Goods handling equipment

Abstract

To realize an article transport facility which can change its transport form flexibly.SOLUTION: In a combined state in which multiple transport vehicles 1 are combined so as to be adjacent to each other, multiple transport vehicles form a transport route P in which multiple transfer sections cooperate to transport articles W. The combined transport vehicle group G1 enters a connected state in which articles W are deliverable to and from a connection target location C, by at least one transport vehicle 1 of the combined transport vehicle group G1 being disposed at an adjacent position Ca adjacent to the connection target location C. A control system is configured to move the combined transport vehicle group G1 between an adjacent position Ca adjacent to a first connection target location and an adjacent position Ca adjacent to a second connection target location while maintaining the transport vehicles 1 in the combined state.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of conveyors that travel on a traveling surface without a track to convey articles.

Background Art

[0002] In recent years, automation of article conveyance has advanced in article conveyance facilities such as logistics warehouses. In such an article conveyance facility, for example, a conveyor (10) as disclosed in Japanese Unexamined Patent Application Publication No. 2022-050240 (Patent Document 1) may be utilized.

[0003] The conveyor (10) is configured to travel on a driverless floor and convey articles. In the facility described in Patent Document 1, a conveyance command is given to each of a plurality of conveyors (10), and each of the plurality of conveyors (10) conveys a specific article from a conveyance source to a conveyance destination based on the conveyance command.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the case of a conveyance form in which articles are conveyed using a conveyor as described in Patent Document 1, there are limitations on the size and number of articles that can be conveyed by one conveyor, and it is also difficult to adopt a conveyance form in which a plurality of articles are continuously conveyed like a conveyor.

[0006] In view of the above actual situation, it is desired to realize an article conveyance facility capable of flexibly changing the conveyance form.

Means for Solving the Problems

[0007] Multiple transport vehicles that travel on a trackless surface to transport goods, Multiple connection points to which the transport vehicle will be connected, An article transporting system comprising a control system for controlling a plurality of transport vehicles, The aforementioned transport vehicle is A mounting section on which the aforementioned article is placed, A transfer unit for transferring the article placed on the mounting unit, Equipped with, In a combined state in which multiple transport vehicles are joined together so as to be adjacent to each other, each of the multiple transfer units cooperates to form a transport path for transporting the articles. The multiple transport vehicles in the combined state are grouped together as a combined transport vehicle group. By positioning at least one of the combined transport vehicle group at an adjacent location adjacent to the connection target location, the combined transport vehicle group becomes connected in a state that enables the transfer of the goods between it and the connection target location. The multiple connection targets include a first connection target and a second connection target located at a different position from the first connection target, The control system is configured to move the combined transport vehicle group between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the combined state of the multiple transport vehicles.

[0008] This configuration allows each transport vehicle to transport goods to various locations independently, and also enables the transport of goods along a continuous transport route by combining multiple transport vehicles. In other words, it is possible to realize both a transport mode for transporting specific goods to specific locations and a transport mode for transporting multiple goods continuously to the same location using transport vehicles. Furthermore, the combined transport vehicle group can carry goods of a size or number that cannot be transported by a single transport vehicle by utilizing the loading areas of each of the multiple transport vehicles that make up the combined transport vehicle group. The combined transport vehicle group can then move between multiple connection points while maintaining its combined state. Therefore, it becomes possible to transport goods of a size or number that cannot be transported by a single transport vehicle between multiple connection points. As described above, this configuration makes it possible to flexibly change the transport mode of goods.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Plan view of the goods handling equipment [Figure 2] Control block diagram [Figure 3] A diagram showing how items are transferred between the transport vehicle and the destination. [Figure 4] Diagram showing the transfer structure of the transport vehicle. [Figure 5] Diagram showing the driving structure of the transport vehicle. [Figure 6] Schematic plan view of the transport vehicle [Figure 7] Diagram showing the combined state of multiple transport vehicles. [Figure 8] A diagram showing one form of a combined transport vehicle group. [Figure 9] A diagram showing how the combined transport vehicle group connects to the target location. [Figure 10] This diagram shows an example of a transport configuration using multiple transport vehicles in a combined state. [Figure 11] This diagram shows an example of a transport configuration using multiple transport vehicles in a combined state. [Figure 12] Figure showing an example of a conveying form by a plurality of carrier vehicles in a combined state [Figure 13] Figure showing how a combined carrier vehicle group receives power supply from a power supply unit [Figure 14] Figure showing an example of a conveying form by a plurality of carrier vehicles in a combined state

Embodiments for Carrying out the Invention

[0011] Hereinafter, embodiments of an article conveying facility will be described with reference to the drawings.

[0012] In this specification, "transfer an article" means to transfer the article between the transfer target location. "Convey an article" means to move the article toward a certain destination, in other words, to carry the article.

[0013] As shown in FIG. 1, an article conveying facility 100 includes a plurality of carrier vehicles 1 that travel on a trackless running surface to convey an article W, a plurality of connection target locations C to which the carrier vehicles 1 are to be connected, and a host control device H (see FIG. 2) that controls the plurality of carrier vehicles 1. In this embodiment, the article conveying facility 100 is provided with a power supply unit 7 that supplies power to the carrier vehicles 1 in a state where the position with respect to the running surface is fixed. In the illustrated example, a plurality of power supply units 7 are provided in the article conveying facility 100.

