Automated guided vehicle system

Abstract

To provide an automatic carrier vehicle system which stabilizes the turn angle of an automatic carrier vehicle.SOLUTION: An automatic carrier vehicle system comprises: a dolly 100 which includes a load-carrying platform having a first face and a second face on the opposite side to the first face; and an automatic carrier vehicle which includes a circular lifting table 240 to carry the dolly. The second face of the load-carrying platform has a height with which the lifting table rises to come into contact, and comprises: a second guide frame which restricts the position in the second direction orthogonal to the first direction of the automatic carrier vehicle; a first pin 132 provided at a position facing the first guide frame; and a second pin 134 provided at a position facing the second guide frame. The lifting table has a first contact part 244 that comes into contact with the first pin and a second contact part 243 that comes into contact with the second pin, which are arranged symmetrically to each other respect to the center line of the lifting table.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an automated guided vehicle system including a cart used to transport materials at a construction site and an automated guided vehicle that transports the cart. [Background technology]

[0002] In recent years, technological development of automatic guided vehicles (AGVs) has progressed, and automatic guided vehicles are beginning to be used in a variety of situations. For example, by using automatic guided vehicles in warehouses where products are stored, it becomes possible to automatically transport a wide variety of products. By using automatic guided vehicles, it becomes possible to transport a wide variety of products in a shorter time than before using automatic guided vehicles, thereby improving work efficiency in warehouses and reducing costs required for work in warehouses. One such automatic guided vehicle is known to be capable of moving under a cart and lifting the cart for transport (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-59460 Summary of the Invention [Problem to be solved by the invention]

[0004] At construction sites, the materials loaded onto the platform of a trolley are large and heavy. To lift a trolley loaded with large, heavy materials, an automated guided vehicle requires a lot of power. As a result, automated guided vehicles are becoming larger. Therefore, development is underway to develop small automated guided vehicles with line tracing and automatic following functions that can connect to a trolley underneath and pull the trolley using the casters of the trolley.

[0005] Such an automated guided vehicle is equipped with, for example, an inertial measurement unit (IMU). The automated guided vehicle uses the inertial measurement unit to calculate the automated guided vehicle attitude angle and the automated guided vehicle orientation angle, and can calculate the turning angle of the automated guided vehicle based on these angles. For example, when changing the direction of movement of the automated guided vehicle, the automated guided vehicle turns below the dolly based on the calculated turning angle. In this way, the automated guided vehicle can change its direction of movement. Furthermore, after changing the direction of movement of the automated guided vehicle, the automated guided vehicle can change the direction of movement of the dolly by lifting the dolly. Note that when changing the direction of movement of the automated guided vehicle, the automated guided vehicle may be configured to lift the dolly, or may be configured to tow the dolly without lifting it.

[0006] However, for example, if the floor of a construction site is slippery, the automated guided vehicle will also slip as it moves. When the automated guided vehicle slips, even if it is equipped with an inertial measurement unit, an error occurs between the angle calculated by the inertial measurement unit and the actual angle, which can result in a difference between the calculated turning angle and the actual turning angle. As a result, there is a problem in that the automated guided vehicle cannot transport a cart loaded with materials in the intended direction.

[0007] Furthermore, even if there is no error between the angle calculated by the inertial measurement unit and the actual angle, and there is no difference between the calculated turning angle and the actual turning angle, there is a possibility that the position of the automated guided vehicle relative to the cart may shift while the automated guided vehicle is turning, causing the transport posture to become unstable.If the automated guided vehicle attempts to transport a cart loaded with materials in a state where the transport posture is unstable, not only may the loaded materials collapse, but an accident may also occur.

[0008] In view of the above problems, one embodiment of the present invention aims to provide an automatic guided vehicle system that stabilizes the rotation angle of an automatic guided vehicle used in transporting materials and an automatic guided vehicle that moves under the cart, and stabilizes the position of the automatic guided vehicle relative to the cart. [Means for solving the problem]

[0009] An automated guided vehicle system according to one embodiment of the present invention includes a carriage including a loading platform having a first surface on which cargo is placed and a second surface opposite the first surface, and an automated guided vehicle including a circular lift table that enters under the loading platform and transports the carriage, wherein the second surface of the loading platform has a first guide frame that has a height that contacts the lift table when it is raised and that regulates the position of the automated guided vehicle in a first direction, a second guide frame that has a height that contacts the lift table when it is raised and that regulates the position of the automated guided vehicle in a second direction perpendicular to the first direction, a first pin located opposite the first guide frame, and a second pin located opposite the second guide frame, and the lift table is an outer edge of the lift table that is arranged symmetrically with each other about the center line of the lift table and has a first abutment portion that abuts the first pin and a second abutment portion that abuts the second pin. [Effects of the Invention]

