Conveyor system and automated guided vehicle system

Abstract

A conveyor device (11) comprises: a first conveyor (11A) which has a plurality of rollers (16) arranged in parallel in the conveyance direction of a case (CS), and which conveys the case (CS) on each roller (16) by rotating each roller (16); and a guide frame (17) extending in the horizontal direction along one end of each roller (16), and formed higher than the height of the circumferential surface of each roller (16). As viewed in the vertical direction, each roller (16) is disposed obliquely by making an angle α, which is formed by a shaft (16A) of each roller (16) with respect to the guide frame (17), acute on the downstream side in the conveyance direction of the case (CS).

Description

Technical Field

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[0003]

[0001] The present invention relates to a conveyor device for transporting articles and an unmanned transport vehicle system using the conveyor device, and particularly relates to a technique for stabilizing the transport trajectory of articles by the conveyor device.

Background Art

[0002] Generally, as a conveyor for transporting articles, a roller conveyor is known which includes a plurality of rollers arranged in parallel in the transport direction of the articles, and the articles on each roller are transported by rotating each roller. For example, in the generalized system for warehouse control described in Patent Document 1, a roller conveyor transports articles, and a robot arm picks up the articles on the roller conveyor and ships them.

[0003] In addition, various systems for moving articles by an unmanned transport vehicle (AGV: Automatic Guided Vehicle) have been proposed. For example, in the unmanned transport system described in Patent Document 2, a conveyor transports luggage, and when the luggage arrives at the end of the conveyor, a nearby unmanned transport vehicle is called, and a robot mounts the luggage on the unmanned transport vehicle, and the unmanned transport vehicle moves the luggage to a shelf and stores the luggage on the shelf.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

[0005] By the way, in the case of transporting goods by a conveyor belt, as disclosed in Patent Document 2, where a robot loads the goods onto an automated guided vehicle (AGV) after they reach the end of the conveyor belt, the time from the start of transport by the conveyor belt to the loading of the goods onto the AGV becomes long, and the goods are not moved efficiently.

[0006] Furthermore, as a robot for loading cargo onto an automated guided vehicle, the application of an arm robot or the like described in Patent Document 1 is envisioned. However, when such a robot is applied, the system configuration becomes complex and the system cost increases.

[0007] The inventors of this invention have devised a new system for efficiently transporting goods by moving an automated guided vehicle (AGV) along a conveyor belt and transferring goods from the AGV to the AGV. In this system, in order to transfer goods from the conveyor belt to the AGV, it is necessary to keep the direction of transport of the goods being transported by the conveyor belt constant and stable.

[0008] This invention has been made in view of the above circumstances, and aims to stabilize the conveying direction of articles by a conveyor equipped with a plurality of rollers arranged in parallel in the direction of article transport.

[0009] A conveyor device according to one aspect of the present invention comprises a conveyor having a plurality of rollers arranged in parallel in the direction of article transport, which rotates each roller to transport articles on each roller, a guide frame extending horizontally along one end of each roller and formed at a height higher than the circumferential surface of each roller, which pivotally supports one end of each roller, and a support frame extending horizontally along the other end of each roller and formed at a height lower than the circumferential surface of each roller, which pivotally supports the other end of each roller, wherein, in a top view from the vertical direction, the angle that the axis of each roller makes with respect to the guide frame on the downstream side in the direction of article transport is an acute angle consisting of a predetermined angle, and each roller is positioned diagonally with respect to the guide frame.

[0010] Another aspect of the present invention relates to an automated guided vehicle system comprising the above-described conveyor device and an automated guided vehicle that travels along the side end of the conveyor that is on the support frame side, wherein the automated guided vehicle includes an imaging unit that captures a mark marked on the surface of an article facing the automated guided vehicle when the article is being transported by the conveyor. [Effects of the Invention]

[0011] According to the present invention, the conveying direction of articles can be made constant and stable by a conveyor equipped with multiple rollers arranged in parallel in the direction of article transport. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic plan view showing an automated guided vehicle system to which a conveyor device according to one embodiment of the present invention is applied. [Figure 2A] This is a plan view showing the first conveyor belt as seen from the vertical direction. [Figure 2B] This is a side view of the first conveyor, seen from the longitudinal direction of the first conveyor. [Figure 3A] This is a side view showing a case being transported by the first conveyor. [Figure 3B] This is a schematic plan view showing the first conveyor, case, and automated guided vehicle. [Figure 4] This is a schematic perspective view of an automated guided vehicle (AGV). [Figure 5] This is a perspective view showing the sliding state of each arm of an automated guided vehicle (AGV). [Figure 6] This diagram schematically shows the rack gear and pinion gear used to move the arm back and forth. [Figure 7A] This is a perspective view showing the mechanism for extending and retracting the first and second claw portions of each arm. [Figure 7B] This is a plan view showing the mechanism for extending and retracting the first and second claw portions of each arm. [Figure 8] This is a block diagram showing the control system for an automated guided vehicle (AGV). [Figure 9] It is a flowchart showing the control procedure of the article movement process. [Figure 10A] It is a perspective view showing the state where the case is being conveyed by the first conveyor. [Figure 10B] It is a perspective view showing the state where the driverless transport vehicle has caught up with the case being conveyed by the first conveyor. [Figure 11] It is a perspective view showing the state where one arm of the driverless transport vehicle is in contact with the case being conveyed by the first conveyor. [Figure 12A] It is a perspective view showing the state where the case being conveyed by the first conveyor is sandwiched between the arms of the driverless transport vehicle. [Figure 12B] It is a perspective view showing the process of transferring the case being conveyed by the first conveyor to the driverless transport vehicle. [Figure 13] It is a perspective view showing the state where the case being conveyed by the first conveyor is sandwiched between the arms and the first claw portions inside the tip ends of the arms are protruding. [Figure 14] It is a perspective view showing the driverless transport vehicle on which the case transferred from the first conveyor is placed. [Figure 15] It is a perspective view showing the state where the driverless transport vehicle has stopped in front of the storage shelf. [Figure 16] It is a perspective view showing the state where the case is sandwiched between the arms of the driverless transport vehicle and the second claw portions inside the rear ends of the arms are protruding. [Figure 17] It is a perspective view showing the process of transferring the case from the driverless transport vehicle to the storage shelf. [Figure 18] It is a perspective view showing the driverless transport vehicle after transferring the case to the storage shelf. [Figure 19] It is a perspective view showing the state after transferring the case from the driverless transport vehicle to the storage shelf.