[0014] The running surface is, for example, the floor surface of the article conveying facility 100. "Traveling without a track" means traveling without using a track such as a rail. Therefore, the carrier vehicle 1 is configured to be able to freely travel on the floor surface of the article conveying facility 100 without being restricted by a track such as a rail. For example, a plurality of detected objects such as two-dimensional codes or RF (Radio Frequency) tags are installed on the floor surface, and the carrier vehicle 1 can be configured to travel along a route connecting the plurality of detected objects. Also, such detected objects may not be provided on the floor surface, and the carrier vehicle 1 can be configured to travel along a route calculated based on the recognition result of the surrounding environment.

[0015] The goods transport equipment 100 has multiple transfer target locations T where goods W are transferred. In this embodiment, the goods transport equipment 100 includes an inbound / outbound area 9 where goods W are received or shipped between the inside and outside of the equipment, and an automated warehouse 8 provided inside the equipment.

[0016] The receiving / shipping area 9 is, for example, a truck berth. Multiple transfer points T are set within the receiving / shipping area 9. At the transfer points T in the receiving / shipping area 9, incoming goods W or outgoing goods W are transferred by forklifts or conveyors (not shown), or by transport vehicles 1.

[0017] In this embodiment, multiple automated warehouses 8 are provided inside the facility. Each of the multiple automated warehouses 8 includes a storage shelf (not shown) for storing goods W, a receiving unit 81 for receiving goods W into the storage shelf, a receiving unit 82 for receiving goods W from the storage shelf, and an in-shelf transport device (not shown) for transporting goods W inside the storage shelf. Examples of the in-shelf transport device include a stacker crane, a lifter, a conveyor, and a transport trolley.

[0018] In this embodiment, the transfer target location T includes the receiving section 81 and the shipping section 82. When the transport vehicle 1 transfers goods W to and from the receiving section 81, it connects to the receiving section 81 (see also Figure 3). Similarly, when the transport vehicle 1 transfers goods W to and from the shipping section 82, it connects to the shipping section 82. Thus, the receiving section 81 and the shipping section 82 are designated as connection target locations C to which the transport vehicle 1 connects. In other words, in this embodiment, the receiving section 81 and the shipping section 82 are both transfer target locations T and connection target locations C.

[0019] The connection point C includes a conveyor Cb (see also Figure 3). In this embodiment, the receiving section 81 and the shipping section 82, which are the connection point C, are constructed using a conveyor Cb. Examples of such a conveyor Cb include roller conveyors, belt conveyors, and chain conveyors.

[0020] As shown in Figure 2, in this embodiment, the article transport equipment 100 includes a higher-level control device H that controls a plurality of transport vehicles 1. The higher-level control device H is configured to communicate with the plurality of transport vehicles 1. The higher-level control device H is configured to transmit a transport command to each transport vehicle 1, for example, specifying a particular article W, its source, and its destination. A transport vehicle 1 that receives a transport command is configured to transport the article W based on the transport command. In this specification, the higher-level control device H corresponds to the "control system". However, the higher-level control device H only needs to constitute at least a part of the control system. For example, in addition to the higher-level control device H, the "control system" may be configured using a control device other than the higher-level control device H, or a control unit H1 (described later) provided on the transport vehicle 1. Alternatively, the higher-level control device H may not be provided, and a plurality of control units H1 that are communicated with each other may cooperate to constitute the control system.

[0021] The transport vehicle 1 is equipped with a control unit H1 that controls itself. The control unit H1 is configured to control each of the functional units of the transport vehicle 1. The functional units of the transport vehicle 1 include a unit for driving, a unit for transferring goods W, a unit for communication, and so on. The control unit H1 is configured to control itself to transport goods W from a specified source to a specified destination based on a transport command from a higher-level control device H.

[0022] The higher-level control unit H and the control unit H1 are equipped with, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the computer or other processor.

[0023] As shown in Figures 3 and 4, the transport vehicle 1 includes a loading section 13 on which articles W are placed, and a transfer section 14 for transferring articles W placed on the loading section 13 to the transfer target location T. Figure 3 shows the transport vehicle 1 transferring articles W to the receiving section 81, which is the transfer target location T. As shown in Figure 3, the transport vehicle 1 is configured to transfer articles W placed on the loading section 13 to the receiving section 81 (transfer target location T) via the transfer section 14. The opposite is true when the transport vehicle 1 transfers articles W to the shipping section 82, which is the transfer target location T. That is, the transport vehicle 1 is configured to receive articles W placed on the shipping section 82 (transfer target location T) via the transfer section 14.

[0024] As shown in Figure 4, in this embodiment, the transfer unit 14 includes a first transfer mechanism 141 for moving the article W on the mounting unit 13, and a second transfer mechanism 142 for moving the article W in a direction different from that of the first transfer mechanism 141. All or some of the multiple transport vehicles 1 of the article transport equipment 100 are equipped with a transfer unit 14 having such a first transfer mechanism 141 and a second transfer mechanism 142.

[0025] In this embodiment, the first transfer mechanism 141 is configured to move an item W along the longitudinal direction X of the vehicle body. In the illustrated example, the first transfer mechanism 141 is configured using a roller conveyor. Each of the multiple rollers constituting the roller conveyor is arranged in line along the longitudinal direction X of the vehicle body, extending in the width direction Y of the vehicle body.

[0026] In this embodiment, the second transfer mechanism 142 is configured to move the article W along the vehicle width direction Y. That is, in this example, the first transfer mechanism 141 and the second transfer mechanism 142 are configured to move the article W along directions that are mutually orthogonal when viewed in the vertical direction.

[0027] In this embodiment, the second transfer mechanism 142 is configured using a conveyor having multiple chains or belts. Each of the multiple chains or belts (three belts in the illustrated example) is positioned between each roller that constitutes the first transfer mechanism 141.