[0010] According to one embodiment of the present invention, the turning angle of the automated guided vehicle can be stabilized, and the position of the automated guided vehicle relative to the carriage can also be stabilized. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram illustrating a configuration of an automated guided vehicle system according to an embodiment of the present invention. [Figure 2] 2(A) and 2(B) are schematic diagrams showing the configuration of a carriage of an automatic guided vehicle system according to one embodiment of the present invention. [Figure 3] 3(A) and 3(B) are schematic diagrams showing the configuration of a carriage of an automatic guided vehicle system according to one embodiment of the present invention. [Figure 4] 4(A) and 4(B) are schematic diagrams showing the configuration of an automatic guided vehicle of an automatic guided vehicle system according to one embodiment of the present invention. [Figure 5] Figures 5(A) and 5(B) are schematic diagrams showing the configuration of an automatic guided vehicle of an automatic guided vehicle system according to one embodiment of the present invention, and Figure 5(C) is a schematic diagram showing the configuration of an automatic guided vehicle of a lift table according to one embodiment of the present invention. [Figure 6] 6(A) and 6(B) are schematic diagrams illustrating the operation of an automatic guided vehicle entering under the platform of a carriage in an automatic guided vehicle system according to one embodiment of the present invention. [Figure 7] 7(A) to 7(C) are schematic diagrams illustrating the operation of the automatic guided vehicle entering under the platform of the carriage in the automatic guided vehicle system according to one embodiment of the present invention. [Figure 8] 8(A) to 8(C) are schematic diagrams illustrating the turning operation of the automatic guided vehicle below the platform of the carriage in the automatic guided vehicle system according to one embodiment of the present invention. [Figure 9] 9(A) and 9(B) are schematic diagrams illustrating the turning operation of the automatic guided vehicle below the platform of the carriage in the automatic guided vehicle system according to one embodiment of the present invention. [Figure 10] 10(A) and 10(B) are schematic diagrams illustrating the turning operation of the automatic guided vehicle below the platform of the carriage in the automatic guided vehicle system according to one embodiment of the present invention. [Figure 11] 1 is a schematic diagram illustrating prevention of cargo collapse in an automated guided vehicle system according to an embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. Note that the embodiments are merely examples, and any modifications that a person skilled in the art could easily make while maintaining the gist of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may show the width, thickness, shape, etc. of each part more schematically than the actual embodiment. However, the shapes shown in the drawings are merely examples and do not limit the interpretation of the present invention.

[0013] In this specification, for convenience of explanation, the terms "upper", "above", "upper part", "lower", "belower", and "lower part" are used to merely explain the vertical relationship of each component. For example, when explaining the positional relationship of components of a structure (e.g., a cart or an automated guided vehicle), the normal use state of the structure is used as the basis, and the surface side on which the structure is installed (e.g., the floor side) may be referred to as "lower", "belower", or "lower part".

[0014] In this specification, the letters "first," "second," or "third" attached to each component are convenient labels used to distinguish each component, and have no other meaning unless otherwise specified.

[0015] In this specification and drawings, the same reference numeral is used to collectively represent multiple identical or similar components, and uppercase or lowercase letters may be added to distinguish between the multiple components. Furthermore, a hyphen and a natural number may be used to distinguish between multiple parts of a single component.

[0016] In this specification, the term "automated guided vehicle" refers to a vehicle capable of automatic travel that lifts a cart and transports the cart to a specified location as instructed.

[0017] In this specification, the term "cart" refers to a vehicle capable of carrying materials and the like on its loading platform.

[0018] In this specification, "automated driving" includes not only driving according to instructions based on a program, but also autonomous driving by a control device equipped in the automated guided vehicle. Autonomous driving includes not only driving of an automated guided vehicle along a predetermined route toward a destination, but also driving while following a target.

[0019] In this specification, the "first direction X," "second direction Y," and "third direction Z" intersect with each other. Furthermore, the "third direction Z" is perpendicular or approximately perpendicular to the "first direction X" and the "second direction Y."

[0020] [1. Configuration of the automated guided vehicle system 10] The configuration of an automated guided vehicle system 10 according to one embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a side view showing the configuration of the automated guided vehicle system 10.

[0021] 1, the automated guided vehicle system 10 includes a dolly 100 and an automated guided vehicle 200. The dolly 100 includes a platform 110, casters 120, an L-shaped guide frame 131, an L-shaped guide frame 133, a first pin 132, and a second pin 134. The automated guided vehicle 200 includes a main body 210, crawlers 220, a lift table 240, and a liftable portion 230.

