Elevator and delivery system

Abstract

An elevator (200) comprises: a car (210) that moves up and down; a partition (221) that partitions a space inside the car (210) into a first elevator space (211) for a person to board and a second elevator space (212) for an unmanned conveyor (100) to board; an in-elevator rail (32) that is disposed in the second elevator space (212) and includes a movable rail (32a); and an actuator that moves the movable rail (32a). The unmanned conveyor (100) travels along the in-elevator rail (32), and the movable rail (32a) is switched between a first rail state and a second rail state through driving of the actuator. In the first rail state, a first end (32k) of the movable rail (32a) is connected to a second end (31k) of an in-floor rail (31), and in the second rail state, the first end (32k) is not connected to the second end (31k).

Description

Elevator and Delivery Systems

[0001] The present disclosure relates to elevators and the like.

[0002] Patent Document 1 proposes an elevator system having an elevator car for use by an automated guided vehicle and a person.

[0003] JP 2019-144785 A

[0004] However, there is room for improvement in the elevator system of Patent Document 1.

[0005] Therefore, the present disclosure provides an elevator that can be further improved.

[0006] An elevator according to one aspect of the present disclosure is an elevator installed in a building, and comprises an elevator car that rises and falls, a partition that divides the space inside the elevator car into a first space for people to board and a second space for an unmanned transport vehicle to board, an elevator inner rail including a movable rail that is arranged in the second space, and an actuator that moves the movable rail, wherein the unmanned transport vehicle runs along the elevator inner rail, and the movable rail is switched between a first rail state and a second rail state by driving the actuator, wherein in the first rail state, a first end of the movable rail is connected to a second end of an in-floor rail installed on a specified floor of the building, and in the second rail state, the first end is not connected to the second end.

[0007] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. The recording medium may also be a non-transitory recording medium.

[0008] The elevator of the present disclosure can be further improved.

[0009] Further advantages and effects of one aspect of the present disclosure will become apparent from the specification and drawings. Such advantages and / or effects are provided by some of the embodiments and configurations described in the specification and drawings, but not all of the configurations are necessarily required to obtain the advantages and effects.

[0010] FIG. 1 is a diagram showing an example of the configuration of an office building delivery system according to the first embodiment. FIG. 2 is another diagram showing an example of the configuration of an office building delivery system according to the first embodiment. FIG. 3A is a diagram illustrating an example of an elevator state according to the first embodiment. FIG. 3B is a diagram illustrating another example of the elevator state according to the first embodiment. FIG. 4 is a diagram showing an example of the configuration of an apartment delivery system according to the first embodiment. FIG. 5A is a diagram illustrating an example of an elevator state according to the first embodiment. FIG. 5B is a diagram illustrating another example of the elevator state according to the first embodiment. FIG. 6 is a diagram showing an example of the configuration of a logistics system according to a first variation of the first embodiment. FIG. 7 is a diagram showing another example of the configuration of a logistics system according to the first variation of the first embodiment. FIG. 8 is a diagram showing an example of the configuration of an office building delivery system according to a second variation of the first embodiment. FIG. 9 is a diagram showing an example of the configuration of an apartment delivery system according to the second variation of the first embodiment. FIG. 10 is a diagram illustrating an elevator according to a third variation of the first embodiment. FIG. 11 is a perspective view showing an example of a luggage carrying device according to the second embodiment. FIG. 12A is a diagram illustrating the internal structure of a first connector and a second connector of a luggage transport apparatus according to the second embodiment. FIG. 12B is a diagram illustrating the internal structure of a third connector of a luggage transport apparatus according to the second embodiment. FIG. 13A is a diagram illustrating the internal structure of a turntable of a luggage transport apparatus according to the second embodiment. FIG. 13B is a side view illustrating a slide rail of a luggage transport apparatus according to the second embodiment. FIG. 13C is a front view illustrating a slide rail of a luggage transport apparatus according to the second embodiment. FIG. 13D is a front view illustrating an L-side part, a pole screw, and a guide of a slide rail of a luggage transport apparatus according to the second embodiment. FIG. 13E is a front view illustrating an R-side part, a pole screw, and a guide of a slider of a luggage transport apparatus according to the second embodiment. FIG. 14 is a perspective view illustrating a luggage transport apparatus according to a modification of the second embodiment. FIG. 15A is a perspective view illustrating a rail and a rail connector according to the third embodiment. FIG. 15B is another perspective view illustrating a rail and a rail connector according to the third embodiment. FIG. 16 is a perspective view illustrating a first connection point of the first rail and a second connection point of the second rail according to the third embodiment.FIG. 17 is a top view and a side view illustrating the operation of a luggage carrying device according to Embodiment 4. FIG. 18A is a top view and a side view illustrating the operation of a luggage carrying device according to Embodiment 4 when turning left at an intersection of the first rail and the second rail. FIG. 18B is a top view and a side view illustrating the operation of a luggage carrying device according to Embodiment 4 when turning right at an intersection of the first rail and the second rail. FIG. 19 is a diagram showing an example of the configuration of a logistics system according to Embodiment 5. FIG. 20 is a diagram showing an example of an elevator in an apartment delivery system according to Embodiment 6. FIG. 21 is a diagram showing an example of an elevator in an office building delivery system according to Embodiment 6. FIG. 22 is a diagram showing an example of the configuration of an office building delivery system according to Embodiment 7. FIG. 23 is a diagram showing an example of the operation of an automated guided vehicle according to Embodiment 7 when transferring from one pair of rails to another pair of rails. FIG. 24 is a diagram showing an example in which an automated guided vehicle according to Embodiment 7 is applied to an elevator. FIG. 25 is a diagram showing an example of the configuration of a logistics system according to Embodiment 7. FIG. 26 is a diagram showing an example of the size of an automated guided vehicle according to Embodiment 7. 27 is a diagram showing an example of a configuration for changing the orientation of an automated guided vehicle in Embodiment 7. FIG. 28A is a diagram showing an example of an operation for changing the orientation of an automated guided vehicle in Embodiment 7. FIG. 28B is a diagram showing another example of an operation for changing the orientation of an automated guided vehicle in Embodiment 7. FIG. 29A is a diagram showing an example of a detailed configuration of an automated guided vehicle in Embodiment 7. FIG. 29B is a diagram showing another example of a detailed configuration of an automated guided vehicle in Embodiment 7. FIG. 30A is a diagram for explaining an example of an operation of an automated guided vehicle in Embodiment 7 changing rails. FIG. 30B is a diagram for explaining an example of an operation of an automated guided vehicle in Embodiment 7 changing rails. FIG. 30C is a diagram for explaining an example of an operation of an automated guided vehicle in Embodiment 7 changing rails. FIG. 30D is a diagram for explaining an example of an operation of an automated guided vehicle in Embodiment 7 changing rails. FIG. 30E is a diagram for explaining an example of an operation of an automated guided vehicle in Embodiment 7 changing rails. FIG. 31 is a diagram showing an example of an automated guided vehicle in Embodiment 7 entering a building from outside.FIG. 32 is a diagram showing another example of an automated guided vehicle according to the seventh embodiment entering a building from outside. FIG. 33 is a diagram showing another example of an automated guided vehicle according to the seventh embodiment entering a building from outside. FIG. 34 is a diagram showing another example of an automated guided vehicle according to the seventh embodiment entering a building from outside. FIG. 35 is a diagram showing another example of an automated guided vehicle according to the seventh embodiment entering a building from outside. FIG. 36 is a diagram showing another example of an automated guided vehicle according to the seventh embodiment. FIG. 37 is a diagram showing an example of a structure including rails according to the seventh embodiment. FIG. 38 is a diagram showing an example of a schematic configuration of an automated guided vehicle, a structure, and a logistics system according to each embodiment. FIG. 39A is a diagram showing an example in which an automated guided vehicle according to the eighth embodiment is applied to an elevator. FIG. 39B is a diagram showing a state in which a pair of movable rails and a pair of intra-floor rails are connected. FIG. 39C is a diagram showing another example in which an automated guided vehicle is applied to an elevator. FIG. 40 is a diagram showing an example of the configuration of an intra-office building delivery system according to the eighth embodiment. FIG. 41 is a diagram showing an example of the configuration of a logistics system according to the eighth embodiment. FIG. 42 is a diagram showing a groove structure of a rail in embodiment 8. FIG. 43 is a block diagram illustrating an automated guided vehicle according to embodiment 8. FIG. 44 is a diagram illustrating an example of the first arm and the second arm of the automated guided vehicle according to embodiment 8 traveling on a rail in the second arm state. FIG. 45A is a diagram illustrating an example of the first arm and the second arm of the automated guided vehicle according to embodiment 8 traveling on a high-altitude rail in the first arm state. FIG. 45B is a diagram illustrating an example of the first arm and the second arm of the automated guided vehicle according to embodiment 8 traveling on a high-altitude rail in the third arm state. FIG. 46 is a diagram illustrating an intra-office building delivery system applied to an office building. FIG. 47 is a diagram illustrating an elevator of the intra-office building delivery system on a certain floor of an office building. FIG. 48 is a diagram illustrating a case where the intra-office building delivery system is applied to an office building with a floor height of 4.5 m. Fig. 49 is a diagram illustrating an example of an office building delivery system in which a first car door and a first landing door, and a second landing door and a second car door through which an automated guided vehicle passes are arranged. Fig. 50 is a diagram illustrating an example of an office building delivery system applied to an office building.FIG. 51 is a diagram illustrating an office building distribution system on the top floor of an office building. FIG. 52 is another diagram illustrating an office building distribution system. FIG. 53 is a diagram illustrating an elevator having a second elevator space and a fourth elevator space in an office building distribution system. FIG. 54 is a diagram illustrating an elevator having a fourth elevator space in an office building distribution system. FIG. 55 is a diagram illustrating an overhead view of the first elevator space of the elevator and the first floor space of the office building in the office building distribution system. FIG. 56 is a diagram illustrating an overhead view of the second elevator space of the elevator and the fourth floor space of the office building in the office building distribution system. FIG. 57 is a diagram illustrating an office building distribution system having a duct through which an automated guided vehicle can travel. FIG. 58 is a diagram illustrating an office building distribution system having a duct through which an automated guided vehicle can travel and a beam through which the duct is inserted. FIG. 59 is a diagram illustrating an example of an office building distribution system having a duct applied to an office building. FIG. 60 is a diagram showing a flowchart illustrating an example of installing a duct in an office building. FIG. 61 is a diagram showing a configuration example of an office building intra-delivery system in Embodiment 8. FIG. 62 is a diagram showing another configuration example of an office building intra-delivery system in Embodiment 8. FIG. 63 is a diagram showing yet another configuration example of an office building intra-delivery system in Embodiment 8. FIG. 64A is a diagram showing yet another configuration example of an office building intra-delivery system in Embodiment 8. FIG. 64B is a diagram showing an automated guided vehicle that has moved to the second intra-floor rail delivering a package to the second floor space. FIG. 64C is yet another diagram showing an automated guided vehicle that has moved to the second intra-floor rail delivering a package to the second floor space. FIG. 64D is yet another diagram showing an automated guided vehicle that has moved to the second intra-floor rail delivering a package to the second floor space. FIG. 64E is yet another diagram showing an automated guided vehicle that has moved to the second intra-floor rail delivering a package to the second floor space. FIG. 64F is a diagram showing multiple unmanned transport vehicles boarding and disembarking from the elevator car.FIG. 65 is a diagram showing an example of the configuration of a logistics system Sy4 in Embodiment 8. FIG. 66A is a diagram illustrating an elevator car in Embodiment 8. FIG. 66B is a diagram illustrating another elevator car in Embodiment 8. FIG. 66C is a diagram illustrating yet another elevator car in Embodiment 8. FIG. 66D is a diagram illustrating another elevator car in Embodiment 8. FIG. 66E is a diagram illustrating another elevator car in Embodiment 8. FIG. 67 is a diagram showing an automated guided vehicle system. FIG. 68A is a diagram showing the movement of an automated guided vehicle loaded on an elevator car. FIG. 68B is another diagram showing the movement of an automated guided vehicle loaded on an elevator car. FIG. 69A is a diagram showing the rearrangement of automated guided vehicles loaded on an elevator car. FIG. 69B is another diagram showing the rearrangement of automated guided vehicles loaded on an elevator car. FIG. 70 is a diagram showing an elevator system. FIG. 71 is a diagram showing an elevator system in which multiple automated guided vehicles are mounted on an elevator car. FIG. 72 is a diagram showing an elevator system in which multiple automated guided vehicles are mounted on an elevator car. FIG. 73 is a diagram showing an automated guided vehicle disembarking from an elevator car detouring through an elevator hall. FIG. 74 is a diagram showing an elevator car and an automated guided vehicle mounted on the elevator car. FIG. 75 is a diagram showing a system for adjusting the attitude of a baggage car. FIG. 76A is a diagram showing an elevator system in which an automated guided vehicle c arranged in a first-stage elevator section is moved to a second-stage elevator section. FIG. 76B is a diagram showing another elevator system in which an automated guided vehicle arranged in a first-stage elevator section is moved to a second-stage elevator section. FIG. 76C is a diagram showing another elevator system having two elevator sections. FIG. 76D is a diagram showing another elevator system having a movable rail platform lifting device. Fig. 76E is a diagram showing another elevator system equipped with a two-level movable rail platform lifting device. Fig. 76F is a diagram showing yet another elevator system equipped with a two-level movable rail platform lifting device. Fig. 76G is a diagram showing rearrangement of multiple unmanned transport vehicles on an elevating elevator car. Fig. 76H is a diagram showing extension of the wheels of an unmanned transport vehicle. Fig. 76I is a diagram showing unmanned transport vehicles according to rail width.FIG. 76J shows a height adjustable rail.