Embodiments for Carrying out the Invention

[0013] One embodiment of the present invention will be described below with reference to the drawings.

[0014] Figure 1 is a schematic diagram showing an automated guided vehicle (AGV) system Sy to which a conveyor device 11 according to one embodiment of the present invention is applied. The AGV system Sy comprises an AGV 10 and a conveyor device 11 for loading and transporting goods. The AGV system Sy is installed indoors, such as in a warehouse equipped with storage shelves 12.

[0015] The automated guided vehicle (AGV) 10 moves autonomously along a travel line 15 laid on the floor. For example, the travel line 15 is a magnetic tape attached to the floor. The AGV 10 is equipped with a magnetic sensor that detects the magnetic tape. In the AGV 10, the control unit 74, described later, detects the position of the magnetic tape (travel line 15) based on information obtained from the magnetic sensor, and performs steering control according to the position of the travel line 15 to make the AGV 10 move along the travel line 15.

[0016] Alternatively, the travel line 15 is a colored tape that is attached to the floor surface and has a different color or reflectivity from the floor surface. The automated guided vehicle 10 is equipped with an optical sensor such as a CCD that detects the colored tape. In the automated guided vehicle 10, the control unit 74, described later, detects the position of the colored tape (travel line 15) based on information obtained from the optical sensor, and performs steering control according to the position of the travel line 15 to make the automated guided vehicle 10 travel along the travel line 15.

[0017] Both the method using magnetic tape and magnetic sensors, and the method using colored tape and optical sensors, are known technologies.

[0018] The conveyor system 11 includes a first conveyor 11A and a second conveyor 11B connected to one end of the first conveyor 11A. Both the first conveyor 11A and the second conveyor 11B are equipped with a plurality of rollers 16 arranged in parallel along the transport direction of the case CS (an example of an article).

[0019] Each roller 16 is pivotally supported on the frame of the first conveyor 11A or the second conveyor 11B by an axis perpendicular to the transport direction of the case CS. Each roller 16 is rotationally driven in one direction to transport the case CS on each roller 16. The second conveyor 11B transports the case CS to one end of the first conveyor 11A, and the first conveyor 11A continues to transport the case CS.

[0020] The travel line 15 includes a first travel line 15A, a second travel line 15B, a third travel line 15C, and a fourth travel line 15D, which are connected to form a rectangle. Each of the travel lines 15A to 15D is straight. The first travel line 15A extends parallel to the direction in which the first conveyor 11A extends (the direction in which the case CS is transported). 3 The travel line 15C passes near the storage rack 12.

[0021] The automated guided vehicle (AGV) 10 starts moving from a waiting position HP located near the beginning of the first travel line 15A and travels parallel to the first conveyor 11A along the first travel line 15A. At the end of the first travel line 15A, the AGV 10 changes direction by 90 degrees and moves to travel along the second travel line 15B. At the end of the second travel line 15B, the AGV 10 changes direction by 90 degrees and moves to travel along the third travel line 15C. The AGV 10 travels along the third travel line 15C to the storage rack 12, and at the end of the third travel line 15C, it changes direction by 90 degrees and moves to travel along the fourth travel line 15D. The unmanned transport vehicle 10 changes direction by 90 degrees at the end of the fourth travel line 15D and moves to travel along the first travel line 15A, returning to the waiting position HP near the starting end of the first travel line 15A.

[0022] The automated guided vehicle 10 travels parallel to the first conveyor belt 11A along the first travel line 15A, and, as will be described in detail later, transfers the cases CS being transported by the first conveyor belt 11A to the automated guided vehicle 10, thereby moving the cases CS.

[0023] Figure 2A is a plan view of the first conveyor 11A as seen from the vertical direction. Figure 2B is a side view of the first conveyor 11A as seen from the longitudinal direction (horizontal direction) of the first conveyor 11A.

[0024] As shown in Figures 2A, 2B, and later in Figures 10A and 10B, the first conveyor 11A includes a guide frame 17 and a support frame 18 that extend vertically with respect to the ground and form the frame of the first conveyor 11A. The guide frame 17 and the support frame 18 pivotally support a plurality of rollers 16. The guide frame 17 and the support frame 18 are provided extending horizontally. The guide frame 17 and the support frame 18 are arranged parallel to each other at a constant distance apart. A plurality of rollers 16 are arranged side by side between the guide frame 17 and the support frame 18.

[0025] One end of the shaft 16A of each roller 16 is supported by a guide frame 17, and the other end is supported by a support frame 18. When the shaft 16A of each roller 16 is rotationally driven by a driving force supplied from a drive source such as a motor, each roller 16 rotates in one direction. This rotation causes the case CS on each roller 16 to be conveyed in one direction.

[0026] As shown in Figure 2A, when viewing the first conveyor 11A from above (from above in the vertical direction), the angle α of the axis 16A of the roller 16 relative to the horizontally extending guide frame 17, which is the downstream side in the transport direction of case CS, is set to a predetermined value. The angle α is an acute angle smaller than a right angle, for example, between 85 degrees and 88 degrees. Each roller 16 is positioned diagonally with respect to the guide frame 17.

