, this is still not sufficient, and there has been a demand for more efficient movement of goods.

[0005] The present disclosure has been made to solve such problems, and has as its main object to provide an automatic moving device and a delivery system that can move items more efficiently.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The automated moving device disclosed in the present specification comprises: An automatic moving device used in a delivery system for delivering goods, comprising: a vehicle body having running wheels and adapted to travel; a drive unit that drives the running wheels; a loading section disposed in the vehicle body section, for loading an object to be transported or engaging with the object to move the object; a control unit that controls the drive unit and the loading unit, The vehicle body is provided with two or more loading sections.

[0008] This automated moving device has two or more loading sections in the vehicle body, allowing it to move a larger number of items, which allows it to move items more efficiently. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic explanatory diagram showing an example of a delivery system 10. FIG. [Figure 2] FIG. 2 is an explanatory diagram showing an example of a logistics center 20. [Figure 3] FIG. 2 is an explanatory diagram showing an example of an automatic moving device 30. [Figure 4] 3A and 3B are three-view diagrams of an automated moving device 30 connected to a carriage 12. FIG. [Figure 5] FIG. 3 is an explanatory diagram showing an example of a detection range of a detection unit 37. [Figure 6] 4 is an explanatory diagram showing an example of the lifting and lowering operation of the first stacking section 41. FIG. [Figure 7] 10 is a flowchart illustrating an example of an automatic movement processing routine. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a delivery system 10. FIG. 2 is a diagram illustrating an example of a logistics center 20. FIG. 3 is a diagram illustrating an example of an automatic moving device 30. FIG. 4 is a three-sided view of the automatic moving device 30 connected to a cart 12, with FIG. 4A being a plan view, FIG. 4B being a front view, and FIG. 4C being a side view. FIG. 5 is a diagram illustrating an example of the detection range of the detection unit 37. FIG. 6 is a diagram illustrating an example of the lifting and lowering operation of the first loading unit 41. The delivery system 10 has an automatic moving device 30 that automatically moves items within a specific space and is a system that processes the items for delivery. This delivery system 10 will be described as an example in which items are transported using a cart 12 as a transport object, but is not limited thereto, and the cart 12 may be omitted or other components may be used. Here, the term "goods" is not particularly limited as long as they are delivered, and examples thereof include industrial products such as machinery, equipment, equipment units, and parts, as well as commonly used daily commodities, food, and fresh produce. Examples of the "origin" and "destination" include a logistics center that collects and delivers goods, a warehouse that stores goods, and a store that sells goods. Examples of the "specific space" include the origin and destination, as well as the cargo compartment and work elevator of a mobile vehicle that delivers goods. Examples of mobile vehicles include vehicles such as delivery vans 18 and trains, ships, and aircraft. For ease of explanation, the following description will focus on a delivery system 10 that delivers goods such as daily necessities and fresh produce from a logistics center 20 as a source of delivery to a store 60 as a destination by delivery vans 18.

[0011] 1, the delivery system 10 includes a logistics PC 21, a store PC 61, an automatic moving device 30, and a control device 70. The delivery system 10 is also used in a cart 12, a delivery vehicle 18, a logistics center 20, a store 60, and the like.

[0012] The dolly 12 is a transport object used to transport goods, and as shown in FIGS. 1 and 4, has a mounting section 13 and casters 14. The mounting section 13 is a flat member on which goods are loaded. The casters 14 have wheels that allow the dolly 12 to move, and are disposed on the underside of the mounting section 13. The dolly 12 may be a basket dolly. A display board displaying information about the delivery destination is attached to the dolly 12, so that workers and the automatic moving device 30 can confirm the delivery destination of the dolly 12.

[0013] A delivery vehicle 18 is a vehicle that delivers goods by loading one or more dollies 12 onto it. The delivery vehicle 18 delivers goods between delivery bases. Here, "delivery bases" include logistics centers 20 and stores 60 that collect goods. The delivery vehicle 18 loads the dollies 12 into its cargo compartment 61 at the logistics center 20, delivers the goods to the delivery destination, and returns the empty dolly 12 to the logistics center 20.