[0011] An elevator in a first aspect of the present disclosure is an elevator installed in a building, and comprises an elevator car that rises and falls, a partition that divides the space inside the elevator car into a first space for people to board and a second space for an unmanned transport vehicle to board, an elevator inner rail including a movable rail that is arranged in the second space, and an actuator that moves the movable rail, wherein the unmanned transport vehicle runs along the elevator inner rail, and the movable rail is switched between a first rail state and a second rail state by driving the actuator, and in the first rail state, a first end of the movable rail is connected to a second end of an in-floor rail installed on a specified floor of the building, and in the second rail state, the first end is not connected to the second end.

[0012] In order for an automated guided vehicle traveling along an elevator internal rail to ascend and descend together with the elevator car and arrive at a predetermined floor before being able to exit the elevator car, it is necessary to connect the elevator internal rail to an internal floor rail, which is the rail along which the automated guided vehicle installed on that floor travels. In this case, if a movable rail and an actuator to drive the movable rail were to be installed for each internal floor rail installed on each floor, the number of movable rails and actuators corresponding to the number of floors of the building would be required, which would increase the number of elevator-related parts, the effort required for maintenance and inspection, and costs.

[0013] On the other hand, in the first aspect, the movable rail of the elevator inner rail is switched between the first rail state and the second rail state by driving the actuator, as described above. That is, the elevator inner rail and the floor inner rail are connected or separated from each other depending on the configuration of the elevator inner rail and the driving of the actuator.

[0014] Therefore, in the first aspect, it is not necessary to prepare a number of movable rails and actuators corresponding to the number of floors of a building, and as a result, it is possible to realize an elevator that can transport both people and automated guided vehicles at the same time while preventing an increase in the number of parts related to the elevator.

[0015] In a second aspect, the elevator may further include a first car door that opens and closes an opening formed in the elevator car that communicates with the first space, and a second car door that opens and closes an opening formed in the elevator car that communicates with the second space. Note that the second aspect is dependent on the first aspect.

[0016] This allows, for example, if the first car door and the second car door are configured separately, to open and close them independently.

[0017] In a third aspect, the first car door and the second car door may be integrally configured. Note that the third aspect is dependent on the second aspect.

[0018] As a result, because the first car door and the second car door are configured as an integral unit, there is no need to provide an actuator required to drive the first car door and an actuator required to drive the second car door separately, and therefore the first car door and the second car door can be driven by the same actuator, thereby reducing the number of parts in the elevator.

[0019] In a fourth aspect, the second space may be located above the first space, and the inner elevator rail may be installed on the ceiling of the second space. Note that the fourth aspect may be dependent on any one of the first to third aspects.

[0020] This allows the floor space where people are active in buildings such as office buildings and apartments to correspond to the first space. Furthermore, in the same building, the space above the ceiling can be made to correspond to the second space. This makes it possible to realize an elevator that allows both people and automated guided vehicles to enter and exit smoothly.

[0021] In a fifth aspect, the automated guided vehicle may include a luggage basket connected to a wire, and a winch capable of reeling out and reeling in the wire. Note that the fifth aspect may be dependent on any one of the first to fourth aspects.

[0022] This allows, for example, an automated guided vehicle to arrive above a delivery box inside a meter box in a hallway and then lower a luggage basket into the delivery box by letting out the wire downward, allowing luggage to be delivered or collected without having to lower the automated guided vehicle itself into a room or the like.

[0023] In a sixth aspect, the elevator inner rail may further include a fixed rail, and the movable rail may be switched from the second rail state to the first rail state by sliding relative to the fixed rail and stopping at a predetermined position. Note that the sixth aspect may be dependent on any one of the first to fifth aspects.

[0024] This allows the inner elevator rail to be easily extended to the space outside the elevator.

[0025] In a seventh aspect, the elevator further includes a second partition disposed within the elevator car below the first partition, and a second elevator inner rail including a movable rail different from the first elevator inner rail, the space within the elevator car being divided by the first partition and the second partition into the first space, the second space, and a third space for the automated guided vehicle to board, the second elevator inner rail disposed in the third space, the movable rail of the second elevator inner rail being switched between a third rail state and a fourth rail state by driving an actuator, in the third rail state, a third end of the movable rail of the second elevator inner rail being connected to a fourth end of an in-floor rail installed on a floor one floor below the predetermined floor of the building, and in the fourth rail state, the third end may not be connected to the fourth end. Note that the seventh aspect may be dependent on any one of the first to sixth aspects.

[0026] As a result, not only the second space but also the third space can be used as a space for the unmanned transport vehicle to board, thereby significantly increasing the amount of luggage that can be transported by the unmanned transport vehicle.

[0027] In an eighth aspect, the elevator further includes a rail elevator that raises and lowers the elevator inner rail. Note that the eighth aspect may be dependent on any one of the first to seventh aspects.

[0028] This allows the rail elevator to properly align the height of the rails inside the elevator and the rails inside the floor, even if the floor heights of the different floors in the building are different.