[0027] As shown in Figure 2B, when the first conveyor 11A is viewed from the side in the horizontal direction, each roller 16 is pivotally supported by the guide frame 17 and the support frame 18 with one end of the axis 16A of each roller 16 higher on the guide frame 17 side and the other end of the axis 16A of each roller 16 lower on the support frame 18 side. Each roller 16 is inclined at a predetermined angle β with respect to the horizontal direction. The angle β is, for example, between 1 degree and 10 degrees. Thus, it is preferable to set the angle β to between 1 degree and 10 degrees. It is also possible to set the angle β to 0 degrees so that each roller 16 is pivotally supported by the guide frame 17 and the support frame 18 in a position horizontal to the ground.

[0028] The guide frame 17 is formed to a height that protrudes higher than the circumferential surface of each roller 16. The support frame 18 is formed to a height lower than the circumferential surface of each roller 16. In other words, there are no members on the support frame 18 side that protrude higher than the circumferential surface of each roller 16.

[0029] As described above, the axis 16A of each roller 16 is angled to the guide frame 17 at an acute angle α, smaller than a right angle, on the downstream side in the transport direction of the case CS. As a result, the feed direction K of the case CS fed out by each roller 16 is slightly deviated from the direction parallel to the guide frame 17 and becomes a direction toward the guide frame 17.

[0030] Therefore, the case CS is conveyed on each roller 16 in a direction that approaches the guide frame 17, inclined toward the guide frame 17 from a direction parallel to the guide frame 17. As a result, the case CS is conveyed while sliding against the guide frame 17, which protrudes higher than the circumferential surface of each roller 16.

[0031] As a result, when multiple cases CS are sequentially transported to one end of the first conveyor 11A by the second conveyor 11B, even if the positions of each case CS on the first conveyor 11A vary in the width direction of the first conveyor 11A, the cases CS are transported while sliding against the guide frame 17 as they are being transported by the first conveyor 11A, and the position of each case CS in the width direction of the first conveyor 11A is maintained constant. In other words, the transport trajectory of the cases CS by the first conveyor 11A is kept constant and stable.

[0032] Furthermore, one end of the shaft 16A of each roller 16 is raised on the guide frame 17 side, and the other end of the shaft 16A is lowered on the support frame 18 side, so that each roller 16 is inclined at an angle β with respect to the horizontal direction, and the support frame 18 is lower than the circumferential surface of each roller 16. As a result, the case CS can be quickly moved on each roller 16 to the lower end of each roller 16. Moreover, the case CS can be easily pulled out from each roller 16 to the outside of the support frame 18.

[0033] If the angle α formed by the axis 16A of each roller 16 with respect to the guide frame 17 is made too small, the biasing force of the case CS trying to approach the guide frame 17 will increase. As a result, the case CS will encounter resistance from the guide frame 17 and will not be able to be smoothly transported along the guide frame 17. Therefore, it is necessary to set the angle α appropriately. An appropriate angle α must be determined experimentally, taking into account the transport speed of the case CS by each roller 16, the frictional force between the guide frame 17 and the case CS, etc. From this perspective, the angle α is set to, for example, 85 degrees or more and 88 degrees or less.

[0034] Furthermore, if the angle β formed by each roller 16 with respect to the horizontal direction is made too large, the case CS will slide down against the biasing force of the case CS trying to approach the guide frame 17. Therefore, it is necessary to set the angle β appropriately according to the angle α. From this perspective, the angle β is set, for example, to between 1 degree and 10 degrees.

[0035] As described above, on the first conveyor 11A, the case CS is transported while sliding against the guide frame 17. As a result, the position of the case CS can be kept constant in the width direction of the first conveyor 11A, and the transport trajectory of the case CS can be stabilized. In addition, each roller 16 is inclined low toward the support frame 18, and the support frame 18 is lower than the circumferential surface of each roller 16. As a result, the case CS can be easily pulled out from above each roller 16 to the outside of the support frame 18.

[0036] Next, we will describe case CS. As shown in Figure 3A, a two-dimensional code Q is printed on the side of case CS. As shown in Figure 3B, the automated guided vehicle 10 is equipped with an imaging camera 71 that includes a CCD or the like. The imaging camera 71 captures images of the two-dimensional code Q on the side of case CS as it is being transported by the first conveyor belt 11A.

[0037] When the case CS is transported by the first conveyor 11A, the position of the case CS is kept constant in the width direction of the first conveyor 11A. As a result, the distance between the imaging camera 71 and the two-dimensional code Q on the side of the case CS does not change, and the imaging camera 71 is able to accurately image the two-dimensional code Q on the side of the case CS.

[0038] Furthermore, the case CS can be easily pulled out from each roller 16 to the outside of the support frame 18. As a result, it becomes possible to easily transfer the case CS from the first conveyor 11A to the automated guided vehicle 10.

[0039] Figure 4 is an enlarged, schematic perspective view of the automated guided vehicle 10. As shown in Figure 4, the automated guided vehicle 10 comprises a driving section 22 located on the lower side of the vehicle body and a working section 23 located on the upper side of the vehicle body.

[0040] Casters 31 are provided at each of the four corners of the bottom of the running section 22. Multiple drive wheels 32 are spaced apart on the inside of the bottom of the running section 22. Each drive wheel 32 is rotated by its own drive motor 33, and as the automated guided vehicle 10 moves, the wheels of each caster 31 rotate in response. The drive motor 33 that rotates each drive wheel 32 is controlled separately, and the rotation speed of each drive wheel 32 is adjusted. This adjustment changes the direction of travel of the automated guided vehicle 10.