[0028] The second transfer mechanism 142 is configured to move up and down between a storage position located below the first transfer mechanism 141 and a protruding position located above the first transfer mechanism 141. When the second transfer mechanism 142 is in the storage position, it is stored inside the transport vehicle 1. In this state, the article W is supported by the first transfer mechanism 141, and the article W can be transferred by the first transfer mechanism 141 (see Figure 4(a)). Also, when the second transfer mechanism 142 is in the protruding position, it protrudes above the first transfer mechanism 141. In this state, the article W is supported by the second transfer mechanism 142, and the article W can be transferred by the second transfer mechanism 142 (see Figure 4(b)).

[0029] As shown in Figure 5, the transport vehicle 1 comprises a body 10 and a plurality of wheels 11 supported by the body 10. At least one of the plurality of wheels 11 is driven by a drive source such as a motor. This provides propulsion to the transport vehicle 1.

[0030] In this embodiment, the transport vehicle 1 is equipped with a swivel mechanism 12 that rotates each wheel 11 around its vertical axis. Each of the multiple wheels 11 is supported by the vehicle body 10 via the swivel mechanism 12. When the swivel mechanism 12 directs the rotation axis of the wheel 11 in the vehicle body width direction Y, the transport vehicle 1 assumes a first travel posture in which it can travel in the vehicle body longitudinal direction X (see Figure 5(a)). When the swivel mechanism 12 directs the rotation axis of the wheel 11 in the vehicle body longitudinal direction X, the transport vehicle 1 assumes a second travel posture in which it can travel in the vehicle body width direction Y (see Figure 5(b)). In principle, the transport vehicle 1 can travel longitudinally and laterally on the travel surface by changing direction, etc., from the first travel posture.

[0031] As shown in Figure 6, the transport vehicle 1 is equipped with a surrounding detection sensor 30. The control unit H1 of the transport vehicle 1 (see Figure 2) is configured to stop or slow down the vehicle when the surrounding detection sensor 30 detects an obstacle in the vicinity of the vehicle while the vehicle is in motion. An example of an obstacle detected by the surrounding detection sensor 30 is another transport vehicle 1. This makes it possible to avoid collisions between unmanned transport vehicles 1. Examples of surrounding detection sensors 30 include optical sensors, ultrasonic sensors, LiDAR (Light Detection And Ranging), sonar sensors, millimeter-wave radar, etc.

[0032] In this embodiment, the surrounding detection sensor 30 is configured to detect obstacles with detection ranges R1, R2, R3, and R4 in front of the vehicle, respectively. In this example, the surrounding detection sensor 30 includes a front sensor 31 that detects the front range R1 of the vehicle, a rear sensor 32 that detects the rear range R2 of the vehicle, a left sensor 33 that detects the left range R3 of the vehicle, and a right sensor 34 that detects the right range R4 of the vehicle. In other words, in this example, the transport vehicle 1 is equipped with at least four surrounding detection sensors 30.

[0033] As shown in Figure 7, multiple transport vehicles 1 are configured to be able to combine with each other. When multiple transport vehicles 1 are combined so that they are adjacent to each other, each of the multiple transfer units 14 works together to form a transport path P for transporting articles W (see Figure 8). In the article transport equipment 100 according to this disclosure, each transport vehicle 1 is configured to transport articles W to various locations independently when traveling alone. That is, a transport configuration in which specific articles W are transported to specific locations can be realized. Furthermore, when multiple transport vehicles 1 are combined with each other, they are configured to transport articles W along a continuous transport path P. That is, a transport configuration in which multiple articles W are transported continuously to the same location can be realized. In this specification, multiple transport vehicles 1 in a combined state are defined as a combined transport vehicle group G1.

[0034] As shown in Figures 6 and 7, in this embodiment, the transport vehicle 1 is further provided with a connecting portion 20 for connecting with another transport vehicle 1. The connecting portion 20 is provided on the vehicle body 10 and is positioned to protrude from the vehicle body 10 when viewed in the vertical direction. The transport vehicle 1 and the other transport vehicle 1, which is the vehicle to be combined, are configured to be combined by being connected to each other by their connecting portions 20 (see Figure 7).

[0035] In this embodiment, the transport vehicle 1 includes a front coupling section 21 provided at the front of the vehicle, a rear coupling section 22 provided at the rear of the vehicle, a left coupling section 23 provided at the left side of the vehicle, and a right coupling section 24 provided at the right side of the vehicle as the coupling section 20.

[0036] The front coupling portion 21 of the vehicle is connected to the rear coupling portion 22 of the vehicle to be coupled 1, and the rear coupling portion 22 of the vehicle is connected to the front coupling portion 21 of the vehicle to be coupled 1. In this embodiment, the front coupling portion 21 and the rear coupling portion 22 have corresponding shapes and are configured to engage with each other. In this example, the front coupling portion 21 has a tapered insertion portion. The rear coupling portion 22 has a hole into which the insertion portion of the front coupling portion 21 is inserted. The front coupling portion 21 and the rear coupling portion 22 are connected when the insertion portion of the front coupling portion 21 is inserted into the hole of the rear coupling portion 22.

[0037] The left-side connecting portion 23 of the vehicle is connected to the right-side connecting portion 24 of the vehicle to be combined 1, and the right-side connecting portion 24 of the vehicle is connected to the left-side connecting portion 23 of the vehicle to be combined 1. In this embodiment, the left-side connecting portion 23 and the right-side connecting portion 24 have corresponding shapes and are configured to engage with each other. In this example, the left-side connecting portion 23 has a tapered insertion portion. The right-side connecting portion 24 has a hole into which the insertion portion of the left-side connecting portion 23 is inserted. The left-side connecting portion 23 and the right-side connecting portion 24 are connected when the insertion portion of the left-side connecting portion 23 is inserted into the hole of the right-side connecting portion 24.