[0029] In a ninth aspect, the rail elevator is configured to be able to change the distance between the inner elevator rail and the ceiling of the second space in accordance with the height of each floor of the building. Note that the ninth aspect may be dependent on the eighth aspect.

[0030] This allows the heights of the elevator interior rail and the floor interior rail to be more appropriately aligned.

[0031] In a tenth aspect, a first floor height of a first floor of the building is different from a second floor height of a second floor of the building, the elevator inner rail is in a first first rail state on the first floor of the building and in a second first rail state on the second floor of the building, and a first distance between the elevator inner rail and a ceiling of the second space in the first first rail state is different from a second distance between the elevator inner rail and the ceiling of the second space in the second first rail state. Note that the tenth aspect may be dependent on the ninth aspect.

[0032] This allows the heights of the elevator inner rail and the floor inner rail to be more appropriately aligned even if the first floor height is different from the second floor height.

[0033] In an eleventh aspect, the absolute value of the difference between the first floor height and the second floor height is equal to the absolute value of the difference between the first distance and the second distance. Note that the eleventh aspect may be dependent on the tenth aspect.

[0034] This effectively aligns the height of the elevator inner rail and the floor inner rail.

[0035] In addition, the elevator in the twelfth aspect is an elevator installed in a building, and comprises an elevator car that rises and falls, a partition that divides the space inside the elevator car into a first space for people to board and a second space for an unmanned transport vehicle to board, an elevator inner rail that is arranged in the second space, and a rail elevator that raises and lowers the elevator inner rail, wherein the unmanned transport vehicle runs along the elevator inner rail, and the rail elevator is configured to be able to change the distance between the elevator inner rail and the ceiling of the second space depending on the height of each floor of the building.

[0036] This allows the rail elevator to properly align the height of the rails inside the elevator and the rails inside the floor, even if the floor heights of the different floors in the building are different.

[0037] In addition, the elevator in the thirteenth aspect is an elevator installed in a building, and comprises a first partition and a second partition that separate the ascending and descending elevator car from the space within the elevator car, and the space within the elevator car comprises, in order from top to bottom in the vertical direction, a first second space for an unmanned transport vehicle to board, the first partition, a first space for a person to board, the second partition, and a second second space for the unmanned transport vehicle to board, and is equipped with a first elevator inner rail for the unmanned transport vehicle to travel on, which is arranged in the first second space, and a second elevator inner rail for the unmanned transport vehicle to travel on, which is arranged in the second second space.

[0038] This allows many unmanned transport vehicles to travel on the first inner elevator rail and the second inner elevator rail.

[0039] In a fourteenth aspect, the first elevator inner rail includes a first movable rail, the second elevator inner rail includes a second movable rail, and the elevator further includes a first actuator that moves the first movable rail and a second actuator that moves the second movable rail, and the first movable rail is switched between a first first rail state and a first second rail state by driving the first actuator, and in the first first rail state, a first first end of the first movable rail is positioned at a predetermined floor of the building. In the first second rail state, the first first end is not connected to the first second end, and the second movable rail is switched between a second first rail state and a second second rail state by driving the second actuator, and in the second first rail state, the second first end of the second movable rail is connected to a second second end of an in-floor rail installed on a predetermined floor of the building, and in the second second rail state, the second first end is not connected to the second second end. Note that the fourteenth aspect may depend from the thirteenth aspect.

[0040] This allows the first and second inner elevator rails to be appropriately switched between connection and disconnection with the inner floor rail.

[0041] In a fifteenth aspect, the elevator further includes a first rail elevator that raises and lowers the first elevator inner rail, and a second rail elevator that raises and lowers the second elevator inner rail. Note that the fifteenth aspect is dependent on the thirteenth or fourteenth aspect.

[0042] This allows the heights of the first and second inner elevator rails to match with the inner floor rails, thereby achieving an effective connection.

[0043] In addition, a delivery system in a sixteenth aspect of the present disclosure includes an elevator installed in a building, an intra-floor rail including a movable rail installed on a predetermined floor of the building, and an actuator for moving the movable rail, wherein the elevator includes a car that rises and falls, a partition that divides the space inside the car into a first space for people to board and a second space for an unmanned transport vehicle to board, and an elevator intra-rail arranged in the second space, wherein the unmanned transport vehicle runs along the elevator intra-rail, and the movable rail is switched between a first rail state and a second rail state by driving the actuator, wherein in the first rail state, a first end of the movable rail is connected to a second end of the elevator intra-rail, and in the second rail state, the first end is not connected to the second end.

[0044] This allows the elevator inner rail and the floor inner rail to be connected even if the elevator inner rail does not have a movable rail, as the floor inner rail has a movable rail. As a result, the automated guided vehicle can easily enter and exit the elevator car.

[0045] Furthermore, a conveying machine according to a seventeenth aspect of the present disclosure includes a housing, front wheels provided on the housing, and rear wheels provided on the housing.

[0046] This allows the automated guided vehicle to travel along the rails using its front and rear wheels.

[0047] In addition, in an eighteenth aspect of the present disclosure, the front wheels are configured so that the steering angle can be changed.

[0048] This allows the steering angle of the front wheels to be automatically adjusted, so that the unmanned transport vehicle can automatically turn right or left.

[0049] In addition, in a nineteenth aspect of the present disclosure, the rear wheels are configured so that the steering angle cannot be changed.

[0050] This allows the automated guided vehicle to turn right or left simply by adjusting the steering angle of the front wheels, eliminating the need to equip the automated guided vehicle with a mechanism for adjusting the steering angle of the rear wheels, thereby preventing the manufacturing costs of the automated guided vehicle from rising.

[0051] In addition, in a twentieth aspect of the present disclosure, a steering device for changing the steering angle of the front wheels is further provided.

[0052] This allows the unmanned transport vehicle to turn right or left simply by adjusting the steering angle of the front wheels.

[0053] In addition, in a twenty-first aspect of the present disclosure, the radius of the front wheels is smaller than the radius of the rear wheels.

[0054] This allows the diameter of the front wheels to be smaller than the diameter of the rear wheels, making it easier for the unmanned transport vehicle to turn right and left. In other words, it is possible to prevent a decrease in the maneuverability of the unmanned transport vehicle (improving its turning radius).

[0055] In addition, in a twenty-second aspect of the present disclosure, the robot further includes an arm connected to the housing, and a wheel connected to the tip side of the arm.

[0056] This allows the unmanned transport vehicle to be connected to the rail by the wheels of the first arm and the wheels of the second arm, allowing the unmanned transport vehicle to travel along the rail by the first arm and the second arm.

[0057] Furthermore, in a 23rd aspect of the present disclosure, the vehicle further includes at least one actuator that drives the arm, and the arm is switched between a first arm state and a second arm state by driving the at least one actuator, and in the first arm state, the wheels are located at a first position above the front wheels and the rear wheels, and in the second arm state, the wheels are located at a second position below the first position.

[0058] This allows the first arm and the second arm to be switched between the first arm state and the second arm state, so that the automated guided vehicle can travel in the first arm state or the second arm state.

[0059] In addition, a 24th aspect of the present disclosure further includes a controller, wherein when the front wheels and rear wheels are traveling on a first rail from a first section to a second section, and there is no second rail above the first rail in the first section, and the second rail is present above the first rail in the second section, the controller controls the at least one actuator when the front wheels and rear wheels are in the first section to change the arm from the second arm state to the first arm state, thereby causing the wheels to travel on the second rail when the second rail is located below the wheels.

[0060] According to this, when the first arm and the second arm are in the first arm state, the automated guided vehicle can transfer from the rail to the high rail. Also, when the automated guided vehicle transfers from the high rail to the rail, the first arm and the second arm can be in the second arm state. Therefore, by shifting between the first arm state and the second arm state, the automated guided vehicle can travel between the rail and the high rail.

[0061] Furthermore, since the arm state is shifted between the first arm state and the second arm state while traveling, the unmanned transport vehicle can travel smoothly between the rail and the elevated rail without stopping.

[0062] Furthermore, in a 25th aspect of the present disclosure, the arm is further switched to a third arm state by driving the at least one actuator, and in the third arm state, the wheel is positioned at a third position that is lower than the first position and higher than the second position.

[0063] This allows the first arm and the second arm to be switched to the third arm state, so that the body of the automated guided vehicle can be lifted. This allows the automated guided vehicle to travel along the elevated rail with the body of the automated guided vehicle and the elevated rail as close as possible to each other. This prevents the height (width) from the bottom of the automated guided vehicle to the top of the elevated rail from becoming too large while the automated guided vehicle is traveling, making it possible to prevent the operating area of ​​the system, including the automated guided vehicle and the elevated rail, from becoming too large.

[0064] In particular, the automated guided vehicle is useful when traveling in an area with height restrictions.

[0065] Furthermore, since the arm is displaced to the third arm state while traveling, the unmanned transport vehicle can travel smoothly on the elevated rails without stopping.

[0066] In addition, in a 26th aspect of the present disclosure, the controller changes the arm from the first arm state to the second arm state by controlling the at least one actuator after the front wheels and the rear wheels each run on the first rail and the wheels leave the second rail.

[0067] According to this, the automated guided vehicle can transfer from the high-altitude rail to the rail, so that the first arm and the second arm can be in the second arm state, thereby preventing the first arm and the second arm from interfering with other objects while the automated guided vehicle is traveling along the rail.

[0068] In particular, the automated guided vehicle is useful when traveling in an area with height restrictions.