[0022] Although details will be described later, in the automated guided vehicle system 10, the automated guided vehicle 200 slides under the loading platform 110 of the cart 100, and the L-shaped guide frames 131 and 133 of the cart 100 engage with the lifting table 240 of the automated guided vehicle 200, and the first pin 132 abuts against a first abutment portion 244 included in the lifting table 240, or the second pin 134 abuts against a second abutment portion 243 included in the lifting table 240, thereby connecting the cart 100 and the automated guided vehicle 200. When the automated guided vehicle 200 slides under the loading platform 110 of the cart 100, at least a portion of the crawlers 220 of the automated guided vehicle 200 and the casters 120 of the cart 100 are in contact with the floor surface. The automated guided vehicle 200 can transport the cart 100 by lifting it in the third direction Z. Alternatively, the automated guided vehicle 200 can transport the cart 100 by towing it without lifting it in the third direction Z.

[0023] Furthermore, although details will be described later, in the automated guided vehicle system 10, the L-shaped guide frame 131, the L-shaped guide frame 133, the first pin 132, and the second pin 134 are arranged so as to be positioned on the same circumference (approximately the same circumference) of a predetermined circle 135 (FIG. 2(B)) whose center point 136 (FIG. 2(B)) is the center or approximate center of the loading platform 110. The second pin 134 is arranged (provided) on the same circumference as the first pin 132, at a position rotated by an angle α (here, 90 degrees (FIG. 2(B))) from the first pin 132. As a result, for example, in the automated guided vehicle system 10, when changing the direction of movement of the automated guided vehicle 200, the lift table 240 can be rotated 90 degrees and the first pin 132 can be brought into contact with the first abutment portion 244 or the second pin 134 can be brought into contact with the second abutment portion 243, thereby enabling the direction of movement of the automated guided vehicle 200 to be changed by 90 degrees with precision. Furthermore, in the automated guided vehicle system 10, the transport direction of the cart 100 can be changed by 90 degrees with precision by lifting the cart 100 in the third direction Z while the automated guided vehicle 200 is rotated 90 degrees.

[0024] [2. Configuration of the cart 100] The configuration of the bogie 100 will be described with reference to Figures 2(A) to 3(B). Figures 2(A) and 2(B) respectively show a side view and a bottom view of the bogie 100. Also, Figures 3(A) and 3(B) respectively show a cross-sectional view of the bogie 100 taken along line A1-A2 shown in Figure 2(B) and a cross-sectional view of the bogie 100 taken along line B1-B2 shown in Figure 2(B).

[0025] 2(A) and 2(B), the loading platform 110 includes a first surface 110a and a second surface 110b opposite the first surface 110a in the third direction Z. The first surface 110a is a surface on which materials and the like are loaded. Four casters 120, an L-shaped guide frame 131, an L-shaped guide frame 133, a first pin 132, and a second pin 134 are installed on the second surface 110b.

[0026] The shape of the loading platform 110 is a rectangle including a first side 111, a second side 112, a third side 113, and a fourth side 114. In this embodiment, the first side 111 and the second side 112 are parallel or approximately parallel to the second direction Y and are called long sides or major axes, while the third side 113 and the fourth side 114 are parallel or approximately parallel to the first direction X and are called short sides.

[0027] The four casters 120 are arranged at the four corners of the platform 110. The casters 120 include wheels, and the wheels may be fixed to move in one direction, or may be fixed so as to be rotatable so as to change the direction of movement. The dolly 100 is not limited to the above-described configuration. For example, the platform 110 of the dolly 100 may be substantially circular or polygonal.

[0028] The L-shaped guide frame 131, the L-shaped guide frame 133, the first pin 132, and the second pin 134 are arranged so as to be positioned approximately on the circumference of a predetermined circle 135 whose center point 136 is the center or approximately the center of the loading platform 110. Specifically, the L-shaped guide frame 133 is arranged on approximately the same circumference as the circle 135, at a position rotated by an angle α (here, 90 degrees or approximately 90 degrees) from the L-shaped guide frame 131. Similarly, first pin 132 is arranged at a position rotated 90 degrees or approximately 90 degrees from L-shaped guide frame 133 on approximately the same circumference of circle 135, second pin 134 is arranged at a position rotated 90 degrees or approximately 90 degrees from first pin 132 on approximately the same circumference of circle 135, and L-shaped guide frame 131 is arranged at a position rotated 90 degrees or approximately 90 degrees from second pin 134 on approximately the same circumference of circle 135. In this embodiment, the radius of circle 135 is a length r1.