[0038] Thus, each transport vehicle 1 can be combined with other transport vehicles 1, and by combining, a continuous transport path P can be formed. However, as described above, each transport vehicle 1 is equipped with a surrounding detection sensor 30 as a collision prevention means, and if there is an obstacle within the detection range R of the surrounding detection sensor 30, it will stop or slow down. Therefore, a vehicle 1 intended to combine with another transport vehicle 1 will be detected as an obstacle by the surrounding detection sensor 30 before the combination occurs. In this case, the collision prevention means using the surrounding detection sensor 30 will prevent the transport vehicles 1 from combining with each other.

[0039] Therefore, as shown in Figure 7, in this embodiment, the control unit H1 (see Figure 2) of the transport vehicle 1 is configured to at least partially disable the surrounding detection sensor 30 so as not to detect the other transport vehicle 1 when the transport vehicle 1 is performing a merging operation with the other transport vehicle 1 to be merged with. This prevents the partially disabled surrounding detection sensor 30 from detecting the vehicle to be merged with as an obstacle. Consequently, the merging of the transport vehicle 1 and the vehicle to be merged with can be performed appropriately.

[0040] In this embodiment, the control unit H1 of the transport vehicle 1 is configured to disable detection in at least one of the multiple detection ranges R on the side where the vehicle to be combined with is located, when the transport vehicle 1 performs a merging operation with the vehicle to be combined with is located. In the example shown in Figure 7, when the control unit H1 of the transport vehicle 1 performs a merging operation with the vehicle to be combined with is located in front of the transport vehicle 1, it disables detection by the surrounding detection sensor 30 in the front range R1 (see Figure 6). The vehicle to be combined with is then configured to disable detection by the surrounding detection sensor 30 in the rear range R2 (see Figure 6).

[0041] Furthermore, the partial deactivation of the surrounding detection sensor 30 is performed not only when multiple transport vehicles 1 perform a combined operation, but also, for example, when a transport vehicle 1 transfers an item W between itself and a transfer target location T, as shown in Figure 3.

[0042] In this embodiment, the transport vehicle 1 and the vehicle to be combined 1 are configured to combine when they approach each other, or when one approaches the other. As the transport vehicle 1 and the vehicle to be combined 1 approach each other, their connecting parts 20 connect, and the transport vehicle 1 and the vehicle to be combined 1 are combined.

[0043] In this embodiment, the transport vehicle 1 and the vehicle to be combined 1 are configured to be combined in the longitudinal direction X of the vehicle body. For example, when the front connecting part 21 of the transport vehicle 1 and the rear connecting part 22 of the vehicle to be combined 1 are connected, the transport vehicle 1 and the vehicle to be combined 1 are combined in the longitudinal direction X of the vehicle body (see Figure 7). At this time, the front sensor 31 of the transport vehicle 1 and the rear sensor 32 of the vehicle to be combined 1 are disabled. Furthermore, when the transport vehicle 1 and the vehicle to be combined 1 perform a combining operation to combine in the longitudinal direction X of the vehicle body, the driving posture of at least one of the transport vehicle 1 and the vehicle to be combined 1 (the one approaching the other) becomes the first driving posture (see Figure 5(a)). This allows the transport vehicle 1 and the vehicle to be combined 1 to approach each other relatively along the longitudinal direction X of the vehicle body, and to be properly combined in the longitudinal direction X of the vehicle body.

[0044] In this embodiment, the transport vehicle 1 and the vehicle to be combined 1 are configured to be combined in the vehicle width direction Y. For example, by connecting the left-side connecting portion 23 of the transport vehicle 1 and the right-side connecting portion 24 of the vehicle to be combined 1, the transport vehicle 1 and the vehicle to be combined 1 are combined in the vehicle width direction Y. At this time, the left-side sensor 33 of the transport vehicle 1 and the right-side sensor 34 of the vehicle to be combined 1 are disabled. Furthermore, when the transport vehicle 1 and the vehicle to be combined 1 perform a combining operation to combine in the vehicle width direction Y, the driving posture of at least one of the transport vehicle 1 and the vehicle to be combined 1 (the one approaching the other) becomes the second driving posture (see Figure 5(b)). This allows the transport vehicle 1 and the vehicle to be combined 1 to approach each other relatively along the vehicle width direction Y, and to be properly combined in the vehicle width direction Y.

[0045] When multiple transport vehicles 1 perform a merging operation, they may cooperate by transmitting and receiving optical signals to each other. Alternatively, they may cooperate by using short-range wireless communication instead of transmitting and receiving optical signals. Or, they may cooperate based on the position information of each transport vehicle 1 that the higher-level control device H has obtained.

[0046] As shown in Figures 6 and 7, in this embodiment, the transport vehicle 1 is equipped with a contact sensor 40 that detects when an object comes into contact with it, in addition to the surrounding detection sensor 30. This allows the contact sensor 40 to detect objects coming into contact with the vehicle body 10 even when the surrounding detection sensor 30 is disabled. For example, if the transport vehicles 1 are not properly connected and the vehicle bodies 10 come into contact with each other, it becomes possible to stop the transport vehicles 1.