[0069] Furthermore, since the arm state is shifted between the first arm state and the second arm state while traveling, the unmanned transport vehicle can travel smoothly between the rail and the elevated rail without stopping.

[0070] In addition, in a 27th aspect of the present disclosure, when the housing, the front wheels, and the first rail on which the front wheels run are viewed along the alignment direction of the axes of the front wheels and the rear wheels, the bottom surface of the housing is located between the front wheels and the position of contact between the front wheels and the first rail.

[0071] This allows the front wheels to be positioned on the side of the main body of the vehicle, preventing the height from the bottom to the top of the unmanned transport vehicle from becoming too high, thereby preventing the operating area of ​​the system, including the unmanned transport vehicle and rails, from becoming too large.

[0072] In addition, in a 28th aspect of the present disclosure, when the housing, the front wheel, and the first rail are viewed along the alignment direction of the axes of the front wheel and the rear wheel, the distance between the bottom surface of the housing and the position of the contact point is 5 mm or more and 15 mm or less.

[0073] This prevents the height between the contact point position and the bottom surface of the main body of the vehicle from becoming too high, making it possible to make the unmanned transport vehicle thinner and preventing the operating area of ​​the system, including the unmanned transport vehicle and rails, from becoming too large.

[0074] In addition, in a 29th aspect of the present disclosure, the front wheels include a first front wheel and a second front wheel, and the front wheels are configured to be able to change the distance between the first front wheel and the second front wheel, and the rear wheels include a first rear wheel and a second rear wheel, and the rear wheels are configured to be able to change the distance between the first rear wheel and the second rear wheel.

[0075] This allows the width of the front and rear wheels to be adjusted, so when an automated guided vehicle travels on a pair of rails, the width can be changed according to the pair of rails, allowing the automated guided vehicle to move between multiple pairs of rails with different widths.

[0076] In addition, in the groove structure of the 30th aspect of the present disclosure, at least one of a pair of right-turn grooves and a pair of left-turn grooves and a pair of straight-travel grooves are provided, and the widths of the pair of right-turn grooves and the pair of left-turn grooves are different from the width of the pair of straight-travel grooves.

[0077] According to this, since the grooves have different widths, the pair of rails and at least one of the pair of rails can be arranged together, which makes it possible to prevent the groove structure from becoming large.

[0078] In addition, in a thirty-first aspect of the present disclosure, at least one of the depth of the pair of right-turn grooves and the width depth of the pair of left-turn grooves is different from the depth of the pair of straight-travel grooves.

[0079] According to this, by varying the depth of the grooves, when an unmanned transport vehicle travels along a groove structure, it can travel without interference between a pair of grooves for right turns (a pair of rails) and a pair of grooves for straight travel (a pair of rails), and between a pair of grooves for left turns (a pair of rails) and a pair of grooves for straight travel (a pair of rails).

[0080] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0081] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts are described as optional components.

[0082] In addition, each drawing is a schematic diagram and is not necessarily an exact illustration. In addition, the same components are denoted by the same reference numerals in each drawing.

[0083] (Embodiment 1) Figures 1 and 2 are diagrams showing an example of the configuration of an office building distribution system according to this embodiment. Figure 1 shows one of multiple floors (hereinafter also referred to as a floor area) included in an office building in which the office building distribution system is installed, as viewed from diagonally above. Figure 2 shows the floor area as viewed from the side.

[0084] The floor area has a space surrounded by, for example, a first vertical wall 21a extending in the vertical direction and two first horizontal walls 22a extending in the horizontal direction. The first vertical wall 21a is a wall that separates the inside and outside of the office building. The two first horizontal walls 22a are arranged in the vertical direction. The lower first horizontal wall 22a is used as the floor of the floor area, and the upper first horizontal wall 22a is used as the floor of the floor area one level above that floor area.

[0085] The above-mentioned space of the floor area is divided into three floor spaces by a second vertical wall 21b and a second horizontal wall 22b. The three floor spaces are a first floor space 11, a second floor space 12, and a third floor space 13. The first floor space 11 is a space for people to walk, i.e., a corridor, or an elevator hall where people stay for a short time before boarding an elevator. The second floor space 12 is a space for people to do desk work. The third floor space 13 is a space for laying pipes, electrical wires, etc., and is located above the first floor space 11 and the second floor space 12. Such a third floor space 13 is also called a ceiling space or a ceiling space. In one example of dimensions, the height of the first floor space 11, i.e., the height from the lower first horizontal wall 22a to the second horizontal wall 22b, is 3 m. The height of the third floor space 13, i.e., the height from the upper second horizontal wall 22b to the upper first horizontal wall 22a, is 1 m. These heights are merely examples and are not limiting.

[0086] 2, the office building intra-delivery system Sy1 in this embodiment includes a plurality of intra-floor rails 31, an automated guided vehicle 100, a delivery box 41, and a collection box 42. The number of automated guided vehicles 100, the number of delivery boxes 41, and the number of collection boxes 42 included in the office building intra-delivery system Sy1 may be one or more.

[0087] Each of the multiple in-floor rails 31 is a rail along which the automated guided vehicle 100 travels, and is arranged horizontally in the third floor space 13. Specifically, the multiple in-floor rails 31 include one or more first in-floor rails 31a and one or more second in-floor rails 31b. The first in-floor rail 31a extends along the arrangement direction of the first floor space 11 and the second floor space 12. The second in-floor rail 31b extends in a direction perpendicular to the arrangement direction, i.e., along the longitudinal direction of the first floor space 11.

[0088] Each of the delivery box 41 and the collection box 42 is a box with an opening at the top, and is arranged in the second floor space 12. The delivery box 41 stores a package 1 to be delivered from outside to the second floor space 12. The collection box 42 stores a package 1 to be collected and carried out from the second floor space 12 to the outside. In addition, the second horizontal wall 22b is provided with two transport openings, 26a and 26b. The transport opening 26a is located opposite the opening of the delivery box 41, and the transport opening 26b is located opposite the opening of the collection box 42.

[0089] The automated guided vehicle 100 includes a main body 101, one or more wheels 103, and a luggage cage 102. The one or more wheels 103 are attached to the upper part of the main body 101 and placed on the in-floor rails 31. As a result, the automated guided vehicle 100 hangs from the in-floor rails 31. The one or more wheels 103 are rotated by a motor provided in the main body 101. As a result, the automated guided vehicle 100 travels along the in-floor rails 31. Note that the automated guided vehicle 100 may travel along only one of the first in-floor rails 31a and the second in-floor rails 31b. Alternatively, the automated guided vehicle 100 may travel along the first in-floor rails 31a and the second in-floor rails 31b by transferring from one to the other.

[0090] The luggage car 102 is attached to the end of a wire 104 of a winch provided on the main body 101. Such a luggage car 102 is raised and lowered by the winch letting out and reeling in the wire 104, and also grips and releases the luggage 1. In other words, the luggage car 102 grips and releases the luggage 1. Note that any method of gripping and releasing may be used.

[0091] Such an automated guided vehicle 100 travels along the in-floor rails 31 in the third floor space 13 with the luggage cage 102 holding the luggage 1. The automated guided vehicle 100 then stops above the transport opening 26a in the second horizontal wall 22b and lowers the luggage cage 102 into the interior of the delivery box 41 through the transport opening 26a by letting out the wire 104 from the winch. The luggage cage 102 then releases the luggage 1 and places it inside the delivery box 41. The automated guided vehicle 100 then lifts the luggage cage 102 by winding up the wire 104 with the winch, and pulls the luggage cage 102 out of the delivery box 41 through the transport opening 26a.

[0092] Furthermore, the automated guided vehicle 100, with the luggage cage 102 not holding a luggage 1, travels along the in-floor rails 31 in the third floor space 13 and stops above the transport opening 26b in the second horizontal wall 22b. The automated guided vehicle 100 then lowers the luggage cage 102 into the collection box 42 via the transport opening 26b by letting out the wire 104 from the winch. The luggage cage 102 then holds the luggage 1 inside the collection box 42. The automated guided vehicle 100 then reels in the wire 104 from the winch, thereby raising the luggage cage 102 holding the luggage 1, and pulls the luggage cage 102 out of the collection box 42 via the transport opening 26b.

[0093] As described above, the automated guided vehicle 100 in this embodiment includes the luggage car 102 connected to the wire 104, and a winch that can reel in and reel in the wire 104. This allows the automated guided vehicle 100 to lift and place luggage 1 by raising and lowering the luggage car 102.

[0094] 3A and 3B are diagrams illustrating an example of elevator 200 according to this embodiment. Note that Fig. 3A shows a state in which the doors of elevator 200 are closed, and Fig. 3B shows a state in which the doors of elevator 200 are open.

[0095] The office building intra-delivery system Sy1 may include an elevator 200 as shown in Figures 3A and 3B. The elevator 200 is, for example, an elevator installed in the office building of Figures 1 and 2, and includes a car 210. The car 210 is suspended by a car wire 202 in a vertical hoistway 201. Mechanical equipment for the elevator 200, such as an air conditioning unit, is located above the car 210. The car wire 202 is wound up by an elevator winch, causing the car 210 to rise, and the car wire 202 is unwound from the elevator winch, causing the car 210 to descend. In this manner, the car 210 rises and falls.

[0096] The elevator car 210 is provided with a partition 221 that divides the space inside the elevator car 210 into a first elevator space 211 and a second elevator space 212. The first elevator space 211 is a space for passengers to board, and the second elevator space 212 is a space for the automated guided vehicle 100 to board. The second elevator space 212 is located above the first elevator space 211. In other words, the elevator car 210 is a two-story or two-tier car. In addition, an inner elevator rail 32 is arranged in the second elevator space 212 so as to extend horizontally.