[0014] The logistics center 20 is a place where goods are collected and delivered to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 2, the logistics center 20 has one or more automatic moving devices 30, which can automatically move the carts 12. At this logistics center 20, workers or arm robots (not shown) perform the task of loading goods onto the carts 12 according to the delivery destination. The automatic moving devices 30 perform the task of collecting, loading, and unloading the carts 12 with specified delivery destinations.

[0015] The logistics PC 21 is installed in the logistics center 20 and is configured as a management device that manages products at the logistics center 20 and manages the automatic moving device 30. The logistics PC 21 is equipped with a control unit 22, a memory unit 23, and a communication unit 28. The control unit 22 has a CPU and is responsible for controlling the entire device. The memory unit 23 stores various application programs and various data files. The memory unit 23 stores delivery management information 24, maintenance information 25, map information 25, etc. The delivery management information 24 is information used to manage the delivery of goods. The map information 25 is information about a map of the logistics center 20. The communication unit 28 communicates wirelessly with external devices such as the automatic moving device 30. The communication unit 28 exchanges information with the supervisory device 70 and store PCs 61 via the network 15.

[0016] The automatic moving device 30 is a vehicle that automatically moves a dolly 12 as a transported object. The automatic moving device 30 enters the space between the casters 14 on the underside of the mounting portion 13 of the dolly 12, and either lifts the mounting portion 13 from below to load it, or connects to the dolly 12 so as to engage with the mounting portion 13 and tow it, thereby moving the dolly 12. The automatic moving device 30 may be an AGV (Automatic Guided Vehicle) that moves along a line formed on a road surface, or an AMR (Autonomous Mobile Robot) that senses its surroundings and moves along a free route. As shown in FIG. 3 , the automatic moving device 30 includes a vehicle body 31, a control unit 32, a memory unit 33, a drive unit 34, traveling wheels 35, a detection unit 37, and a communication unit 38. The automatic moving device 30 also has a first detection unit 40, a first loading unit 41, a first lifting unit 46, a second detection unit 50, a second loading unit 51, and a second lifting unit 56. For ease of explanation, the first detection unit 40 and the second detection unit 50 will be collectively referred to as detection units, the first loading unit 41 and the second loading unit 51 will be collectively referred to as loading units, and the first lifting unit 46 and the second lifting unit 56 will be collectively referred to as lifting units.

[0017] The vehicle body 31 is a flat housing that fits under the bogie 12, has running wheels 35 on its underside, and a loading section on its upper side, and travels through it. The automated transport device 30 has two loading sections, a first loading section 41 and a second loading section 51, arranged on the upper surface of the vehicle body 31. A rectangular parallelepiped driving section 36 is erected on one end of the vehicle body 31 next to the first loading section 41. The driving section 36 is erected higher than the main body of the vehicle body 31, next to the first loading section 41. The driving section 36 houses the control section 32, memory section 33, communication section 38, a storage battery for driving the drive section 34, and the like. The driving section 36 is erected on the vehicle body 31, and can fit under the bogie 12 only from the end opposite the driving section 36 (the end on the second loading section 51 side).

[0018] The control unit 32 is a controller that controls the entire automatic moving device 30. The control unit 32 outputs control signals and the like to the lifting unit, the detection unit, the drive unit 34, the detection unit 37, and the communication unit 38, and also inputs signals from the detection unit, the detection unit 37, and the communication unit 38. The control unit 32 controls the loading unit by controlling the lifting unit. The control unit 32 determines the movement direction, movement distance, and current position of the automatic moving device 30 based on the drive status of the drive unit 34. The control unit 32 controls the movement and stopping of the automatic moving device 30 based on information from the detection unit 37. When moving the cart 12, the control unit 32 controls the drive unit 34 and the lifting unit so that the transported article to be loaded or unloaded later is loaded or engaged with the first loading unit 41, which is closer to the driving unit 36. The memory unit 33 stores various application programs and various data files. The memory unit 33 stores, for example, location information including the locations of the delivery origin and delivery destination to which the dolly 12 is moved, map information of the logistics center 20, and the like. The location information and map information are acquired by communication from the logistics PC 21. The communication unit 38 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21. The control unit 32 exchanges information with the logistics PC 21 via the communication unit 38.