[0047] In this embodiment, the contact detection range of the contact sensor 40 is set to cover the entire outer edge of the vehicle body 10 of the transport vehicle 1. In other words, the detection unit of the contact sensor 40 is provided around the entire outer edge of the vehicle body 10 of the transport vehicle 1. For example, the contact sensor 40 is configured using a bumper sensor.

[0048] As shown in Figure 7, when multiple transport vehicles 1 are combined, a gap is formed between the contact sensors 40 of adjacent transport vehicles 1. In other words, when multiple transport vehicles 1 are combined, a gap is formed between adjacent transport vehicles 1. As a result, the vehicle bodies 10 or contact sensors 40 of adjacent transport vehicles 1 in the combined state do not come into contact with each other. Therefore, with the above configuration, when multiple transport vehicles 1 are combined, it is possible to avoid the transport vehicle 1 being incorrectly detected by the contact sensors 40.

[0049] In this embodiment, each of the multiple transport vehicles 1 is equipped with a power transmission unit 52 that transmits power to other transport vehicles 1 when combined with them. In this example, the power lines of the power transmission unit 52 are provided at the connecting unit 20. When the transport vehicles 1 to be combined are connected to each other by their connecting units 20, the terminals of the power transmission units 52 of each transport vehicle 1 are connected to each other. As a result, the transport vehicles 1 to be combined are electrically connected to each other by their respective power transmission units 52.

[0050] As described above, the goods transport equipment 100 is equipped with a power supply unit 7 that supplies power to the transport vehicle 1 (see Figure 1). As shown in Figure 6, the transport vehicle 1 is equipped with a power receiving unit 51 for receiving power from the power supply unit 7. In this example, the power receiving unit 51 is configured using a power receiving pad, and the transport vehicle 1 is configured to receive power from the power supply unit 7, which is equipped with a power transmitting pad, in a non-contact manner. The power receiving unit 51 is provided on the vehicle body 10 of the transport vehicle 1. In the illustrated example, the power receiving unit 51 is provided on both sides of the vehicle body 10 in the vehicle body width direction Y. However, the power receiving unit 51 may be provided on only one side of the vehicle body 10 in the vehicle body width direction Y.

[0051] Figure 8 shows one configuration of the combined transport vehicle group G1. As described above, the combined transport vehicle group G1 forms a transport path P for the goods W. In this embodiment, the higher-level control device H (see Figure 2) is configured to selectively cause the combined transport vehicle group G1 to form a series configuration in which the transport path P is a single path, a branching configuration in which a branching section Pa is provided at least at one location on the transport path P where one path branches into two or more paths, and a merging configuration in which a merging section Pb is provided at least at one location on the transport path P where two or more paths merge into one. The higher-level control device H is configured to control the combined transport vehicle group G1 to form each of the series configuration, branching configuration, and merging configuration individually, or to form a combination of these configurations. In the example shown in Figure 8, the transport path P formed by the combined transport vehicle group G1 includes all of the series configuration, branching configuration, and merging configuration. The series configuration may be straight, L-shaped, or gently curved in a U-shape. Furthermore, the series configuration may be annular in shape without ends.

[0052] As shown in Figure 9, by positioning at least one transport vehicle 1 of the combined transport vehicle group G1 at an adjacent position Ca adjacent to the connection target location C, the combined transport vehicle group G1 becomes connected in a state that allows for the transfer of goods W between it and the connection target location C. In this example, at least one end of the combined transport vehicle group G1 (in other words, the transport vehicle 1 constituting at least one end of the transport path P) is positioned at the adjacent position Ca. Furthermore, in this example, when the combined transport vehicle group G1 is connected, a gap is formed between the transport vehicle 1 positioned at the adjacent position Ca and the connection target location C. That is, the transport vehicle 1 positioned at the adjacent position Ca and the connection target location C are not physically connected. This allows the combined transport vehicle group G1 to smoothly connect to and disconnect from the connection target location C.

[0053] In Figure 9, the receiving section 81 is shown as an example of the connection target location C. As described above, the connection target location C includes the conveyor Cb. In this embodiment, when the combined transport vehicle group G1 is in a connected state, the higher-level control device H moves the combined transport vehicle group G1 along the conveyor transport direction, which is the direction in which the conveyor Cb transports the goods W, to approach the adjacent position Ca, thereby positioning at least one transport vehicle 1 of the combined transport vehicle group G1 at the adjacent position Ca. In this example, by moving the combined transport vehicle group G1 as described above to approach the adjacent position Ca, the transport vehicle 1 at one end of the combined transport vehicle group G1 is positioned at the adjacent position Ca. This makes it easier to appropriately align the direction in which the goods W are transported by the conveyor Cb at the connection target location C with the direction in which the goods W are transported by each transport vehicle 1 constituting the combined transport vehicle group G1. For example, by starting the transport of goods W on the combined transport vehicle group G1 before the combined transport vehicle group G1 is connected to the connection point C, it becomes possible to hand over the goods W to the conveyor Cb at the connection point C immediately after the combined transport vehicle group G1 is connected to the connection point C. In this example, the combined transport vehicle group G1 moves along the conveyor transport direction within a range of at least a predetermined distance from the adjacent position Ca. When the combined transport vehicle group G1 moves away from the adjacent position Ca, it may move along the conveyor transport direction, a direction perpendicular to the conveyor transport direction, or a direction oblique to the conveyor transport direction.