[0097] The inner elevator rail 32 is installed on the ceiling of the second elevator space 212. Specifically, the inner elevator rail 32 includes a movable rail 32a and a fixed rail 32b, and the elevator 200 is equipped with an actuator that moves the movable rail 32a. The movable rail 32a is switched between a first rail state and a second rail state by driving the actuator. That is, as shown in Figures 3A and 3B, the movable rail 32a is switched from the second rail state to the first rail state by sliding relative to the fixed rail 32b and stopping at a predetermined position.

[0098] The elevator car 210 includes a first car door 231 that opens and closes an opening that leads from the outside of the elevator car 210 to the first elevator space 211, and a second car door 232 that opens and closes an opening that leads from the outside of the elevator car 210 to the second elevator space 212. These openings are formed in the elevator car 210. A first landing door 61 that opens and closes in conjunction with the first car door 231 is disposed opposite the first car door 231. Similarly, a second landing door 62 that opens and closes in conjunction with the second car door 232 is disposed opposite the second car door 232. When the first landing door 61 and the first car door 231 open in conjunction with each other, the first floor space 11 and the first elevator space 211 are connected to each other. At this time, people can move between the first floor space 11 and the first elevator space 211. Furthermore, the first landing door 61 and the first car door 231 close in conjunction with each other, thereby separating the first floor space 11 from the first elevator space 211. At this time, people cannot move between the first floor space 11 and the first elevator space 211.

[0099] Similarly, when the second landing door 62 and the second car door 232 open in conjunction with each other, the third floor space 13 and the second elevator space 212 communicate with each other. At this time, the automated guided vehicle 100 can move between the third floor space 13 and the second elevator space 212 depending on the state of the elevator inner rail 32. Furthermore, when the second landing door 62 and the second car door 232 close in conjunction with each other, the third floor space 13 and the second elevator space 212 are separated from each other. At this time, the automated guided vehicle 100 cannot move between the third floor space 13 and the second elevator space 212.

[0100] The first car door 231 and the second car door 232 may be configured as an integral unit. This allows the number of actuators for opening and closing these doors to be reduced. Alternatively, the first car door 231 and the second car door 232 may be configured as separate units or independently of each other. This allows the first car door 231 and the second car door 232 to be opened and closed individually.

[0101] The automated guided vehicle 100 travels along the elevator inner rail 32. Then, as shown in FIG. 3A , when the first landing door 61 and the first car door 231, and the second landing door 62 and the second car door 232 are closed, the automated guided vehicle 100 stops while hanging from the elevator inner rail 32. At this time, the movable rail 32a of the elevator inner rail 32 is in the second rail state. In the second rail state, as shown in FIG. 3A , the first end 32k of the movable rail 32a is not connected to the second end 31k of the floor inner rail 31. In other words, the elevator inner rail 32 and the floor inner rail 31 are not connected. Therefore, in this case, movement of the automated guided vehicle 100 between the third floor space 13 and the second elevator space 212 is prohibited.

[0102] On the other hand, as shown in FIG. 3B , when the first landing door 61 and the first car door 231, and the second landing door 62 and the second car door 232 are open, the inner elevator rail 32 is coupled to the inner floor rail 31 arranged in the third floor space 13. That is, the movable rail 32a of the inner elevator rail 32 is in the first rail state. In the first rail state, as shown in FIG. 3B , the first end 32k of the movable rail 32a is connected to the second end 31k of the inner floor rail 31. This allows the automated guided vehicle 100 in the second elevator space 212 to travel along the inner elevator rail 32 and the inner floor rail 31 and move from the second elevator space 212 to the third floor space 13. Conversely, the automated guided vehicle 100 in the third floor space 13 can also travel along the inner floor rail 31 and the inner elevator rail 32 and move from the third floor space 13 to the second elevator space 212.

[0103] Such an office building in-building delivery system Sy1 may be applied to an apartment (i.e., an apartment complex) as an apartment in-building delivery system Sy2.

[0104] Fig. 4 is a diagram showing an example of the configuration of an apartment delivery system according to this embodiment, in which Fig. 4(a) shows a portion of one of a plurality of floor areas included in an apartment as viewed from above, and Fig. 4(b) shows the portion as viewed from the side.

[0105] As shown in Figure 4(b), the floor area has a space surrounded by, for example, a first vertical wall 23a extending vertically and two first horizontal walls 24a extending horizontally. The first vertical wall 23a separates the inside and outside of the apartment. The two first horizontal walls 24a are arranged vertically. The lower first horizontal wall 24a is used as the floor of the floor area, and the upper first horizontal wall 24a is used as the floor of the floor area above that floor area.

[0106] The above-mentioned space of the floor area is divided into four floor spaces by the second vertical wall 23b and the second horizontal wall 24b. The four floor spaces are the first floor space 11a, the second floor space 12a, the third floor space 13a, and the fourth floor space 13b. The first floor space 11a is a space for people to walk, i.e., an apartment corridor. The second floor space 12a is a space for people to live in, a so-called room. The third floor space 13a is a space for laying pipes, electrical wires, etc., and is located above the second floor space 12a. This third floor space 13a is also called the ceiling space of the room or the attic. The fourth floor space 13b is a space for the automated guided vehicle 100 to travel in and is located above the first floor space 11a. This fourth floor space 13b is also called the ceiling space of the corridor or the attic. A plurality of in-floor rails 31 are arranged horizontally in the fourth floor space 13b.

[0107] A meter box 51 is provided on the second vertical wall 23b side of the first floor space 11a. A meter for measuring the amount of gas or water used in the second floor space 12a is disposed in the meter box 51. In this embodiment, a delivery box 43 having an opening at the top is further disposed in the meter box 51. A delivery opening 27a is formed in the second horizontal wall 24b at a location facing the opening of the delivery box 43. The delivery box 43 may be protected by a transparent panel.

[0108] The automated guided vehicle 100 travels along the in-floor rails 31 within the fourth floor space 13b. For example, as shown in FIG. 4A, the automated guided vehicle 100 travels in a direction along the corridor until it reaches the line segment C1-C2. Then, as shown in FIGS. 4A and 4B, upon reaching the line segment C1-C2, the automated guided vehicle 100 travels in the direction of the line segment C1-C2. The automated guided vehicle 100 stops above the delivery opening 27a and, similar to the example shown in FIGS. 1 and 2, raises and lowers the baggage car 102 by using the winch to reel in and reel in the wire 104. As a result, the automated guided vehicle 100 places the package 1 in the delivery locker 43 through the delivery opening 27a. Alternatively, the automated guided vehicle 100 removes the package 1 from the delivery locker 43 and pulls the package 1 toward the main body 101 through the delivery opening 27a.

[0109] 5A and 5B are diagrams illustrating an example of elevator 200 in this embodiment. Note that, like Fig. 3A, Fig. 5A illustrates a state in which first car door 231 and second car door 232 of elevator 200 are closed, and Fig. 5B illustrates a state in which first car door 231 and second car door 232 of elevator 200 are open, like Fig. 3B.

[0110] Similar to the office building distribution system Sy1, the in-apartment distribution system Sy2 may include an elevator 200. The elevator 200 is disposed, for example, in the apartment shown in Fig. 4. In the example shown in Fig. 5A and Fig. 5B , an elevator car 210 is suspended by a car wire 202 in a vertical hoistway 201, and moves up and down by letting out and reeling in the car wire 202 with an elevator winch.

[0111] In this intra-apartment delivery system Sy2, the automated guided vehicle 100 also travels along the elevator inner rail 32. As shown in FIG. 5A , when the first landing door 61 and the first car door 231, and the second landing door 62 and the second car door 232 are closed, the automated guided vehicle 100 stops while hanging from the elevator inner rail 32. In this case, the movable rail 32a of the elevator inner rail 32 is in the second rail state. In other words, the first end 32k of the movable rail 32a is not connected to the second end 31k of the intra-floor rail 31. Therefore, in this case, movement of the automated guided vehicle 100 between the fourth floor space 13b and the second elevator space 212 is prohibited. On the other hand, as shown in FIG. 5B , when the first landing door 61 and the first car door 231, and the second landing door 62 and the second car door 232 are opened, the inner elevator rail 32 is coupled to the inner floor rail 31 arranged in the third floor space 13. Specifically, the movable rail 32a is driven by the actuator to slide relative to the fixed rail 32b and stop at a predetermined position, thereby switching from the second rail state to the first rail state. As a result, as shown in FIG. 5B , the first end 32k of the movable rail 32a is connected to the second end 31k of the inner floor rail 31. Therefore, the automated guided vehicle 100 in the second elevator space 212 can travel along the inner elevator rail 32 and the inner floor rail 31 and move from the second elevator space 212 to the fourth floor space 13b. Conversely, an automated guided vehicle 100 in the fourth floor space 13b can also travel along the intra-floor rails 31 and intra-elevator rails 32 to move from the fourth floor space 13b to the second elevator space 212.