[0029] Furthermore, the L-shaped guide frame 131, the L-shaped guide frame 133, the first pin 132, and the second pin 134 are arranged on the second side 112 side, the fourth side 114 side, the first side 111 side, and the third side 113 side, respectively. The L-shaped guide frame 133 and the second pin 134 are arranged to face each other, and the L-shaped guide frame 131 and the first pin 132 are arranged to face each other. In other words, the first pin 132 is provided on the opposite side of the L-shaped guide frame 131 with respect to the center point 136 of the circle 135 in the second direction Y, and the second pin 134 is provided on the opposite side of the L-shaped guide frame 133 with respect to the center point 136 of the circle 135 in the first direction X.

[0030] 3A, the L-shaped guide frame 131 is configured such that a first flat plate portion 131a extending substantially perpendicular to the second surface 110b (substantially parallel to the third direction Z) and a second flat plate portion 131b extending from the first flat plate portion 131a substantially parallel to the second surface 110b of the loading platform 110 (substantially parallel to the first direction X) are orthogonal to each other. In other words, the L-shaped guide frame 131 is a member having an L-shaped cross section. The second flat plate portion 131b extends toward a center point 136. The L-shaped guide frame 131 is also bent to face the first pin 132.

[0031] The configurations of the L-shaped guide frame 133, the first flat plate portion 133a, and the second flat plate portion 133b are as shown in FIG. 3(B). The configurations of the first flat plate portion 133a and the second flat plate portion 133b are similar to the configurations of the L-shaped guide frame 131, the first flat plate portion 131a, and the second flat plate portion 131b, and detailed description thereof will be omitted here. The L-shaped guide frame 133 is a member having an L-shaped cross section. The second flat plate portion 133b extends toward a center point 136. The L-shaped guide frame 133 is bent to face the second pin 134.

[0032] As shown in FIG. 3(A), the first pin 132 is configured with a first cylindrical portion 132a (rectangular) extending substantially perpendicular to the second surface 110b (third direction Z). In other words, the first pin 132 is a member having an I-shaped cross section. The configurations of the second pin 134 and the second cylindrical portion 134a are as shown in FIG. 3(B). The configurations of the second pin 134 and the second cylindrical portion 134a are similar to the configurations of the first pin 132 and the first cylindrical portion 132a, and detailed description thereof will be omitted here.

[0033] As shown in FIG. 3A, the height h2 of the first pin 132 from the second surface 110b (i.e., the height of the first cylindrical portion 132a) is smaller than the height h1 of the second surface 110b of the L-shaped guide frame 131 (i.e., the height of the first flat plate portion 131a). The height h1 is the height at which the lift table 240 abuts against the L-shaped guide frame 131 when the automated guided vehicle 200 enters below the loading platform 110 of the cart 100, and is the height at which the lift table 240 abuts against the L-shaped guide frame 131 when the automated guided vehicle 200 enters below the loading platform 110 of the cart 100. The height h2 of the first pin 132 from the second surface 110b is smaller than the distance d1 from the second surface 110b of the loading platform 110 to the second flat plate portion 131b of the L-shaped guide frame 131. The configuration of the second pin 134 and the first flat plate portion 133a is as shown in FIG. 3B. The configurations and functions of the second pin 134 and the first flat plate portion 133a are similar to those of the first pin 132 and the first flat plate portion 131a, and detailed description thereof will be omitted here.

[0034] As will be described in detail later, the automated guided vehicle 200 can enter under the loading platform 110 from the first side 111 of the two long sides (first side 111 and second side 112) on which the loading platform 110 is arranged. For ease of explanation, the area inside a circle inscribed in the first flat plate portions 131a of the three L-shaped guide frames 131 and one first pin 132 (first cylindrical portion 132a) may be referred to as the "inside guide frame area." In the automated guided vehicle system 10, when the lifting table 240 of the automated guided vehicle 200 is positioned within the guide frame, the automated guided vehicle 200 can lift and transport the cart 100 or can turn. Therefore, when the lifting table 240 of the automated guided vehicle 200 is positioned within the inside guide frame area, it may be said that the cart 100 and the automated guided vehicle 200 are engaged with each other.

[0035] The L-shaped guide frame 131 and the L-shaped guide frame 133 function as guides when the lift table 240 enters the area inside the guide frames. Furthermore, the L-shaped guide frame 131, the L-shaped guide frame 133, the first pin 132, and the second pin 134 can guide the lift table 240 when the automated guided vehicle 200 turns.

[0036] FIG. 2(B) shows two L-shaped guide frames 131 and 133, but the number of L-shaped guide frames is not particularly limited. The number of L-shaped guide frames may be one, two, or four or more. When the number of L-shaped guide frames is four or more, for example, two L-shaped guide frames are arranged at positions corresponding to the diameter of the guide frame inner region, and the remaining L-shaped guide frames are arranged consecutively along a semicircle of the guide frame inner region. Furthermore, in the bogie 100, the center of the guide frame inner region is center point 136, but this configuration is not limited thereto. The center of the guide frame inner region may be, for example, the center of gravity (center of gravity point) of the bogie 100.