[0019] The drive unit 34 is a motor connected to each running wheel 35, and drives the connected running wheels 35 to rotate, thereby driving the automatic mobile device 30 to travel. The automatic mobile device 30 has four running wheels 35 and two auxiliary wheels that follow, and moves by the rotational drive of the running wheels 35. The running wheels 35 may be Mecanum wheels or omni wheels that are independently driven and can move vertically and horizontally. In view of the degree of freedom of movement, it is more preferable that the running wheels 35 be Mecanum wheels. The auxiliary wheels are disposed between the running wheels 35, and support the body part 31.

[0020] The detection unit 37 detects objects present around the automated mobile device 30 and their distance. The detection unit 37 may, for example, detect the presence and distance of an object by irradiating the surroundings with light such as a laser or sound waves and detecting reflected waves. The detection unit 37 may, for example, be one or more of a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor. In an AGV, the detection unit 37 is a sensor that detects objects present near the vehicle body 31, and in an AMR, it is a sensor that can detect obstacles and walls present in a wider area. As shown in FIG. 5, the detection units 37 are arranged on three side surfaces of the vehicle body 31 and one surface in front of the driver's unit 36, and detect objects present around the automated mobile device 30 and their distance (see FIG. 5).

[0021] The first detection unit 40 is a sensor that identifies and / or detects the transported object, and is configured, for example, by a stereo camera. The first detection unit 40 is disposed on the surface of the driving unit 36 ​​on the first loading unit 41 side, and as shown in FIG. 5, identifies and detects the cart 12 on the first loading unit 41 side. The second detection unit 50, like the first detection unit 40, is a sensor that identifies and / or detects the transported object, and is configured, for example, by a stereo camera. The second detection unit 50 is disposed in the center of the top surface of the vehicle body 31, and identifies and detects the cart 12 on the second loading unit 51 side. In the automatic transport device 30, the vehicle body 31 is provided with a detection unit for identifying and / or detecting the transported object for each loading unit.

[0022] The first loading section 41 is disposed on the upper surface of the vehicle body section 31 and loads or engages with the dolly 12 to move the dolly 12. The first loading section 41 moves upward from the vehicle body section 31 of the automatic moving device 30 and presses or engages with the underside of the placement section 13, thereby connecting with the dolly 12 (see FIG. 4). The first loading section 41 has an acting section 42, a loading member 43, a support member 44, and a base section 45. The acting section 42 is a pin-shaped member that engages with unevenness formed on the underside of the placement section 13 and moves the dolly 12 with the casters 14 in contact with the ground, i.e., is used when towing the dolly 12. The acting sections 42 are disposed at four locations on the upper surface of the support member 44 so as to be engaged in the front-rear and left-right directions. The loading member 43 is a flat plate-shaped member that is used when moving the dolly 12 in a lifted, loaded state. The loading members 43 are arranged at four locations on the upper surface of the base unit 45 so that the carriage 12 can be lifted stably. The base unit 45 is an integrated structure on which all of the loading members 43 are arranged, and is raised and lowered by a first lifting unit 46. The support members 44 are two columnar members that are respectively hung in the vicinity of a pair of loading members 43. The support members 44 move up and down relative to the loading members 43. In the first loading unit 41, the loading members 43 rise and lower in accordance with the rise and lowering of the base unit 45, and further, only the operating unit 42 rises and lowers due to the rise and lowering of the support members 44. The first lifting unit 46 is a drive unit that raises and lowers the first loading unit 41. The first lifting unit 46 raises and lowers the operating unit 52 by moving the support members 44 between a raised position and a lowered position, and raises and lowers the loading members 53 by moving the base unit 45 between a raised position and a lowered position.

[0023] Similar to the first loading section 41, the second loading section 51 is disposed on the upper surface of the vehicle body section 31 and loads or engages with the dolly 12 to move the dolly 12. Similar to the first loading section 41, the second loading section 51 includes an operating section 52, a loading member 53, a support member 54, and a base section 55. Note that the second loading section 51 and the second lifting section 56 have the same configuration as the first loading section 41 and the first lifting section 46, and detailed description thereof will be omitted. Each of these loading sections lifts and lowers independently to load or engage with the dolly 12. Note that two or more loading sections may lift and lower together to load or engage with the dolly 12 as the transported object.