[0112] As described above, the elevator 200 in this embodiment is an elevator installed in a building such as an office building or an apartment building. The elevator 200 includes an elevator car 210 that moves up and down, a partition 221 that divides the space inside the elevator car 210 into a first elevator space 211 for passengers and a second elevator space 212 for the automated guided vehicle 100, an inner elevator rail 32 including a movable rail 32a disposed in the second elevator space 212, and an actuator that moves the movable rail 32a. The automated guided vehicle 100 runs along the inner elevator rail 32. The movable rail 32a is switched between a first rail state and a second rail state by driving the actuator. In the first rail state, a first end 32k of the movable rail 32a is connected to a second end 31k of an inner floor rail 31 installed on a predetermined floor of the building. In the second rail state, the first end 32k is not connected to the second end 31k.

[0113] In order for the automated guided vehicle 100, which travels along the elevator inner rail 32, to ascend and descend together with the elevator car 210 and arrive at a predetermined floor, and then exit the elevator car 210, it is necessary to connect the elevator inner rail 32 to the floor inner rail 31, which is the rail along which the automated guided vehicle 100, installed on that predetermined floor, travels. In this case, if movable rails and actuators for driving the movable rails were installed for each of the floor inner rails 31 installed on each floor, the number of movable rails and actuators corresponding to the number of floors of the building would be required, which would increase the number of parts for the entire elevator 200, the effort required for maintenance and inspection, and costs.

[0114] On the other hand, in this embodiment, the movable rail 32a of the elevator inner rail 32 is switched between the first rail state and the second rail state by driving the actuator, as described above. In other words, the elevator inner rail 32 and the floor inner rail 31 are connected to or separated from each other depending on the configuration of the elevator inner rail 32 and the driving of the actuator.

[0115] Therefore, in this embodiment, it is not necessary to prepare a number of movable rails and actuators corresponding to the number of floors of a building. As a result, it is possible to realize the elevator 200 that can transport both a person and the automated guided vehicle 100 at the same time while preventing an increase in the number of parts, etc., related to the elevator 200.

[0116] A car control panel may be installed in the first elevator space 211. The car control panel may be provided with one or more displays and one or more operation buttons. The one or more displays display, for example, the current position and ascending / descending direction of the elevator car 210. The one or more operation buttons include destination floor buttons corresponding to each floor of the building, a door open button, a door close button, etc. The one or more operation buttons may be realized by a touch panel that detects contact, or may be realized by a non-contact type button that detects a hand or finger held over the button by a person.

[0117] The elevator 200 further includes a first car door 231 that opens and closes an opening formed in the elevator car 210 and leads to the first elevator space 211, and a second car door 232 that opens and closes an opening formed in the elevator car 210 and leads to the second elevator space 212.

[0118] This allows, for example, if the first car door 231 and the second car door 232 are configured separately, they can be opened and closed independently.

[0119] The first car door 231 and the second car door 232 are integrally formed.

[0120] As a result, the first car door 231 and the second car door 232 are configured as an integral unit, so there is no need to provide an actuator required to drive the first car door 231 and an actuator required to drive the second car door 232. Therefore, the first car door 231 and the second car door 232 can be driven by the same actuator, which reduces the number of parts in the elevator 200.

[0121] In addition, the second elevator space 212 is located above the first elevator space 211, and the inner elevator rail 32 is installed on the ceiling of the second elevator space 212.

[0122] As a result, in a building such as an office building or an apartment, the first floor space 11, 11a where people are active can be made to correspond to the first elevator space 211. Furthermore, in the building, the third floor space 13 or the fourth floor space 13b, which is the attic area, can be made to correspond to the second elevator space 212. As a result, an elevator 200 can be realized that allows both people and the automated guided vehicle 100 to enter and exit smoothly.

[0123] The automated guided vehicle 100 also includes a luggage basket 102 connected to a wire 104 and a winch capable of reeling out and reeling in the wire 104 .

[0124] As a result, for example, after the automated guided vehicle 100 arrives above a delivery box 43 located inside a meter box 51 in a first floor space 11a such as a hallway, the wire 104 can be let out downward to lower the luggage basket 102 into the delivery box 43. This allows the automated guided vehicle 100 itself to deliver or collect luggage 1 without having to lower it into the second floor space 12a such as a room.

[0125] The elevator inner rail 32 further includes a fixed rail 32b, and the movable rail 32a is switched from the second rail state to the first rail state by sliding relative to the fixed rail 32b and stopping at a predetermined position.

[0126] This allows the inner elevator rail 32 to be easily extended to the third floor space 13 or the fourth floor space 13b. The movable rail 32a may be a rotating rail that rotates around a rotation axis.

[0127] (First Modification of First Embodiment) In the intra-office building delivery system Sy1 in the above-described embodiment, the automated guided vehicle 100 travels along the intra-floor rails 31 within an office building, but may also travel between a plurality of buildings.

[0128] FIG. 6 is a diagram showing an example of the configuration of a logistics system in this modified example.

[0129] The logistics system Sy3 in this modification includes one or more automated guided vehicles 100 and a transport rail 30. The transport rail 30 may include one or more in-floor rails 31 or one or more in-elevator rails 32. Such transport rails 30 are laid across multiple buildings. The multiple buildings may be, for example, buildings or office buildings. In the example of FIG. 6 , the transport rails 30 are laid across multiple buildings, such as a collective welfare building Ba4, a second building Ba2, and a mail room building Ba3. The second building Ba2 may be the office building described in the first embodiment. In this case, the second building Ba2 may be provided with the office building intra-building delivery system Sy1 described in the first embodiment. Alternatively, the logistics system Sy3 may be provided with the office building intra-building delivery system Sy1 described in the first embodiment.

[0130] In the logistics system Sy3 of this modified example, the conveyor rails 30 are laid so as to connect multiple buildings, and therefore the automated guided vehicle 100 can transport packages 1 not only within a building but also between multiple buildings. In other words, network delivery can be realized. In the example of FIG. 6 , the conveyor rails 30 are not laid in the first building Ba1, which is a building. For example, the first building Ba1 is constructed as an existing office building, and then the second building Ba2 is constructed as a new office building, i.e., as a new building. In this case, in order to introduce the logistics system Sy3, the conveyor rails 30 may be laid in the second building Ba2 when the second building Ba2 is constructed.

[0131] FIG. 7 is a diagram showing another example of the configuration of the logistics system Sy3 in this modified example.

[0132] The logistics system Sy3 may be installed over a wider area as shown in FIG. 7 . For example, the transport rails 30 may be laid between many buildings Ba constructed in an area such as an office building district. The transport rails 30 may be laid across a major highway. In each building Ba, the intra-office building delivery system Sy1 in the first embodiment delivers the package 1 (i.e., intra-building delivery). Furthermore, between multiple buildings Ba, the automated guided vehicle 100 delivers the package 1 between those buildings Ba (i.e., network delivery).

[0133] (Second Modification of First Embodiment) In the office building delivery system Sy1 shown in Figures 1 and 2, the height of the floor area, i.e., the height between the two first horizontal walls 22a, is 4m. In such a case, the automated guided vehicle 100 travels in the third floor space 13 surrounded by the upper first horizontal wall 22a and the second horizontal wall 22b. However, if the height of the floor area is low, it is difficult to ensure a third floor space 13 with sufficient height for the automated guided vehicle 100 to travel in. In such a case, in this modification, at least a portion of the automated guided vehicle 100 may extend into the first floor space 11 or the second floor space 12 where people are present.

[0134] Fig. 8 is a diagram showing an example of the configuration of an office building delivery system Sy1 according to this modified example. In the example shown in Fig. 8, the height of the floor area, i.e., the height between the two first horizontal walls 22a, is 3.2 m. The height of the first floor space 11, i.e., the height between the lower first horizontal wall 22a and the second horizontal wall 22b, is 2.8 m. The height of the third floor space 13 above the first floor space 11, i.e., the height between the second horizontal wall 22b and the upper first horizontal wall 22a, is 40 cm.

[0135] A plurality of in-floor rails 31 are arranged in the third floor space 13. However, the body 101 and luggage cage 102 of the automated guided vehicle 100 hanging from the in-floor rails 31 are located in the first floor space 11 or the second floor space 12. That is, a running opening 28 penetrating in the thickness direction is formed in the second horizontal wall 22b at a portion facing the in-floor rails 31, so as to follow the in-floor rails 31. The wheels 103 of the automated guided vehicle 100 are placed on the in-floor rails 31 in the third floor space 13, and a member connecting the wheels 103 to the body 101 is inserted through the running opening 28. As a result, from the first floor space 11 or the second floor space 12, the body 101 and luggage cage 102 of the automated guided vehicle 100 appear to be running along the underside of the second horizontal wall 22b of the ceiling. That is, the main body 101 and the car 102 of the automated guided vehicle 100 travel in a travel space below the second horizontal wall 22b. The height of the travel space in the first floor space 11 is 40 cm.

[0136] 8, the automated guided vehicle 100 can raise and lower the luggage car 102 at any position where the automated guided vehicle 100 can travel. Therefore, a delivery box such as the delivery box 41 or the collection box 42 can be moved. In other words, the degree of freedom in arranging the delivery boxes can be increased.

[0137] As with the office building delivery system Sy1, in the apartment delivery system Sy2, if the floor area is low, it is difficult to secure a fourth floor space 13b with sufficient height for the automated guided vehicle 100 to travel in. In such a case, in this modification, at least a portion of the automated guided vehicle 100 may extend into the first floor space 11a where people are present.

[0138] Fig. 9 is a diagram showing an example of the configuration of an in-apartment delivery system Sy2 in this modified example. Fig. 9(a) shows a first floor space 11a, which is a hallway not in front of an apartment room, and a fourth floor space 13b located above the first floor space 11a. Fig. 9(b) and (c) show the first floor space 11a, which is a hallway in front of a room, and a fourth floor space 13b located above the first floor space 11a.