[0054] Figure 10 shows an example of a transport configuration using multiple transport vehicles 1 in a combined state. As described above, the multiple transport vehicles 1 combine to form a combined transport vehicle group G1, thereby forming a continuous transport path P. This makes it possible to transport multiple items W continuously along the transport path P. In other words, by combining multiple transport vehicles 1 to form a transport path P that connects different transfer target locations T, multiple items W can be transported continuously between different transfer target locations T. Thus, the item transport equipment 100 according to this disclosure makes it possible to realize a transport configuration in which multiple items W are transported continuously to the same location.

[0055] In the example shown in Figure 10, multiple transport vehicles 1 are combined to form a transport route P connecting the receiving / shipping area 9 to the automated warehouse 8. In other words, a group of combined transport vehicles G1 is arranged to connect the receiving / shipping area 9 to the automated warehouse 8. In this example, multiple transport vehicles 1 are lined up in a row to form a single transport route P and constitute a group of combined transport vehicles G1. This allows for the continuous transport of multiple items W from the receiving / shipping area 9 to the automated warehouse 8.

[0056] As shown in Figure 11, the higher-level control device H is configured to move the combined transport vehicle group G1 between multiple connection points C while maintaining the combined state of the multiple transport vehicles 1. In the illustrated example, the higher-level control device H moves the combined transport vehicle group G1 from the receiving section 81 to the output section 82 of the automated warehouse 8 while maintaining the combined state of the multiple transport vehicles 1. This allows the combined transport vehicle group G1 to continuously receive multiple items W into the automated warehouse 8, and then continuously output multiple items W to be output from the automated warehouse 8.

[0057] Here, the combined transport vehicle group G1 can carry items W of a size or number that cannot be transported by a single transport vehicle 1, by utilizing the loading section 13 (see Figure 3) of each of the multiple transport vehicles 1 that make up the combined transport vehicle group G1. Furthermore, as described above, the combined transport vehicle group G1 can move between multiple connection point locations C while maintaining its combined state. Therefore, it becomes possible to transport items W of a size or number that cannot be transported by a single transport vehicle 1 between multiple connection point locations C. In addition, with the above configuration, the combined transport vehicle group G1 can move between multiple different connection point locations C in a shorter time than if each transport vehicle 1 moved independently to the target connection point C and then combined with each other to form the combined transport vehicle group G1.

[0058] Furthermore, in order to distinguish between two connection target locations C located at different positions from each other, one can be defined as the first connection target location and the other as the second connection target location. In other words, the multiple connection target locations C include the first connection target location and the second connection target location located at a different position from the first connection target location, and the higher-level control device H is configured to move the combined transport vehicle group G1 between the adjacent position Ca to the first connection target location and the adjacent position Ca to the second connection target location while maintaining the combined state of the multiple transport vehicles 1.

[0059] As shown in Figure 12, in this embodiment, the higher-level control device H is configured to selectively change the configuration of the transport route P for the combined transport vehicle group G1 that is connected to the connection target location C. For example, the higher-level control device H may add at least one of the following transport configurations to the current transport route P for the combined transport vehicle group G1 that is connected to the connection target location C: a series configuration, a branch configuration, and a merging configuration. Alternatively, it may remove at least one of the following configurations from the current transport route P: a series configuration, a branch configuration, and a merging configuration.

[0060] In the example shown in Figure 12, the higher-level control device H controls the combined transport vehicle group G1 to add a branching configuration by providing a branching section Pa to the transport path P, which is a series configuration extending linearly from the dispatching section 82, which is the connection target location C. The two transport paths P downstream of the branching section Pa are each connected to different transfer target locations T. This makes it possible, for example, when there are many items W being dispatched from the automated warehouse 8, to distribute the multiple items W being transported from the dispatching section 82 by the combined transport vehicle group G1 to multiple transfer target locations T. Although detailed illustrations are omitted, the higher-level control device H may also control the combined transport vehicle group G1 to add a merging configuration by providing a merging section Pb to the transport path P, which is a series configuration extending linearly from the dispatching section 82, which is the connection target location C.

[0061] As described above, the goods transport equipment 100 is provided with multiple power supply units 7 that supply power to the transport vehicles 1. In this embodiment, at least one of the multiple power supply units 7 is located adjacent to the connection point C. This allows power to be supplied to the combined transport vehicle group G1 or the individual transport vehicle 1 while the combined transport vehicle group G1 or the individual transport vehicle 1 connected to the connection point C is stopped.

[0062] As shown in Figure 13, in this embodiment, at least some of the transport vehicles 1 in the combined transport vehicle group G1, namely the power-receiving transport vehicle 1, are configured to receive power from the power supply unit 7. In this example, the power-receiving transport vehicle 1 is one of the multiple transport vehicles 1 that make up the combined transport vehicle group G1, located at a position Ca adjacent to the connection target location C. The multiple transport vehicles 1 that make up the combined transport vehicle group G1 are electrically connected to each other by the power transmission unit 52 (in other words, via the power transmission unit 52) ​​so that the remaining transport vehicles 1 of the combined transport vehicle group G1 receive power from the power-receiving transport vehicle 1.

[0063] In this embodiment, the power receiving transport vehicle 1 is configured to receive power from the power supply unit 7 in a non-contact manner. As described above, the power lines of the power transmission unit 52 are provided in the connecting section 20 that connects adjacent transport vehicles 1. Therefore, transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power via the connecting section 20 with other adjacent transport vehicles 1. In this example, the multiple transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power from each other during the period when the power receiving transport vehicle 1 is receiving power from the power supply unit 7.