[0037] [3. Configuration of the automated guided vehicle 200] The configuration of an automated guided vehicle 200 of an automated guided vehicle system 10 according to one embodiment of the present invention will be described with reference to FIGS. 4(A) to 5(C). FIG. 4(A) is a perspective view of the automated guided vehicle 200 with the lift table 240 in a lowered state, and FIG. 4(B) is a perspective view of the automated guided vehicle 200 with the lift table 240 in a raised state. FIG. 5(A) is a side view of the lift table 240 as viewed from a plane parallel to a plane substantially perpendicular to the first direction X (ZY plane). FIG. 5(B) is a side view of the lift table 240 as viewed from a plane parallel to a plane substantially perpendicular to the second direction Y (ZX plane). FIG. 5(C) is a schematic diagram of the lift table 240. Note that the sensor 245 is omitted from FIGS. 4(A) and 4(B).

[0038] As shown in FIG. 4(A) or 4(B), a pair of crawlers 220 are installed on the side of the main body 210. The automated guided vehicle 200 moves by rotating the pair of crawlers 220. When the pair of crawlers 220 are rotated in the same direction, the automated guided vehicle 200 can move forward or backward. When the pair of crawlers 220 are rotated in opposite directions, the automated guided vehicle 200 can turn at that position. For example, when the pair of crawlers 220 are rotated in opposite directions, the automated guided vehicle 200 can turn from the state shown in FIG. 5(A) to the state shown in FIG. 5(B).

[0039] A lift table 240 is installed on the main body 210 of the automated guided vehicle 200. The lift table 240 can be raised and lowered by a lift movable part 230 installed on the upper surface of the main body 210 (see FIG. 4(B)). When the automated guided vehicle 200 moves under the loading platform 110 of the cart 100, it can raise the lift table 240 and lift the cart 100. Furthermore, in the automated guided vehicle system 10, when the automated guided vehicle 200 has lifted the cart 100, it can drive the pair of crawlers 220 and transport the cart 100.

[0040] 5(C), the lift table 240 includes a first contact portion 244 that contacts the first pin 132, a second contact portion 243 that contacts the second pin 134, and two sensors 245 for detecting the first pin 132 and the second pin 134 on a surface opposite to the surface that contacts the second surface 110b in the third direction Z. The second contact portion 243 and the first contact portion 244 are provided on the outer edge of the lift table 240. The second contact portion 243 and the first contact portion 244 are provided at positions symmetrical or approximately symmetrical with respect to a line 246 (center line) that passes through the center point 136 and is parallel to the first direction X. The lift table 240 can detect the first pin 132 using the sensor 245 and can detect the second pin 134 using the other sensor 245. Since the first pin 132 and the second pin 134 are located at positions rotated 90 degrees relative to the center point 136, by using the sensor 245 to detect the first pin 132 or the second pin 134, the automated guided vehicle system 10 can accurately detect that the rotation angle of the automated guided vehicle 200 is 90 degrees or approximately 90 degrees.

[0041] The shape of the lift table 240 is substantially circular. Specifically, the lift table 240 is a member having a shape in which a first member 241 having a radius of length r2 and a second member 242 having a radius of length r3 are connected to each other at a center point 136. The length r3 is greater than the length r1, and the length r1 is greater than the length r2. For reference, the circle 135 and the center point 136 described in [2. Configuration of the dolly 100] are also shown in FIG. 5(C).

[0042] Furthermore, in the lifting table 240, the size of a circle having a radius of length r3 is smaller than the size of the area inside the guide frame, and the size of a circle having a radius of length r3 is larger than the size of a circle inscribed in the second flat plate portion 131b of the L-shaped guide frame 131 and the second flat plate portion 133b of the L-shaped guide frame 133. Furthermore, in the lifting table 240, the size of a circle having a radius of length r2 is smaller than the size of a circle inscribed in the first pin 132 and the second pin 134.

[0043] The automated guided vehicle 200 has the above-described configuration, and in the area within the guide frame, the lifting table 240 comes into contact with the second surface 110b and can lift the cart 100. Also, in the area within the guide frame, the lifting table 240 can move away from the second surface 110b and rotate within a range in which the sensor 245 can detect the first pin 132 or the second pin 134.

[0044] 4. Operation of the automated guided vehicle system 10 Next, the operation of the automated guided vehicle system 10 will be described with reference to Figures 6(A) to 11. For the sake of convenience, Figures 6(A), 7(B), 7(C), 8(B), 8(C), and 10(B) only show part of the configuration of the carriage 100 and part of the configuration of the automated guided vehicle 200.