[0024] As shown in FIG. 1, the store 60 displays and sells the delivered items. The store 60 has one or more automatic moving devices 30 and can automatically move the carts 12. The store 60 has display shelves 69 on which the items are displayed, and workers display the items on these display shelves. The store PC 61 is disposed in the store 60 and is configured as a management device that manages merchandise in the store 60. The store PC 61 includes a control unit, a memory unit, and a communication unit. The store PC 61 has a configuration similar to that of the logistics PC 21, so a detailed description thereof will be omitted.

[0025] The coordinating device 70 is a device that manages the delivery system 10. The coordinating device 70 is equipped with a control unit, a memory unit, and a communication unit. The memory unit stores delivery management information, which is a database used to manage the delivery of goods, and map information, which is a database of maps of the logistics centers 20 and stores 60. Note that the coordinating device 70 has a similar configuration to the logistics PC 21, and detailed description thereof will be omitted.

[0026] Next, a process by which the automated moving device 30 moves the dolly 12 in the delivery system 10 configured as described above will be described. Here, a process by which the automated moving device 30 functioning as an AMR moves the dolly 12 to the delivery vehicle 18 in the logistics center 20 will be described as a specific example. FIG. 7 is a flowchart showing an example of an automatic moving process routine executed by the control unit 32 of the automated moving device 30. This routine is stored in the memory unit 33 and is executed after the automated moving device 30 is started. When this routine starts, the control unit 32 of the automated moving device 30 first acquires a moving mode (S100). The moving mode includes a loading mode in which the automated moving device 30 loads and moves the dolly 12, and a towing mode in which the automated moving device 30 engages and tows the dolly 12. This moving mode may be preset in the control unit 32 or may be acquired via communication from the logistics PC 21. Next, the control unit 32 acquires information about the transported item, such as the identification information of the transported item, the current location of the transported item, and the destination location after movement (S110). The goods information may be acquired from the logistics PC 21 via communication.

[0027] Next, the control unit 32 determines whether there are multiple objects to be transported (S120). If there are multiple objects to be transported, the control unit 32 moves to the current position of the object to be unloaded later and connects the object to the loading unit according to the travel mode (S130). At this time, the control unit 32 identifies the dolly 12 using the first detection unit 40 and controls the drive unit 34 and the first lifting unit 46 to load the dolly 12 onto the first loading unit 41. Furthermore, after loading the first object onto the first loading unit 41, the control unit 32 moves to the current position of the next object to be transported, identifies the dolly 12 using the second detection unit 50, and controls the drive unit 34 and the second lifting unit 56 to load the dolly 12 onto the second loading unit 51. By loading the dolly 12 in this manner, the automatic transport device 30 can improve the efficiency of loading and unloading operations.

[0028] On the other hand, if there are not multiple articles to be transported in S120, i.e., if there is only one article to be transported, the control unit 32 moves to the current position of the dolly 12, identifies the dolly 12 using the second detection unit 50, and controls the drive unit 34 and the second lift unit 56 to load the dolly 12 onto the second loading unit 51 (S140). By loading the dolly 12 in this manner, the automatic moving device 30 can load and unload the dolly 12 more quickly. After S140 or S130, the control unit 32 drives the drive unit 34 to move to the destination position, and upon arrival at the destination position, performs the task of unloading the dolly 12 (S150). If there are multiple articles to be transported, the control unit 32 repeatedly performs the same task for each dolly 12. When loading and unloading is completed, the control unit 32 ends this routine.

[0029] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the vehicle body unit 31 corresponds to the vehicle body unit of the present disclosure, the control unit 32 corresponds to the control unit, the drive unit 34 corresponds to the drive unit, the running wheels 35 correspond to the running wheels, the driving unit 36 ​​corresponds to the driving unit, and the first loading unit 41 and the second loading unit 51 correspond to the loading unit. Furthermore, the action unit 42 and the action unit 52 correspond to the action unit, the first lifting unit 46 and the second lifting unit 56 correspond to the lifting unit, the detection unit 37 corresponds to the detection unit, and the first detection unit 40 and the second detection unit 50 correspond to the detection unit. Furthermore, the automatic moving device 30 corresponds to the automatic moving device, the delivery system 10 corresponds to the delivery system, and the logistics PC 21, the store PC 61, and the supervisory device 70 correspond to the management device.