[0139] 9A, for example, the in-floor rail 31 is disposed in the fourth floor space 13b. However, the body 101 and the car 102 of the automated guided vehicle 100 hanging from the in-floor rail 31 are located in the first floor space 11a. That is, a running opening 28 penetrating the second horizontal wall 24b in the thickness direction is formed in the portion of the second horizontal wall 24b facing the in-floor rail 31, and is aligned with the in-floor rail 31. The wheels 103 of the automated guided vehicle 100 are placed on the in-floor rail 31 in the fourth floor space 13b, and a member connecting the wheels 103 to the body 101 is inserted through the running opening 28. As a result, from the first floor space 11a, the body 101 and the car 102 of the automated guided vehicle 100 appear to be running along the underside of the second horizontal wall 24b in the ceiling. That is, the main body 101 and the luggage car 102 of the automated guided vehicle 100 travel in the travel space below the second horizontal wall 24b.

[0140] 9(b) and 9(c), a first in-floor rail 31a is disposed in the fourth floor space 13b so as to extend along the width direction of the corridor below the fourth floor space 13b. Although not shown in FIGS. 9(b) and 9(c), similar to FIG. 9(a), a running opening 28 is formed along the first in-floor rail 31a at a portion of the second horizontal wall 24b facing the first in-floor rail 31a. Therefore, the wheels 103 of the automated guided vehicle 100 are placed on the first in-floor rail 31a of the fourth floor space 13b, and the member connecting the wheels 103 to the vehicle body 101 is inserted through the running opening 28. As a result, from the first floor space 11a, the vehicle body 101 and the car 102 of the automated guided vehicle 100 appear to be running along the underside of the second horizontal wall 24b of the ceiling. That is, the main body 101 and the luggage car 102 of the automated guided vehicle 100 travel in the travel space below the second horizontal wall 24b.

[0141] 9(b) and 9(c), the second horizontal wall 24b does not have to be provided between the first floor space 11a in front of the room and the fourth floor space 13b. In this case, from the first floor space 11a, the entire automated guided vehicle 100 appears to be traveling along the underside of the first horizontal wall 24a on the ceiling.

[0142] (Third Modification of First Embodiment) The elevator car 210 of the elevator 200 in the first embodiment has a two-story structure, as shown in Figures 3A and 3B, for example. The elevator car in this modification has a three-story structure.

[0143] 10A and 10B are diagrams illustrating an elevator 200 according to this modification, in which (a) of Fig. 10 shows the elevator 200 with its doors closed, and (b) of Fig. 10 shows the elevator 200 with its doors open.

[0144] As shown in FIGS. 10A and 10B , the elevator 200 of this modified example includes a three-layer elevator car 210a. Specifically, the elevator car 210a includes two plate-shaped partitions 221 and 222. The two partitions 221 and 222 are arranged along the height direction of the elevator car 210a. Specifically, the partition 222 is located below the partition 221. Furthermore, each of the two partitions 221 and 222 is arranged parallel to the horizontal direction. These two partitions 221 and 222 divide the space inside the elevator car 210a into a first elevator space 211, a second elevator space 212, and a third elevator space 213. The partition 221 is also referred to as a first partition, and the partition 222 is also referred to as a second partition. The third elevator space 213, like the second elevator space 212, is a space for the automated guided vehicle 100 to board. This third elevator space 213 is located below the first elevator space 211. An inner elevator rail 32 is also arranged in the third elevator space 213 so as to extend horizontally. The inner elevator rail 32 arranged in the second elevator space 212 is also called the first inner elevator rail, and the inner elevator rail 32 arranged in the third elevator space 213 is also called the second inner elevator rail.

[0145] As shown in FIG. 10A , the elevator car 210a further includes a third car door 233 that opens and closes an opening that leads from the outside of the elevator car 210a to the third elevator space 213. The opening is formed in the elevator car 210a. For example, the elevator car 210a stops at a position where the first elevator space 211 and the second elevator space 212 of the elevator car 210a face the first floor space 11 and the third floor space 13, respectively, on the Nth floor (N is an integer). In this case, the third elevator space 213 faces the third floor space 13, which is on the (N-1)th floor. In other words, the third car door 233 of the third elevator space 213 faces the second landing door 62 on the (N-1)th floor. The third car door 233 opens and closes in conjunction with the second landing door 62.

[0146] When the third car door 233 and the second landing door 62 open in conjunction with each other, the third floor space 13 on the (N-1)th floor and the third elevator space 213 communicate with each other. At this time, the automated guided vehicle 100 can move between the third floor space 13 and the third elevator space 213 depending on the state of the elevator inner rail 32. Furthermore, when the third car door 233 and the second landing door 62 close in conjunction with each other, the third floor space 13 and the third elevator space 213 are separated from each other. At this time, the automated guided vehicle 100 cannot move between the third floor space 13 and the third elevator space 213.

[0147] A shock absorbing device 241 that functions as a shock absorber, for example, may be attached to the lower part of the elevator car 210a. The shock absorbing device 241 may be a spring type or an oil-filled type.

[0148] Furthermore, two or more elevators 200 each having such a car 210a may be installed in a building such as an office building. When two elevators 200 are installed, the car 210a of one elevator 200 may be configured to be able to stop only at odd-numbered floors out of all floors in the building, and the car 210a of the other elevator 200 may be configured to be able to stop only at even-numbered floors out of all floors. Furthermore, as an exception, one floor out of all floors (i.e., the lowest floor) may be a floor at which each of the cars 210a of the two elevators 200 can stop.

[0149] As described above, the elevator 200 in this embodiment includes, within the elevator car 210a, a second partition disposed below the first partition, which is the partition 221, and a second elevator inner rail that includes a movable rail different from the first elevator inner rail. The first elevator inner rail is the elevator inner rail 32 disposed in the second elevator space 212, and the second elevator inner rail is the elevator inner rail 32 disposed in the third elevator space 213. The second partition is the partition 222. The space within the elevator car 210a is divided by the first partition and the second partition into the first elevator space 211, the second elevator space 212, and the third elevator space 213 for the automated guided vehicle 100 to board. The second elevator inner rail is disposed in the third elevator space 213. Here, like the movable rail of the first elevator inner rail, the movable rail of the second elevator inner rail is switched between a third rail state and a fourth rail state by driving an actuator. In the third rail state, the third end of the movable rail of the second elevator inner rail is connected to the fourth end of the inner floor rail 31 installed on the floor one floor (i.e., the (N-1) floor) below the above-mentioned predetermined floor (i.e., the Nth floor) of the building, and in the fourth rail state, the third end is not connected to the fourth end. In other words, the inner elevator rail 32 of the third elevator space 213 has the same configuration as the inner elevator rail 32 of the second elevator space 212 and operates in the same manner.

[0150] As a result, not only the second elevator space 212 but also the third elevator space 213 can be used as a space for the unmanned transport vehicle 100 to board, thereby significantly increasing the amount of luggage 1 transported by the unmanned transport vehicle 100.

[0151] In other words, the elevator in this embodiment is an elevator installed in a building, and includes a first partition and a second partition that separate the space inside the elevator car from the ascending and descending elevator car, and the space inside the elevator car includes, in order from top to bottom in the vertical direction, a first second space for an automated guided vehicle to board, the first partition, a first space for a person to board, the second partition, and a second second space for the automated guided vehicle to board. The elevator also includes a first inner elevator rail, which is arranged in the first second space and on which the automated guided vehicle travels, and a second inner elevator rail, which is arranged in the second second space and on which the automated guided vehicle travels.

[0152] The first elevator inner rail includes a first movable rail, and the second elevator inner rail includes a second movable rail. The elevator further includes a first actuator that moves the first movable rail and a second actuator that moves the second movable rail. The first movable rail is switched between a first first rail state and a first second rail state by driving the first actuator. In the first first rail state, a first first end of the first movable rail is connected to a first second end of an intrafloor rail installed on a predetermined floor of the building. In the first second rail state, the first first end is not connected to the first second end. The second movable rail is switched between a second first rail state and a second second rail state by driving the second actuator. In the second first rail state, a second first end of the second movable rail is connected to a second second end of an intrafloor rail installed on a predetermined floor of the building. In the second second rail state, the second first end is not connected to the second second end.

[0153] The elevator further includes a first rail elevator that raises and lowers the first elevator inner rail, and a second rail elevator that raises and lowers the second elevator inner rail.

[0154] Furthermore, in the above embodiment, the inner elevator rail 32 includes a movable rail, but the inner floor rail 31 may also include a movable rail. That is, the delivery system in this embodiment includes an elevator 200 installed in a building, an inner floor rail 31 including a movable rail installed on a predetermined floor of the building, and an actuator for moving the movable rail. The elevator 200 includes an elevator car 210 that rises and falls, a partition 221 that divides the space inside the elevator car 210 into a first space for passengers and a second space for the automated guided vehicle 100, and an inner elevator rail 32 disposed in the second elevator space 212. The automated guided vehicle 100 travels along the inner elevator rail 32. The movable rail of the inner floor rail 31 is switched between a first rail state and a second rail state by driving the actuator. In the first rail state, a first end of the movable rail is connected to a second end of the elevator inner rail 32, and in the second rail state, the first end is not connected to the second end. The delivery system may be an office building delivery system Sy1 or an apartment delivery system Sy2.