[0045] 4-1. Engagement Operation of Automated Guided Vehicle System 10 First, with reference to Figures 6(A) to 7(C), an operation of the automated guided vehicle 200 entering below the carriage 100 (i.e., engagement operation) will be described in the automated guided vehicle system 10. Figures 6(A) to 7(C) are schematic diagrams illustrating an operation of the automated guided vehicle 200 entering below the carriage 100 (i.e., engagement operation) in the automated guided vehicle system 10. Specifically, Figure 6(A) is a side view showing the process of the engagement operation, Figure 6(B) is a side view showing the process of the engagement operation of the automatic guided vehicle system 10, viewed from a plane parallel to a plane approximately perpendicular to the second direction Y (ZX plane), Figure 7(A) is a bottom view showing the lifting table 240 contacting (abutting) the L-shaped guide frame 131, Figure 7(B) is a side view showing the state in which the lifting table 240 contacts (abuts) the L-shaped guide frame 131, viewed from a plane parallel to a plane approximately perpendicular to the first direction X (ZY plane), and Figure 7(C) is a side view showing the state in which the lifting table 240 contacts (abuts) the L-shaped guide frame 131, viewed from a plane parallel to a plane approximately perpendicular to the second direction Y (ZX plane).

[0046] The automated guided vehicle 200 enters under the platform 110 from the first side 111 (long side) of the platform 110 (see FIG. 6(A)). The distance between the two casters 120 is greater on the first side 111 side than on the third side 113 and fourth side 114 (short side) sides. Therefore, the automated guided vehicle 200 can enter under the platform 110 without colliding with the casters 120. In addition, a first pin 132 is disposed on the first side 111 side into which the automated guided vehicle 200 enters. When the automated guided vehicle 200 enters under the platform 110, the height of the lift table 240 from the floor surface is smaller than the height from the floor surface to the first pin 132. Therefore, the automated guided vehicle 200 can enter under the platform 110 without colliding with the first pin 132 (see FIG. 5(B)).

[0047] As automated guided vehicle 200 moves toward the center (center point 136) of platform 110, lifting table 240 of automated guided vehicle 200 is guided by L-shaped guide frame 133 adjacent to first pin 132 and comes into contact (abuts) with first flat plate portion 131a of L-shaped guide frame 131 facing first pin 132, causing automated guided vehicle 200 to stop (see FIG. 7(A)). That is, L-shaped guide frame 131 regulates the position of automated guided vehicle 200 in first direction X. The heights from the floor surface of second flat plate portion 131b of L-shaped guide frame 131 and second flat plate portion 133b of L-shaped guide frame 133 are smaller than the height from the floor surface of lifting table 240. Therefore, the automated guided vehicle 200 can come into contact with the first flat plate portion 131a of the L-shaped guide frame 131 and the first flat plate portion 133a of the L-shaped guide frame 133 and stop without colliding with the second flat plate portion 131b of the L-shaped guide frame 131 and the second flat plate portion 133b of the L-shaped guide frame 133 (see FIGS. 7(B) and 7(C)). Note that the L-shaped guide frame 133 regulates the position of the automated guided vehicle 200 in the second direction Y.

[0048] In this way, in the automated guided vehicle system 10, the lift table 240 is guided by the L-shaped guide frames 131 and 133 while the automated guided vehicle 200 moves under the loading platform 110 of the cart 100, and the cart 100 and the automated guided vehicle 200 engage with each other. Therefore, the engagement position of the automated guided vehicle 200 below the loading platform 110 of the cart 100 can be stabilized.

[0049] [4-2. Turning Operation of Automated Guided Vehicle System 10] Next, referring to Figures 8(A) to 8(C), a description will be given of the turning operation of the automated guided vehicle 200. Figures 8(A) to 8(C) are schematic diagrams illustrating the turning operation of the automated guided vehicle 200 in which the automated guided vehicle 200 enters below the carriage 100 in the automated guided vehicle system 10, and then the second abutment portion 243 abuts against the second pin 134. Specifically, Figure 8(A) is a bottom view showing the turning operation of the automatic guided vehicle 200 to bring the second abutment portion 243 into contact with the second pin 134, Figure 8(B) is a side view showing the turning operation of the automatic guided vehicle 200 to bring the second abutment portion 243 into contact with the second pin 134, as viewed from a plane parallel to a plane approximately perpendicular to the first direction X (ZY plane), and Figure 8(C) is a side view showing the turning operation of the automatic guided vehicle 200 to bring the second abutment portion 243 into contact with the second pin 134, as viewed from a plane parallel to a plane approximately perpendicular to the second direction Y (ZX plane).