[0041] The work section 23 includes a pair of support walls 41 that are positioned opposite each other and protrude from the upper surface of the work section 23. Each support wall 41 supports an arm 42 at its upper and outer side walls. Each arm 42 is, for example, hollow and casing-shaped. Each arm 42 is supported by each support wall 41 so as to be slidable along each support wall 41 via a slide rail 43. The distance between each arm 42 is set to a predetermined distance that is slightly longer than the width of the case CS being transported by the conveyor device 11. Each arm 42 can insert and clamp a case CS between itself and the arms 42.

[0042] Figure 5 is a perspective view showing the sliding state of each arm 42. Each arm 42 is slidably supported relative to each support wall 41 by two horizontally extending slide rails 43. Each arm 42 is guided in the direction of movement by the slide rails 43 and is capable of reciprocating movement in the longitudinal direction of each arm 42. Each slide rail 43 has a configuration, for example, referred to as a three-stage extension. Each slide rail 43 has a configuration in which a portion of it protrudes outward toward the side of the work section 23 and can move.

[0043] The slide rail 43 has a first rail provided on the side wall of the support wall 41, and a second rail that is locked to and supported by the first rail and moves outwards to the side of the work section 23, guided in the direction of movement by the first rail. The second rail is attached to the arm 42. This allows each arm 42 to reciprocate horizontally, enabling the entire arm 42 to protrude outwards from the automated guided vehicle 10 and to be retracted into the automated guided vehicle 10 from the protruding position.

[0044] As shown in Figure 6, a rack gear 44 is provided at the lower end of each arm 42. Each support wall 41 is provided with its own arm drive motor 45 (shown in Figure 8). A pinion gear 46 is fixed to the output shaft of each arm drive motor 45. When each arm drive motor 45 rotates back and forth, the pinion gear 46 rotates back and forth, and each rack gear 44 and each arm 42 moves back and forth guided in the direction of movement by the slide rail 43.

[0045] Furthermore, the outward movement of the arm 42 is restricted to a position where the arm 42 is not released from the locking and support of the support wall 41 and the slide rail 43, as shown in Figure 5, by the engagement of the first and second rails of the slide rail 43 and the rotation control of the arm drive motor 45.

[0046] As shown in Figures 4 and 5, a slit 42A is formed on the inner side of the tip of each arm 42 (the side facing the other opposing arm 42). Each slit 42A is provided with a first claw portion 51 that protrudes into the space between the arms 42. A slit 42B is formed on the inner side of the rear end (base end) of the arm 42 (the side facing the other opposing arm 42). Each slit 42B is provided with a second claw portion 52 that protrudes into the space between the arms 42.

[0047] As shown in Figures 7A and 7B, each first claw portion 51 is supported by a rotating shaft 53 inside a hollow housing-shaped arm 42. Each second claw portion 52 is supported by a rotating shaft 54 ​​inside a hollow housing-shaped arm 42. Each first claw portion 51 is reciprocated by a claw drive motor 55 (shown in Figure 8) connected to each rotating shaft 53 to protrude from the slit 42A into the space between each arm 42 and to move out of that space and retract into the arm 42. Each second claw portion 52 is reciprocated by a claw drive motor 56 (shown in Figure 8) connected to each rotating shaft 54 ​​to protrude from the slit 42B into the space between each arm 42 and to move out of that space and retract into the arm 42.

[0048] As shown in Figures 4 and 5, an imaging camera 71 is provided on the work section 23. The orientation of the imaging camera 71 is set so that when the automated guided vehicle 10 travels parallel to the first conveyor 11A along the first travel line 15A, the imaging camera 71 faces the space above the first conveyor 11A. In this embodiment, the imaging camera 71 is located on the work section 23 in the central part of the area between the two support walls 41 in the direction of travel of the automated guided vehicle 10, and is positioned on the base end side of each arm 42.

[0049] The imaging camera 71 captures images of a two-dimensional code (e.g., QR code®) Q or mark attached to a case CS being transported on the first conveyor belt 11A. The imaging camera 71 may be positioned on the base end side of each arm 42, outside one support wall 41 on the work section 23 (outside the area between the two support walls 41) in the direction of travel of the automated guided vehicle 10, or on the upper part of one support wall 41, on the side wall facing the other support wall 41. The imaging camera 71 may also be positioned at any other location, even if it is not on the base end side of each arm 42, as long as it is in a position where it can capture images of the two-dimensional code Q or mark attached to the case CS being transported on the first conveyor belt 11A.

[0050] Figure 8 is a block diagram showing the control system of the automated guided vehicle 10. As shown in Figure 8, the automated guided vehicle 10 includes each travel drive motor 33, each arm drive motor 45, each claw drive motor 55, each claw drive motor 56, an imaging camera 71, a travel line sensor 72, a communication unit 73, and a control unit 74.

[0051] Each travel drive motor 33 rotates each drive wheel 32 of the travel unit 22. Each arm drive motor 45 moves each arm 42 of the work unit 23 horizontally. Each claw drive motor 55 causes each first claw portion 51 to protrude from the slits 42A on the inside of both ends of each arm 42 into the space between the arms 42 and to retract into the arms 42.

[0052] Each claw drive motor 56 causes each second claw portion 52 to protrude from the slits 42B on the inside of both ends of each arm 42 into the space between the arms 42 and to retract into the arms 42. The imaging camera 71 captures images of the two-dimensional code Q attached to the case CS on the first conveyor 11A. The travel line sensor 72 detects the travel line 15.