[0030] The automated moving device 30 of the present embodiment described above includes a vehicle body 31 having traveling wheels 35 and traveling, a drive unit 34 that drives the traveling wheels 35, a loading unit disposed on the vehicle body 31 and configured to load a dolly 12 as an object to be transported or engage with the object to move the dolly 12, and a control unit 32 that controls the drive unit 35 and the lifting unit. The vehicle body 31 is provided with two or more loading units. Since the automated moving device 30 has two or more loading units, it can move a larger number of objects. Therefore, the automated moving device 30 can move items more efficiently. The loading units may also include operating units 42, 52 that load or engage with the object to be transported, and an elevator unit that raises and lowers the operating units 42, 52 relative to the vehicle body 31. In this automated moving device, the object to be transported is moved by raising and lowering the operating units, allowing the object to be loaded onto or engaged with the loading unit through a relatively simple operation. Furthermore, each loading section can be raised and lowered independently to load or engage with an article. This automatic moving device 30 can load or engage a plurality of articles individually.

[0031] Furthermore, a driving unit 36 ​​is provided in the vehicle body 31 adjacent to the first loading unit 41, and the control unit 32 controls the drive unit 34 and the lifting unit so that the dolly 12 to be loaded or unloaded later is loaded or engaged on the first loading unit 41 closest to the driving unit 36. This automatic moving device 30 can more efficiently load and unload transported objects, for example, in a structure in which the driving unit 36 ​​is provided in an upright position that obstructs the movement of the transported objects. Furthermore, the vehicle body 31 is provided with a detection unit 37 that detects the surroundings of the automatic moving device 30 and a detection unit that identifies the dolly 12 and / or detects the transported objects. This automatic moving device 30 can automatically move using the detection results of the detection unit 37. Furthermore, this automatic moving device 30 can more reliably load and unload transported objects using the detection unit. Furthermore, since a detection unit is provided for each loading unit, this automatic moving device 30 can detect each transported object, which is preferable, thereby more reliably loading and unloading transported objects.

[0032] Furthermore, the automated transport device 30 includes a driving section 36 erected on the vehicle body 31, a first loading section 41 disposed adjacent to the driving section 36, and a second loading section 51 disposed adjacent to the first loading section 41. Because the automated transport device 30 includes two loading sections, the structure and size can be simplified and a larger number of transported items can be transported more reliably. Furthermore, because the traveling wheels 35 are omni-wheels or Mecanum wheels, the automated transport device 35s can easily move in any direction, thereby improving transport efficiency. The delivery system 10 includes the automated transport device 30 and a logistics PC 21 as a management device that manages the automated transport device 30. Because the delivery system 10 includes an automated transport device 30 with multiple loading sections, the movement of goods can be more efficiently carried out. Furthermore, the delivery system 10 can manage the automated transport device 30 using a management device.

[0033] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0034] For example, in the above-described embodiment, the automatic moving device 30 is provided with the action units 42, 52 and the loading members 43, 53 and is capable of loading and towing, but either one of these may be omitted. This automatic moving device 30 also has multiple loading units, so that it can move items more efficiently. Note that in cases where the automatic moving device 30 has a loading unit for loading an object to be transported, the object may not have wheels such as casters.

[0035] In the above-described embodiment, the loading sections are independently raised and lowered, but this is not a limitation, and two or more loading sections may be raised and lowered as a single unit. This automatic moving device can simplify the structure when loading or engaging multiple transported objects. Furthermore, the automatic moving device 30 has two loading sections, the first loading section 41 and the second loading section 51, but this is not a limitation, and three or more loading sections may be included. Furthermore, the automatic moving device 30 has an integrated vehicle body 31, but this is not a limitation, and the vehicle body may have one or more bending sections. This automatic moving device can also move items more efficiently.

[0036] In the above-described embodiment, the driving unit 36 ​​is erected at the end of the vehicle body 31, but this is not particularly limited, and the vehicle may not have the driving unit 36. In this case, the control unit 32 may omit the process of loading or engaging the transported article to be loaded and unloaded later on the loading unit closer to the driving unit 36. If the automatic moving device 30 does not have the driving unit 36, the cart 12 can be loaded from either the first loading unit 41 or the second loading unit 51.