[0050] 8(A) to 8(C), during the turning operation of the automated guided vehicle 200, the lift table 240 is raised to a position higher than the position for the engaging operation and to a position where it does not contact the second surface 110b or where it does contact the second surface 110b. At this time, the lift table 240 is raised so that the side surface of the lift table 240 faces not only the first flat plate portion 131a of the L-shaped guide frame 131 and the first flat plate portion 133a of the L-shaped guide frame 133, but also the first pin 132 and the second pin 134 (lifted in the direction of the black arrow parallel to the third direction Z shown in FIGS. 8(B) and 8(C)). As a result, the second abutment portion 243 comes into contact with the second pin 134, and the position of the lift table 240 is fixed within the area within the guide frames.

[0051] In this state, by further rotating the pair of crawlers 220 in mutually different directions, the automated guided vehicle 200 rotates in the direction of the outline arrow shown in Figures 8(B) and 8(C), and the second abutment portion 243 of the lift table 240 abuts against the second pin 134. Using the sensor 245, the position of the second pin 134 is detected, and the automated guided vehicle system 10 can detect that the second abutment portion 243 has abutted against the second pin 134.

[0052] As a result, the second abutment portion 243 abuts against the second pin 134, and the lift table 240 is guided by the L-shaped guide frame 131, the L-shaped guide frame 133, the first pin 132, and the second pin 134, so that the position of the automated guided vehicle 200 does not shift. Therefore, in the automated guided vehicle system 10, the turning operation of the automated guided vehicle 200 can be stabilized, and the position of the automated guided vehicle 200 relative to the cart 100 can be stabilized. Furthermore, by raising the lift movable portion 230 in this state, the lift table 240 can be brought into contact with the second surface 110b, and the automated guided vehicle 200 can lift the cart 100. Furthermore, the automated guided vehicle 200 can move, for example, together with the cart 100 loaded with materials, in the direction of the black arrow shown in FIG. 7.

[0053] [4-3. Changing the movement direction of the automated guided vehicle system 10] Next, with reference to Figures 9(A) to 10(B), a description will be given of the turning operation for changing the moving direction of the automated guided vehicle 200. Figures 9(A) and 9(B) are bottom views showing the turning operation for changing the moving direction of the automated guided vehicle 200 in the automated guided vehicle system 10, and Figures 10(A) and 10(B) are side views showing the turning operation for changing the moving direction of the automated guided vehicle 200 in the automated guided vehicle system 10, and a side view of the turning operation for changing the moving direction of the automated guided vehicle 200, as seen from a plane parallel to a plane substantially perpendicular to the first direction X (ZY plane), respectively.

[0054] In the turning operation for changing the direction of movement of the automated guided vehicle 200, the lift table 240 is raised or lowered to a position higher than the position for the engagement operation and not in contact with the second surface 110b. For example, the lift table 240 is lowered to a position higher than the position for the engagement operation and not in contact with the second surface 110b.

[0055] Furthermore, by rotating the pair of crawlers 220 in mutually different directions, the lift table 240 (automated guided vehicle 200) is rotated in the direction of the black arrow shown in Fig. 9(A). That is, the second contact portion 243 included in the lift table 240 moves away from the second pin 134, and the first contact portion 244 included in the lift table 240 moves closer to the first pin 132.

[0056] As the lifting table 240 (automated guided vehicle 200) continues to rotate, the first abutment portion 244 of the lifting table 240 abuts against the first pin 132 and stops, as shown in Figures 9(B), 10(A), and 10(B). At this time, the automated guided vehicle 200 uses the sensor 245 to detect the position of the first pin 132, and the automated guided vehicle system 10 can detect that the first abutment portion 244 has abutted against the first pin 132.

[0057] Therefore, as first abutment portion 244 abuts against first pin 132, automated guided vehicle 200 rotates 90 degrees or approximately 90 degrees from its initial state with high precision, and lift table 240 is guided by L-shaped guide frame 131, L-shaped guide frame 133, first pin 132, and second pin 134, so the position of automated guided vehicle 200 does not shift. Therefore, in automated guided vehicle system 10, the 90 degree or approximately 90 degree rotation operation of automated guided vehicle 200 can be stabilized, and the position of automated guided vehicle 200 relative to cart 100 can be stabilized.

[0058] Furthermore, by raising the lift movable unit 230 in this state, the lift table 240 is brought into contact with the second surface 110b, and the automated guided vehicle 200 can lift the cart 100. Furthermore, the automated guided vehicle 200 can move, for example, together with the cart 100 loaded with materials in the direction of the black arrow shown in Figure 9(B). That is, the automated guided vehicle 200 can lift the cart 100 in a state where it has turned 90 degrees or approximately 90 degrees from the initial state, and then move together with the cart 100 loaded with materials in the direction turned 90 degrees or approximately 90 degrees from the initial state (here, for example, from the first direction X to the second direction Y).