[0064] This configuration allows for the simultaneous charging of multiple transport vehicles 1 that make up the combined transport vehicle group G1. Furthermore, since the power supply unit 7 only needs to supply power to at least some of the transport vehicles 1 in the combined transport vehicle group G1, it is not necessary to directly supply power to all of the multiple transport vehicles 1 that make up the combined transport vehicle group G1. Therefore, the power supply unit 7 can be made smaller. In addition, the ability to make the power supply unit 7 smaller also improves the flexibility of its placement.

[0065] [Other Embodiments] Next, other embodiments will be described.

[0066] (1) In the above embodiment, an example was described in which multiple transport vehicles 1 are combined to form a combined transport vehicle group G1 so that they are adjacent to each other, and the transfer units 14 of each transport vehicle 1 cooperate to form a transport path P for transporting goods W. Such a combined transport vehicle group G1 may consist of two or more transport vehicles 1. For example, as shown in Figure 14, the combined transport vehicle group G1 may consist of two transport vehicles 1. In this case, the transport path P is formed by the transfer units 14 of the two transport vehicles 1. Such a configuration is suitable when transporting goods W of a size or number that cannot be carried by a single transport vehicle 1 to a specific location.

[0067] (2) In the above embodiment, an example was described in which multiple transport vehicles 1 are combined to form a combined transport vehicle group G1 by connecting the connecting parts 20 of each transport vehicle 1. However, the invention is not limited to this example, and the multiple transport vehicles 1 do not have to be physically connected, and the combined transport vehicle group G1 may be formed by approaching each other. In this case, when the multiple transport vehicles 1 are combined, it is preferable that each of the multiple transport vehicles 1 is configured to run in sync with each other while maintaining the combined state. The control units H1 provided in each transport vehicle 1 communicate with each other so that each transport vehicle 1 can cooperate and run in sync. Note that some of the multiple transport vehicles 1 that make up the combined transport vehicle group G1 may be combined using the connecting parts 20, and other parts may be combined by synchronized control.

[0068] (3) In the above embodiment, an example was described in which a gap is formed between the transport vehicle 1 located at the adjacent position Ca and the connection target location C in the connected state of the combined transport vehicle group G1. However, the invention is not limited to this example, and the transport vehicle 1 located at the adjacent position Ca and the connection target location C may be physically connected without any gap.

[0069] (4) In the above embodiment, an example was described in which multiple transport vehicles 1 are arranged in a single line to form a single transport route P and constitute a combined transport vehicle group G1. However, the invention is not limited to this example, and multiple transport vehicles 1 may be arranged in two or more lines to form a single transport route P and constitute a combined transport vehicle group G1. In this case, the transport route P is wider than the route formed by multiple transport vehicles 1 in a single line.

[0070] (5) In the above embodiment, the receiving section 81 and the shipping section 82 were given as examples of connection points C. However, the connection points C are not limited to such examples, and any point to which the transport vehicle 1 is connected for transferring goods W is acceptable. Other examples of connection points C include the boundary of a work area where various operations are performed, and other transport devices other than the transport vehicle 1.

[0071] (6) In the above embodiment, an example was described in which multiple transport vehicles 1 other than the power receiving transport vehicle 1 are configured to transmit and receive power from each other during the period when the power receiving transport vehicle 1 is receiving power from the power supply unit 7. However, the example is not limited to this example, and the power receiving transport vehicle 1 may receive sufficient power from the power supply unit 7 and store it, and after the entire combined transport vehicle group G1 has left the power supply unit 7, the multiple transport vehicles 1 other than the power receiving transport vehicle 1 may receive power from the power receiving transport vehicle 1 and transmit and receive power from each other. In this case, it is preferable that the power receiving transport vehicle 1 is equipped with a large-capacity battery that can be charged quickly.

[0072] (7) In the above embodiment, the power receiving unit 51 of the transport vehicle 1 is configured using a power receiving pad, and the transport vehicle 1 is configured to receive power from a power supply unit 7 equipped with a power transmitting pad in a non-contact manner. However, the transport vehicle 1 is not limited to this example, and may be configured to receive power from the power supply unit 7 while connected by a power line.

[0073] (8) In the above embodiment, an example was described in which the transport vehicles 1 constituting the combined transport vehicle group G1 are electrically connected by a power transmission unit 52 that transmits power to other transport vehicles 1 in a contact manner. However, the example is not limited to this example, and the transport vehicles 1 constituting the combined transport vehicle group G1 may be configured to be electrically connected by a power transmission unit 52 that transmits power to other transport vehicles 1 in a non-contact manner.

[0074] (9) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0075] [Summary of this embodiment] The following is a summary of this embodiment.

[0076] Multiple transport vehicles that travel on a trackless surface to transport goods, Multiple connection points to which the transport vehicle will be connected, An article transporting system comprising a control system for controlling a plurality of transport vehicles, The aforementioned transport vehicle is A mounting section on which the aforementioned article is placed, A transfer unit for transferring the article placed on the mounting unit, Equipped with, In a combined state in which multiple transport vehicles are joined together so as to be adjacent to each other, each of the multiple transfer units cooperates to form a transport path for transporting the articles. The multiple transport vehicles in the combined state are grouped together as a combined transport vehicle group. By positioning at least one of the combined transport vehicle group at an adjacent location adjacent to the connection target location, the combined transport vehicle group becomes connected in a state that enables the transfer of the goods between it and the connection target location. The multiple connection targets include a first connection target and a second connection target located at a different position from the first connection target, The control system is configured to move the combined transport vehicle group between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the combined state of the multiple transport vehicles.