[0053] The communication unit 73 is a communication interface equipped with a communication module such as a LAN chip. The communication unit 73 is connected to the terminal device 81 via a wired or wireless LAN and transmits and receives data with the terminal device 81. The terminal device 81 is, for example, a PC (personal computer) and is operated by a user.

[0054] The control unit 74 includes a processor, RAM (Random Access Memory), ROM (Read Only Memory), and dedicated hardware circuitry. The processor is, for example, a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or an MPU (Micro Processing Unit). The control unit 74 comprehensively controls the automated guided vehicle 10 through the operation of the processor in accordance with the control program stored in the ROM.

[0055] The control unit 74 drives and controls each arm drive motor 45 to move each arm 42 back and forth. The control unit 74 drives and controls each claw drive motor 55, 56 to make each claw portion 51, 52 protrude from the respective slits 42A, 42B formed at both ends of each arm 42, or to retract into the arm 42. The control unit 74 also acquires images captured by the imaging camera 71, analyzes the images, and identifies the two-dimensional code Q contained in the images.

[0056] The automated guided vehicle (AGV) 10, under the control of the control unit 74, stops and waits at the standby position HP. When the transport of cases CS by the first conveyor 11A begins, the AGV 10 travels parallel to the first conveyor 11A along the first travel line 15A, driving each arm 42 to transfer the cases CS being transported by the first conveyor 11A to the AGV 10. Under the control of the control unit 74, the AGV 10 travels in the order of first travel line 15A, second travel line 15B, and third travel line 15C, moving to the front of the storage shelf 12 and stopping. Under the control of the control unit 74, the AGV 10 transfers the cases CS to the storage shelf 12, and then travels in the order of third travel line 15C, fourth travel line 15D, and first travel line 15A, returning to the standby position HP.

[0057] Next, the control procedure for transferring the case CS being transported by the first conveyor 11A to the automated guided vehicle 10 and moving the case CS using the automated guided vehicle 10 will be explained in detail with reference to the flowchart shown in Figure 9. Note that in Figures 10A, 10B, 12A, and 12B, the guide frame 17 and support frame 18 are shown only in Figure 10A, while they are omitted from Figures 10B, 12A, and 12B.

[0058] As shown in Figure 1, the second conveyor 11B begins transporting the case CS while the automated guided vehicle 10 is waiting at the waiting position HP on the first travel line 15A. The waiting position HP is located on the side of the end of the second conveyor 11B, where it connects to the first conveyor 11A (the starting end of the first conveyor 11A). The case CS on the second conveyor 11B is transported with the attached 2D code Q facing the waiting position HP. Once the case CS has been transported to the position shown by the dashed line in Figure 1, the first conveyor 11A then switches its transport direction in the direction of the arrow shown in Figure 1 and continues transporting it.

[0059] The automated guided vehicle (AGV) 10, located at the standby position HP, captures the 2D code Q of the case CS using its imaging camera 71 when the case CS has been transported to the position indicated by the dashed line in Figure 1. The imaging camera 71 of the AGV 10 at the standby position HP is positioned to face the 2D code Q on the side of the case CS. The 2D code Q contains identification information that indicates the unique ID of the case CS. In the AGV 10, the control unit 74 analyzes the 2D code Q captured by the imaging camera 71 and determines whether the ID indicated by the identification information contained in the 2D code Q is the same as the ID indicated by the identification information previously received from the terminal device 81 via the communication unit 73.

[0060] When the control unit 74 determines that the above conditions are met, it starts the unmanned transport vehicle 10 traveling in the direction of the arrow shown in Figure 1 (step S101). At this point, the first conveyor 11A has started transporting the case CS without changing its orientation. Therefore, the case CS has already passed the position shown by the dashed line in Figure 1, i.e., the standby position HP.

[0061] The control unit 74 detects the position of the travel line 15 based on the detection output of the travel line sensor 72, and controls the drive motors 33 of each drive wheel 32 according to the detected position of the travel line 15, so that the automated guided vehicle 10 moves along the first travel line 15A parallel to the first conveyor 11A and in close proximity to the first conveyor 11A, with the direction in which each arm 42 extends (the longitudinal direction of the arm 42) perpendicular to the travel line 15, as shown in Figure 10A.

[0062] At this time, the control unit 74 sets the travel speed V of the automated guided vehicle 10 to a predetermined travel speed VA that is faster than the transport speed VS of the case CS by the first conveyor 11A (step S102). The control unit 74 drives one of the two arm drive motors 45 to make one of the arms 42 on the upstream side in the transport direction of the case CS protrude into the space above the first conveyor 11A, as shown in Figure 10B (step S103).

[0063] At this time, the control unit 74 sets the travel speed V of the automated guided vehicle 10 to the above travel speed VA, which is faster than the transport speed VS of the case CS by the first conveyor 11A. As a result, as shown in Figures 10B and 11, one of the arms 42 on the upstream side in the transport direction of the case CS, which is protruding into the space above the first conveyor 11A, catches up with the case CS and makes contact with it.

[0064] Furthermore, as the case CS is transported by the first conveyor 11A, it slides against the guide frame 17. As a result, the position of the case CS in the width direction of the first conveyor 11A is kept constant, and the transport trajectory of the case CS is stabilized.

[0065] A predetermined mark (for example, a hole formed on the side of the case CS facing the automated guided vehicle 10, or a predetermined image printed on it; this may also be a 2D code Q) is provided on the side of the case CS. The imaging camera 71 is positioned to capture images of the side of the case CS when one of the arms 42 has caught up with and is in contact with the case CS.

[0066] The imaging camera 71 captures the mark when one of the arms 42 catches up to and makes contact with the case CS. Furthermore, as described above, since the position of the case CS in the width direction of the first conveyor 11A is kept constant, the transport trajectory of the case CS is stabilized. As a result, the distance between the imaging camera 71 and the 2D code Q on the side of the case CS does not fluctuate, and the 2D code Q is accurately captured by the imaging camera 71.