[0059] For example, at construction sites, elevators are often long in the depth direction. When moving the cart 100 into the elevator, it is preferable that the long sides (first side 111 and second side 112) of the cart 100 are parallel to the depth direction of the elevator. In the automated guided vehicle system 10 according to one embodiment of the present invention, the automated guided vehicle 200 can be rotated by 90 degrees or approximately 90 degrees with high precision, and therefore the movement direction of the cart 100 can be changed by 90 degrees or approximately 90 degrees with high precision. Therefore, by using the automated guided vehicle system 10, the long sides (first side 111 and second side 112) of the cart 100 can be changed by 90 degrees or approximately 90 degrees just before the elevator to align them with the depth direction of the elevator, so that the cart 100 can be moved parallel to the depth direction of the elevator.

[0060] [4-4. Preventing cargo from falling in the automated guided vehicle system 10] 11 is a schematic diagram illustrating how loads are prevented from shifting in the automated guided vehicle system 10 according to one embodiment of the present invention. As shown in FIG. 11, even if the cart 100 lifted by the elevated lift table 240 loses balance, the lift table 240 is locked by at least one of the L-shaped guide frames 131 and 133 and abuts against the first pin 132 or the second pin 134, preventing the platform 110 from tilting significantly. As a result, materials loaded on the platform 110 will not fall, preventing the load from shifting.

[0061] The above-described embodiments of the present invention may be combined as appropriate as long as they are not mutually inconsistent. Furthermore, even if a person skilled in the art appropriately adds or deletes components or modifies the design, or adds or omits steps or modifies conditions based on the embodiments, such combinations are included within the scope of the present invention as long as they include the gist of the present invention.

[0062] Even if there are other effects and advantages different from those brought about by the above-mentioned embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0063] 10: automated guided vehicle system, 100: dolly, 110: loading platform, 110a: first surface, 110b: second surface, 111: first side, 112: second side, 113: third side, 114: fourth side, 120: caster, 131, 133: L-shaped guide frame, 131a, 133a: first flat plate portion, 131b, 133b: second flat plate portion, 132: first pin pin, 132a: first cylindrical portion, 134: second pin, 134a: second cylindrical portion, 135: circle, 136: center point, 200: automatic guided vehicle, 210: main body, 220: crawler, 240: lift table, 241: first member, 242: second member, 230: lift movable portion, 243: second contact portion, 244: first contact portion, 245: sensor, 246: wire

Claims

1. a dolly including a loading platform having a first surface on which a load is placed and a second surface opposite to the first surface; an automated guided vehicle including a circular lift table that enters under the loading platform and transports the carriage; Including, The second surface of the loading platform is a first guide frame that has a height that the lift table comes into contact with when the lift table is raised and that regulates the position of the automated guided vehicle in a first direction; a second guide frame that has a height that makes contact with the lift table when the lift table is raised and that regulates the position of the automated guided vehicle in a second direction perpendicular to the first direction; a first pin provided at a position facing the first guide frame; a second pin provided at a position facing the second guide frame, the lift-up table has a first abutment portion at an outer edge of the lift-up table, the first abutment portion being arranged symmetrically with respect to a center line of the lift-up table, the first abutment portion abutting against the first pin in accordance with a first rotation angle of the lift-up table, and a second abutment portion abutting against the second pin in accordance with a second rotation angle of the lift-up table; Automated guided vehicle system.

2. when the automated guided vehicle moves under the carriage and in the first direction, the first abutment portion abuts against the first pin; When the automated guided vehicle turns under the carriage and moves in the second direction, the second abutment portion abuts against the second pin. The automated guided vehicle system according to claim 1 .

3. a height of the first guide frame from the second surface is greater than a height of the second guide frame from the second surface, a height of the first pin from the second surface, and a height of the second pin from the second surface; a height of the second guide frame from the second surface is greater than a height of the first pin from the second surface and a height of the second pin from the second surface; 3. The automated guided vehicle system according to claim 1 or 2.

4. the first guide frame is provided to face the first pin and bent toward the first pin; the second guide frame is provided to face the second pin and bends toward the second pin; 4. The automated guided vehicle system according to claim 1.

5. the lifting table includes a first sensor that detects the first pin and a second sensor that detects the second pin, on a surface opposite to a surface facing the second surface; 5. The automated guided vehicle system according to claim 1.

6. The shape of the lift table is a circle formed by combining two members with different radii, the first abutment portion and the second abutment portion are provided at positions where the two members having different radii are connected; The automated guided vehicle system according to claim 5 .

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