[0037] In the above-described embodiment, the device has the detection unit 37 and the sensing unit, but this is not particularly limited, and either of these may be omitted. In this automatic moving device, if multiple loading units are provided, the movement of items can be performed more efficiently. Also, in the above-described embodiment, a sensing unit is provided for each loading unit, but this is not particularly limited, and one or more sensing units may be omitted. In this automatic moving device, the structure can be further simplified.

[0038] In the above-described embodiment, the running wheels 35 are omni-wheels or mecanum wheels, but are not limited thereto and may be normal wheels. Furthermore, in the automatic mobile device 30, four of the running wheels 35 are drive wheels. However, this is not limited thereto and three or fewer wheels may be drive wheels, or four or more wheels may be drive wheels. For example, in an omni-wheel, three running wheels 35 may be drive wheels. Furthermore, normal wheels may be two drive wheels or four drive wheels, two drive wheels may be driven by one motor, four drive wheels may be driven by one motor, or four drive wheels may be driven by two motors. Furthermore, in the automatic mobile device 30, two training wheels are provided, but this is not limited thereto and may be no training wheels, one training wheel, or three or more training wheels. For example, the running wheels 35 may be two drive wheels and one training wheel. The type of wheels, the number of drive wheels, whether or not auxiliary wheels are provided, and the configuration of the drive unit 34 (e.g., the number of motors) can be appropriately selected for the automatic transport device 30 depending on the application and the size of the transported object. Note that, since the traveling wheels 35 can move freely in all directions, it is more preferable that they are omni-wheels or mecanum wheels.

[0039] In the above-described embodiment, the present disclosure has been described as a delivery system 10, but is not particularly limited to this and may also be an automatic moving device 30. [Industrial Applicability]

[0040] The automated moving device and delivery system of the present disclosure can be used in the technical field of distribution systems that deliver goods. [Explanation of symbols]

[0041] 10 Delivery system, 12 Cart, 13 Loading unit, 14 Caster, 15 Network, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Delivery management information, 25 Map information, 28 Communication unit, 30 Automatic moving device, 31 Vehicle body unit, 32 Control unit, 33 Memory unit, 34 Drive unit, 35 Traveling wheels, 36 Driving unit, 37 Detection unit, 38 Communication unit, 40 First detection unit, 41 First loading unit, 42 Action unit, 43 Loading member, 44 Support member, 45 Base unit, 46 First lifting unit, 50 Second detection unit, 51 Second loading unit, 52 Action unit, 53 Loading member, 54 Support member, 55 Base unit, 56 Second lifting unit, 60 Store, 61 Store PC, 69 Display shelves, 70 control devices.

Claims

1. An automatic moving device used in a delivery system for delivering goods, comprising: a vehicle body having running wheels and adapted to travel; a drive unit that drives the running wheels; a loading section disposed in the vehicle body section and configured to load an object to be transported or engage with the object to move the object; a control unit that controls the drive unit and the loading unit, The vehicle body has two or more loading sections, and a driving section is provided upright next to one of the loading sections, The control unit controls the drive unit and the loading unit so that the transported object to be loaded or unloaded later is loaded or engaged with the loading unit closer to the driving unit.

2. 2. The automatic moving device according to claim 1, wherein the loading section has an action section that loads the transported object onto or engages with the transported object, and a lifting section that lifts and lowers the action section relative to the vehicle body section.

3. 3. The automatic moving device according to claim 1, wherein each of the loading sections independently moves up and down to load or engage the transported object.

4. 3. The automatic moving device according to claim 1, wherein the two or more loading sections move up and down as a unit to load or engage the transported object.

5. An automatic moving device as described in any one of claims 1 to 4, wherein the vehicle body is provided with a detection unit that detects the surroundings of the automatic moving device and a detection unit that identifies the transported item and / or detects the transported item.

6. a detection unit that identifies the transported item and / or detects the transported item is disposed in the vehicle body, 6. The automatic moving device according to claim 1, wherein the detection unit is provided for each of the loading units.

7. A first loading unit arranged next to the driving unit; 7. The automatic moving device according to claim 1, further comprising: a second loading section disposed adjacent to the first loading section.

8. The automatic moving device according to any one of claims 1 to 7, wherein the running wheels are omni-wheels or mecanum wheels.

9. An automatic moving device according to any one of claims 1 to 8; a management device that manages the automated moving device; A delivery system with.

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