[0067] The control unit 74 acquires the image captured by the imaging camera 71, analyzes the image, and identifies the image showing the mark (step S104). Assuming that one arm 42 has caught up with and is in contact with the case CS, the control unit 74 drives the arm drive motor 45 for driving the other arm 42 to make the other arm 42, which is on the downstream side in the transport direction of the case CS, protrude into the space above the first conveyor 11A, as shown in Figure 12A (step S105).

[0068] The spacing between each arm 42 is set to a distance slightly longer than the width of the case CS, and equivalent to the width of the case CS. Therefore, the case CS is inserted and sandwiched between the arms 42 by the protrusion of the other arm 42. In addition, each arm 42 has a length such that, due to the protrusion controlled by the control unit 74, the tip of each arm 42 reaches a position beyond the rear end of the case CS in a direction perpendicular to the transport direction of the case CS. The control unit 74 causes each arm 42 to protrude until the tip of each arm 42 reaches a position beyond the rear end of the case CS (Figures 12A and 13).

[0069] Next, the control unit 74 drives and controls each claw drive motor 55 to make the first claw portion 51 on the inside of the tip of each arm 42 protrude, as shown in Figures 12B and 13 (step S106).

[0070] The two-dimensional code Q identified in step S104 includes weight information indicating the weight of the contents contained in case CS. The weight information may indicate the weight itself, or it may indicate, for example, the weight of an individual item and the number of items. The control unit 74 determines the weight of the contents based on the weight information and calculates the weight of the article by adding the known weight of case CS to the weight of the contents (step S107). The weight information may also indicate the weight of the article itself, which is the weight of the contents plus the known weight of case CS. In this case, the control unit 74 obtains the weight of the article directly from the weight information.

[0071] At the time of processing in step S170, the control unit 74 drives the drive motors 33 of each drive wheel 32 to move the automated guided vehicle 10 at the travel speed VA set in step S102. The control unit 74 compares the weight of the item calculated in step S107 with a preset threshold. If the control unit 74 determines that the weight of the item is less than the predetermined threshold, it maintains the travel speed V of the automated guided vehicle 10 at travel speed VA.

[0072] On the other hand, if the weight of the items is above the threshold, the control unit 74 reduces the travel speed V of the automated guided vehicle 10 to a predetermined travel speed VD that is greater than or equal to the transport speed VS of the case CS by the first conveyor 11A, and slower than the travel speed VA set in step S102 (step S108). As a result, if the weight of the items contained in the case CS is above the threshold and heavy, the travel speed V of the automated guided vehicle 10 is reduced while being maintained at or above the transport speed VS of the case CS.

[0073] Therefore, when the automated guided vehicle 10 is moving while pushing the case CS with the protruding arm 42, the load on each drive motor 33 can be reduced, and the load from the case CS on the arm 42 can also be reduced, allowing the automated guided vehicle 10 to move stably.

[0074] The control unit 74 sets the rotation speed of each arm drive motor 45 according to the weight of the item calculated in step S107 (step S109). For example, the control unit 74 sets the rotation speed of each arm drive motor 45 to be slower as the weight of the item increases. For example, the control unit 74 stores in its built-in ROM a data table that shows the weight of the item and the rotation speed of each arm drive motor 45 corresponding to the weight of the item for each item. The control unit 74 reads the rotation speed of each arm drive motor 45 corresponding to the weight of the item calculated in step S107 from the data table and sets the read rotation speed as the rotation speed of each arm drive motor 45 according to the weight of the item calculated in step S107.

[0075] The control unit 74 drives and controls each arm drive motor 45 to rotate each arm drive motor 45 at the rotational speed set in step S108, and as shown in Figure 14, moves each arm 42 out of the space above the first conveyor 11A and pulls it into the area within the work section 23 of the automated guided vehicle 10 from the position where it was protruding as described above. When each arm 42 is pulled in, each first claw portion 51 catches on the end of the case CS, and each arm 42 pulls the case CS from the first conveyor 11A into the work section 23 of the automated guided vehicle 10 (step S110).

[0076] In other words, the retraction of each arm 42 moves the case CS from its position on the first conveyor 11A to the work section 23 of the automated guided vehicle 10. Thus, the heavier the item, the slower the movement speed of each arm 42 is made, and the case CS is transferred from the first conveyor 11A to the work section 23 of the automated guided vehicle 10 at a slow speed. Therefore, each arm 42 moves the case CS to the work section 23 of the automated guided vehicle 10.23 When retracting, the load on each arm drive motor 45 can be reduced.

[0077] Furthermore, the movement of case CS from its position on the first conveyor 11A to the work section 23 of the automated guided vehicle 10 is performed while the first conveyor 11A and the automated guided vehicle 10 continue to move. However, since this movement is performed at a low speed, case CS can be moved stably and reliably from its position on the first conveyor 11A to the work section 23 of the automated guided vehicle 10.

[0078] Furthermore, one end of the shaft 16A of each roller 16 is raised on the guide frame 17 side, and the other end of the shaft 16A is lower on the support frame 18 side, so each roller 16 is inclined. In addition, since the support frame 18 is lower than the circumferential surface of each roller 16, each arm 42 can easily pull the case CS from each roller 16 to the unmanned transport vehicle 10 outside the support frame 18.

[0079] After pulling the case CS from the first conveyor 11A to the work section 23 of the automated guided vehicle 10, the control unit 74 drives and controls each claw drive motor 55 to retract each first claw section 51 and store it inside the arm 42.