[0077] This configuration allows each transport vehicle to transport goods to various locations independently, and also enables the transport of goods along a continuous transport route by combining multiple transport vehicles. In other words, it is possible to realize both a transport mode for transporting specific goods to specific locations and a transport mode for transporting multiple goods continuously to the same location using transport vehicles. Furthermore, the combined transport vehicle group can carry goods of a size or number that cannot be transported by a single transport vehicle by utilizing the loading areas of each of the multiple transport vehicles that make up the combined transport vehicle group. The combined transport vehicle group can then move between multiple connection points while maintaining its combined state. Therefore, it becomes possible to transport goods of a size or number that cannot be transported by a single transport vehicle between multiple connection points. As described above, this configuration makes it possible to flexibly change the transport mode of goods.

[0078] The aforementioned connection point includes a conveyor, When the combined transport vehicle group is in the connected state, the control system preferably moves the combined transport vehicle group along the conveyor transport direction, which is the direction in which the conveyor transports the articles, to approach the adjacent position, thereby positioning at least one of the transport vehicles of the combined transport vehicle group at the adjacent position.

[0079] With this configuration, when a transport vehicle positioned adjacent to another transport vehicle is one end vehicle of a combined transport vehicle group, it is easy to appropriately align the direction in which goods are transported by the conveyor at the connection point with the direction in which goods are transported by each transport vehicle constituting the combined transport vehicle group. Furthermore, it is easy to realize the state in which the combined transport vehicle group is connected to the connection point.

[0080] The control system is preferably configured to selectively form the combined transport vehicle group into a series configuration in which the transport path is a single path, a branching configuration in which a branching section is provided at least at one location on the transport path in which one path branches into two or more paths, and a merging configuration in which a merging section is provided at least at one location on the transport path in which two or more paths merge into one.

[0081] This configuration allows for flexible configuration of the transport path, which is composed of transfer sections from multiple transport vehicles. Furthermore, it improves the flexibility of transport.

[0082] A power supply unit is provided that supplies power to the transport vehicle while its position relative to the running surface is fixed. Each of the multiple transport vehicles is equipped with a power transmission unit that transmits power to other transport vehicles while combined with them. At least some of the transport vehicles in the aforementioned combined transport vehicle group, which are power-receiving transport vehicles, receive power from the power supply unit. It is preferable that the multiple transport vehicles constituting the combined transport vehicle group are electrically connected to each other by the power transmission unit, so that the remaining transport vehicles in the combined transport vehicle group receive power from the power receiving transport vehicle.

[0083] This configuration allows for the simultaneous charging of multiple transport vehicles constituting a combined transport vehicle group. Furthermore, the power supply unit only needs to supply power to at least some of the transport vehicles in the combined transport vehicle group; it does not need to directly supply power to all of the transport vehicles constituting the group. Therefore, it is easier to miniaturize and simplify the configuration of the power supply unit. [Industrial applicability]

[0084] The technology disclosed herein can be used in an article transport system that includes multiple transport vehicles that transport articles by traveling on a trackless surface. [Explanation of symbols]

[0085] 100: Goods handling equipment 1: Transport vehicle 7: Power supply section 13: Mounting section 14: Transfer section 52: Power transmission section C: Connection target location Ca: Adjacent position Cb: Conveyor G1: Combined transport vehicle group H: Higher-level control unit (control system) P: Transport route Pa: Branching point Pb: Confluence W:Goods

Claims

1. Multiple transport vehicles that travel on a trackless surface to transport goods, Multiple connection points to which the transport vehicle will be connected, An article transporting system comprising a control system for controlling a plurality of transport vehicles, The aforementioned transport vehicle is A mounting section on which the aforementioned article is placed, A transfer unit for transferring the article placed on the mounting unit, Equipped with, In a combined state in which multiple transport vehicles are joined together so as to be adjacent to each other, each of the multiple transfer units cooperates to form a transport path for transporting the articles. The multiple transport vehicles in the combined state are grouped together as a combined transport vehicle group. By positioning at least one of the combined transport vehicle group at an adjacent location adjacent to the connection target location, the combined transport vehicle group becomes connected in a state that allows for the transfer of the goods between it and the connection target location. The multiple connection targets include a first connection target and a second connection target located at a different position from the first connection target, The control system is configured to move the combined transport vehicle group between the adjacent position to the first connection target location and the adjacent position to the second connection target location while maintaining the combined state of the multiple transport vehicles, in an article transport facility.

2. The aforementioned connection point includes a conveyor, The article transport equipment according to claim 1, wherein the control system, when the combined transport vehicle group is in the connected state, moves the combined transport vehicle group along the conveyor transport direction, which is the direction in which the conveyor transports the articles, to approach the adjacent position, thereby positioning at least one of the transport vehicles of the combined transport vehicle group at the adjacent position.

3. The article transport equipment according to claim 1, wherein the control system is configured to selectively form the combined transport vehicle group into a series configuration in which the transport path is a single path, a branching configuration in which a branching section is provided at least one location on the transport path in which one path branches into two or more paths, and a merging configuration in which a merging section is provided at least one location on the transport path in which two or more paths merge into one.

4. A power supply unit is provided that supplies power to the transport vehicle while its position relative to the running surface is fixed. Each of the multiple transport vehicles is equipped with a power transmission unit that transmits power to other transport vehicles while combined with them. At least some of the transport vehicles in the aforementioned combined transport vehicle group, which are power-receiving transport vehicles, receive power from the power supply unit. The article transport equipment according to any one of claims 1 to 3, wherein the plurality of transport vehicles constituting the combined transport vehicle group are electrically connected to each other by the power transmission unit, such that the remaining transport vehicles of the combined transport vehicle group receive power from the power receiving transport vehicle.

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