[0080] The control unit 74 detects the position of the travel line 15 based on the detection output of the travel line sensor 72, and controls the drive motors 33 of each drive wheel 32 according to the detected position of the travel line 15, causing the automated guided vehicle 10 to travel along the first travel line 15A, the second travel line 15B, and the third travel line 15C in that order (step S111).

[0081] When the automated guided vehicle 10 travels to the location of the storage shelf 12, the control unit 74 uses the imaging camera 71 to capture images of the two-dimensional codes attached to different locations along the direction of travel of the automated guided vehicle 10 on the storage shelf 12. The control unit 74 analyzes the captured two-dimensional codes to detect the location information of the storage shelf 12 contained in the two-dimensional codes. The control unit 74 has previously received the location information of the storage shelf 12, which is linked to the unique ID of case CS, via the communication unit 73.

[0082] When the control unit 74 captures a 2D code containing location information that matches the location information of the storage shelf 12 linked to the above ID, it stops the automated guided vehicle 10 at that position, as shown in Figure 15 (step S112). At this time, the automated guided vehicle 10 is in a position where the tips of the arms 42, each equipped with a first claw portion 51, are facing toward the storage shelf 12 due to the change in direction when changing the route of the first travel line 15A, the second travel line 15B, and the third travel line 15C.

[0083] The control unit 74 drives each claw drive motor 56 to cause the second claw portion 52 on the inside of the rear end of each arm 42 to protrude, as shown in Figures 15 and 16 (step S113). At this time, the second claw portion 52 on the inside of the rear end of each arm 42 is located on the end side of the case CS, opposite to the storage shelf 12.

[0084] The control unit 74 drives and controls each arm drive motor 45 to make each arm 42 protrude toward the storage shelf 12, as shown in Figures 17 and 18 (step S114). The amount of protrusion at this time is set so that the second claw portion 52 on the inside of the rear end of each arm 42 can enter at least above the storage shelf 12. The slide rail 43 is configured such that the second rail moves outward toward the storage shelf 12 (opposite to the outward toward the first conveyor 11A shown in Figure 5) guided by the first rail, due to the locking and support of the first rail.

[0085] The control unit 74 uses the projection of each arm 42 toward the storage shelf 12 to hook each second claw portion 52 onto the case CS, and the arms 42 and second claw portions 52 push the case CS into the storage shelf 12 from above the work section 23 of the automated guided vehicle 10, thereby moving the case CS from above the work section 23 of the automated guided vehicle 10 to the storage shelf 12. The control unit 74 drives and controls each claw drive motor 56 to retract each second claw portion 52 and store it inside the arm 42.

[0086] The control unit 74 detects the position of the travel line 15 based on the detection output of the travel line sensor 72, and controls the drive motor 33 of each drive wheel 32 according to the detected position of the travel line 15, causing the automated guided vehicle 10 to travel along the third travel line 15C, the fourth travel line 15D, and the first travel line 15A in that order. The control unit 74 changes the direction of travel by 90 degrees between the fourth travel line 15D and the first travel line 15A, and after a certain period of time, stops the drive motor 33 of each drive wheel 32, causing the automated guided vehicle 10 to stop at the standby position HP (step S115).

[0087] As described above, in this embodiment, when the first conveyor 11A starts transporting the case CS, the automated guided vehicle 10 travels parallel to the first conveyor 11A along the first travel line 15A, and one arm 42 on the upstream side in the transport direction extends. At this time, the travel speed V of the automated guided vehicle 10 is set to a travel speed VA that is faster than the transport speed VS of the case CS. When one arm 42 moves to the position of the case CS, the other arm 42 on the downstream side in the transport direction extends, and the case CS is sandwiched between the arms 42.

[0088] In this state, the first claw portion 51 on the inside of the tip of each arm 42 protrudes, and each arm 42 is pulled back to the automated guided vehicle 10. At this time, each first claw portion 51 catches on the case CS, and the case CS is pushed from the first conveyor 11A to the work section 23 of the automated guided vehicle 10 by the arms 42 and the first claw portion 51, and moves onto the work section 23 of the automated guided vehicle 10.

[0089] According to this embodiment, while the automated guided vehicle 10 is in motion, the cases CS being transported by the first conveyor 11A can be transferred to the automated guided vehicle 10, thereby efficiently moving the cases CS.

[0090] Furthermore, as the case CS is transported by the first conveyor 11A and slides against the guide frame 17, the position of the case CS in the width direction of the first conveyor 11A is kept constant, and the transport trajectory of the case CS is stabilized. As a result, the distance between the imaging camera 71 and the 2D code Q on the side of the case CS does not fluctuate, and the 2D code Q is accurately imaged by the imaging camera 71.

[0091] Furthermore, since each roller 16 is inclined and the support frame 18 is lower than the circumferential surface of each roller 16, each arm 42 can easily pull the case CS from each roller 16 to the automated guided vehicle 10 outside the support frame 18.

[0092] <First variation> In the first modified example, the work section 23 of the automated guided vehicle 10 moves up and down vertically. For example, multiple support columns are provided protruding from the running section 22 of the automated guided vehicle 10, and the work section 23 is supported by each support column so as to be movable in the vertical direction, and the work section 23 is moved up and down by multiple ball screws, which is a known mechanism. The ball screw comprises a screw shaft that is provided protruding from the running section 22 and is supported so as to be rotatable, and a nut that is fixed to the work section 23 and screwed onto the screw shaft.

[0093] The travel unit 22 is equipped with a lifting motor that rotates each screw shaft. The control unit 74 rotates each screw shaft in one direction relative to each lifting motor to raise each nut and work unit 23. The control unit 74 also rotates each screw shaft in the opposite direction relative to each lifting motor to lower each nut and work unit 23. According to the first modified example, even if the height of the conveyor device 11 and the storage shelf 12 changes, the work unit 23 can be raised and lowered to match the height of the conveyor device 11 and the storage shelf 12, making it possible to transfer the case CS between the work unit 23 and the conveyor device 11 or the storage shelf 12.

[0094] <Second variation> In the second modification, the spacing between each arm 42 is changed. For example, in the work section 23, one of the support walls 41 is slidably supported in a direction perpendicular to the longitudinal direction of each arm 42, and a rack gear extending in the perpendicular direction is provided at the lower end of one of the support walls 41. Furthermore, a pinion gear that meshes with the rack gear and a motor that reciprocates the pinion gear are provided in the work section 23.

[0095] The control unit 74 controls the motor to reciprocate the pinion gear, thereby moving the rack gear back and forth. This causes one support wall 41 and arm 42 to move closer to and further away from the other support wall 41 and arm 42, changing the distance between each arm 42. According to the second modified example, even if the width of the case CS changes, the case CS can be sandwiched between each arm 42, making it possible to move the case CS between the work section 23 and the conveyor device 11 or storage rack 12.

[0096] The configurations and processes of the embodiments and modified examples described above with reference to Figures 1 to 19 are merely examples of the present invention and are not intended to limit the present invention to such configurations and processes. For example, in the above embodiment, the automated guided vehicle 10 takes in the cases CS being transported by the conveyor device 11 and stores them in the storage rack 12, but the present invention is not limited to such embodiments.

[0097] For example, the control unit 74 may drive and control the travel drive motor 33, arm drive motor 45, claw drive motor 55, and claw drive motor 56 to operate the arm 42, first claw portion 51, second claw portion 52, and imaging camera 71, so that the automated guided vehicle 10 can pick up the cases CS stored in the storage rack 12 onto the automated guided vehicle 10, transport the cases CS to the position of the conveyor device 11, and perform the operation of moving the cases CS from the automated guided vehicle 10 onto the conveyor device 11.

Claims

1. A conveyor having a plurality of rollers arranged in parallel in the direction of transport of goods, and rotating each roller to transport the goods on each roller, A guide frame is provided which extends horizontally along one end of each roller, is formed to a height higher than the circumferential surface of each roller, and pivotally supports one end of each roller. The system comprises a support frame that extends horizontally along the other end of each roller, is formed at a height lower than the circumferential surface of each roller, and pivotally supports the other end of each roller, A conveyor device in which, when viewed from above in a vertical direction, the angle formed by the axis of each roller with respect to the guide frame, on the downstream side in the conveying direction of the article, is an acute angle consisting of a predetermined angle, and each roller is positioned diagonally with respect to the guide frame, The system includes an automated guided vehicle that travels along the side end of the conveyor that is on the support frame side, An automated guided vehicle system comprising an imaging unit that captures a mark marked on the surface of an article facing the automated guided vehicle when the article is being transported by the conveyor.

2. The aforementioned unmanned transport vehicle is Drive wheels and A drive unit that rotates the drive wheels to move the automated guided vehicle, A pair of arms are provided on the automated guided vehicle (AGV) at positions on the downstream and upstream sides of the conveying direction of the article when the AGV travels along the conveyor, extending in a direction perpendicular to the conveying direction of the article, facing each other at a distance corresponding to the width of the article in the conveying direction of the article, and configured to reciprocate in the perpendicular direction, enabling them to project outward from the AGV and be retracted into the AGV from the projected position, An arm drive unit that causes each of the pair of arms to perform the reciprocating movement, A pair of first claws are provided at the tip of each of the pair of arms and are configured to be able to protrude from the tip into the space between the pair of arms and to retract into the tip, A first claw drive unit that causes each of the pair of first claw portions to perform either the protruding action or the retracting action, The travel drive unit, the arm drive unit, and the first claw drive unit are controlled, The automated guided vehicle is driven at a predetermined first travel speed that is faster than the transport speed of the goods, and one of the pair of arms, the one provided on the upstream side, is made to protrude from the automated guided vehicle above the conveyor. When one of the arms moves to the position of the article being transported by the conveyor, the other arm provided on the downstream side is made to protrude from the unmanned transport vehicle upwards from the conveyor. An automated guided vehicle system according to claim 1, comprising: a control unit that, with the article present between the pair of arms, causes the pair of first claws to protrude from the tips of the pair of arms into the space between the pair of arms, and causes the pair of arms to be retracted into the automated guided vehicle from above the conveyor.

3. The mark is a two-dimensional code containing weight information indicating the weight of the article. The automated guided vehicle system according to claim 2, wherein the control unit controls the travel drive unit to reduce the travel speed of the automated guided vehicle to a predetermined second travel speed which is greater than or equal to the transport speed of the article and slower than the first travel speed, if the weight of the article indicated by the weight information is greater than or equal to a predetermined threshold.

4. The mark is a two-dimensional code containing weight information indicating the weight of the article. The automated guided vehicle system according to claim 2, wherein the control unit controls the arm drive unit to reduce the speed at which the pair of arms move when they are pulled into the automated guided vehicle from the space above the conveyor, as the weight of the article indicated by the weight information increases.

5. A pair of second claws are provided at the rear ends of each of the pair of arms and are configured to be able to protrude from the rear end into the space between the pair of arms and to retract into the interior of the rear end, The device further comprises a second claw drive unit that causes each of the pair of second claw portions to perform either the protruding action or the retracting action, The unmanned transport vehicle system according to claim 2, wherein the control unit controls the arm drive unit and the second claw drive unit to cause the pair of second claws to protrude from the rear ends of the pair of arms into the space between the pair of arms, thereby causing the pair of arms to protrude outward from inside the unmanned transport vehicle.

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