[0155] As a result, even if the inner elevator rail 32 does not have a movable rail, since the inner floor rail 31 has a movable rail, the inner elevator rail 32 and the inner floor rail 31 can be connected to each other. As a result, the automated guided vehicle 100 can easily enter and exit the elevator car 210.

[0156] (Embodiment 2) For example, it is conceivable to install a movable rail and an actuator for driving the movable rail at each intersection where the in-floor rails 31 installed on each floor intersect, allowing the automated guided vehicle 100 to turn right or left. In this case, as many movable rails and actuators as there are intersections would be required, increasing the number of parts in the entire building, the labor required for maintenance and inspection, and costs. On the other hand, in this embodiment, no movable rails are installed at intersections. At intersections, the automated guided vehicle 100 and its arm are controlled to transfer from one rail to another. This prevents an increase in the number of parts in the building. Note that the luggage transport device in Embodiments 2 to 4 corresponds to the automated guided vehicle 100 in Embodiment 1. This luggage transport device will be described in detail below.

[0157] Fig. 11 is a perspective view illustrating a luggage carrying apparatus 10q1 according to embodiment 2. Fig. 12A is a diagram illustrating the internal structure of a first connector 2521 and a second connector 2522 of the luggage carrying apparatus 10q1 according to embodiment 2. Fig. 12B is a diagram illustrating the internal structure of a third connector 2523 of the luggage carrying apparatus 10q1 according to embodiment 2.

[0158] The luggage transporting device 10q1 is an unmanned mobile object or the like that travels on rails 7. That is, the luggage transporting device 10q1 is connected to the rails 7 that are laid out on the ground and can move along the rails 7. For example, the luggage transporting device 10q1 can transport luggage from a delivery source to a delivery destination with multiple connectors 2520 connected to the rails 7.

[0159] The luggage transport device 10q1 comprises a main body 2501, a rail slider unit 2510, a control processing unit 2530, a plurality of connectors 2520, a rotating table 2540, side propellers 2551, and a propeller drive motor 2552.

[0160] The aircraft body 2501 is a rectangular housing that is long along the longitudinal direction of the rail 7. A plurality of connectors 2520, a rotating table 2540, etc. are provided on the upper surface side of the aircraft body 2501. A rail slider unit 2510, etc. are provided on the lower surface side of the aircraft body 2501. Note that the luggage transport device 10q1 may have a plurality of propellers that can fly the aircraft body 2501 by being rotationally driven by a propeller drive motor.

[0161] The rail slider section 2510 is extendable relative to the aircraft body 2501. The rail slider section 2510 has a slider body 2510a, a luggage holding section 2555, and a motor drive section.

[0162] The slider body 2510a is connected to the machine body 2501. The slider body 2510a is elongated along the longitudinal direction of the machine body 2501. In this embodiment, the slider body 2510a is connected to the underside of the machine body 2501, but it may also be able to extend along the longitudinal direction of the machine body 2501 and retract to return to its original position.

[0163] Slider body 2510a includes first slider 2511 and second slider 2512. While slider body 2510a has two sliders, it may have one slider or three or more sliders. Note that first slider 2511, second slider 2512, etc. may be collectively referred to simply as sliders. Although not shown, a balancer may be provided on the side propeller 2551 side of the slider to balance the weight with the luggage.

[0164] The first slider 2511 and the second slider 2512 are arranged on one side of the machine body 2501, and extend further from that side along the longitudinal direction of the machine body 2501, or retract to return to their original positions. When the first slider 2511 and the second slider 2512 extend away from the machine body 2501, the first slider 2511, the second slider 2512, and the slider body 2510a are lined up in this order.

[0165] Specifically, the first slider 2511 is disposed vertically below the machine body 2501, and can extend from one side of the machine body 2501 along the longitudinal direction of the machine body 2501 so as to move away from the machine body 2501, or can retract to be positioned vertically below the machine body 2501. The second slider 2512 is connected to the vertical lower surface of the first slider 2511, and can extend from one side of the first slider 2511 along the longitudinal direction of the machine body 2501 so as to move away from the machine body 2501, or can retract to be positioned vertically below the machine body 2501.

[0166] A luggage holding portion 2555 is provided at the tip of rail slider portion 2510. In this embodiment, a luggage holding portion 2555 is provided at the tip of second slider 2512.

[0167] The luggage holding unit 2555 is disposed at one end of the rail slider unit 2510 and can hold an attached luggage. The luggage holding unit 2555 is provided at the tip of the second slider 2512, but there may be one slider or three or more sliders. In this case, the luggage holding unit 2555 is provided at the tip of the slider that is farthest from the aircraft main body 2501 when all the sliders are extended.

[0168] When the luggage transport device 10q1 arrives at the rail 7 located in front of the delivery destination, the control processing unit 2530 drives a motor capable of rotating the turntable 2540, thereby rotating the turntable 2540 and rotating the third connector 2523.

[0169] Furthermore, after the rotating table 2540 rotates the machine body 2501, the control processing unit 2530 controls the motor driving unit to extend each of the multiple sliders relative to the machine body 2501. Specifically, the control processing unit 2530 controls the motor driving unit to extend the first slider 2511 and the second slider 2512 from the machine body 2501.

[0170] In addition, the control processing unit 2530 controls the rear propeller drive motor 2552 for rotating the side propeller 2551, thereby controlling the running speed of the luggage transport device 10q1 (the number of rotations of the side propeller 2551) or stopping the running of the luggage transport device 10q1.

[0171] The motor drive unit extends each of the multiple sliders relative to the machine body 2501. Specifically, in response to a control instruction from the control processing unit 2530, the motor drive unit extends the first slider 2511 and the second slider 2512 along the longitudinal direction of the machine body 2501 so as to move away from the machine body 2501.

[0172] The connectors 2520 are held (connected) to the rails 7 located above the machine body 2501. Specifically, the connectors 2520 can be connected to the rails 7 located away from the ground while the machine body 2501 is suspended. In this embodiment, a plurality of connectors 2520 are provided on the machine body 2501. The plurality of connectors 2520 includes a first connector 2521, a second connector 2522, and a third connector 2523. In this embodiment, the plurality of connectors 2520 includes three connectors 2520: a first connector 2521, a second connector 2522, and a third connector 2523. The number of connectors 2520 may be two, or may be four or more.

[0173] The first connector 2521 is located on one side in the longitudinal direction of the aircraft body 2501. The second connector 2522 is located on the other side in the longitudinal direction of the aircraft body 2501. The third connector 2523 is located in the center between one side and the other side in the longitudinal direction of the aircraft body 2501. The connector 2520 is an example of a rail holding portion. The first connector 2521 is an example of a first rail holding portion. The second connector 2522 is an example of a second rail holding portion. The third connector 2523 is an example of a third rail holding portion.

[0174] As shown in Figures 12A and 12B, each of the first connector 2521, the second connector 2522 and the third connector 2523 has a roller support portion 2525a, a spring 2525b, a shaft 2525c, a slide motor 2526, a roller 2527 and a roller shaft support portion 2525d.

[0175] The roller support portion 2525a can expand and contract in the vertical direction relative to the machine body 2501.

[0176] Specifically, the roller support portion 2525a has an outer shell housing 2525a1 and a spring guide portion 2525a2.

[0177] Outer shell housing 2525a1 is a long, cylindrical body with a bottom that is open vertically upward, and houses spring 2525b and spring guide 2525a2 inside. Spring guide 2525a2 is a long, cylindrical body with a bottom that is open vertically downward, and houses slide motor 2526 and part of shaft 2525c inside. A flange 2525a3 is formed at the vertically upper end of spring guide 2525a2 to support one end of spring 2525b. Spring 2525b is provided on the outer periphery of spring guide 2525a2.

[0178] Spring guide portion 2525a2 can move vertically upward relative to outer casing 2525a1 by driving slide motor 2526. At this time, spring guide portion 2525a2 slides while being guided by outer casing 2525a1.

[0179] Spring 2525b is a coil spring, and is provided on the outer periphery of spring guide portion 2525a2 while being inserted through spring guide portion 2525a2. One end of spring 2525b is supported by flange 2525a3 of spring guide portion 2525a2, and the other end of spring 2525b is supported by the bottom of outer shell housing 2525a1.

[0180] In addition, when the driving of the slide motor 2526 stops, the spring 2525b pulls the spring guide portion 2525a2 with the elastic force of the spring 2525b, causing the spring guide portion 2525a2 to move vertically downward, and the spring guide portion 2525a2 can be accommodated inside the outer shell housing 2525a1.

[0181] Shaft 2525c passes through the interior of outer shell housing 2525a1, has one end connected to machine body 2501, and has roller 2527 and roller shaft support 2525d at the other end. A slide motor 2526 is attached to shaft 2525c. A portion of shaft 2525c can be moved vertically upward by driving slide motor 2526.

[0182] Specifically, shaft 2525c extends vertically and is composed of a cylindrical first shaft and a cylindrical second shaft into which a portion of the first shaft is inserted. One end of the first shaft is inserted into the second shaft and is a free end that can move vertically, and the other end is connected to machine body 2501. One end of the second shaft is connected to the upper end of spring guide portion 2525a2 and the other end is connected to slide motor 2526. Therefore, when slide motor 2526 is driven, the second shaft moves vertically while being guided by the first shaft.

[0183] Slide motor 2526 is, for example, a stepping motor, and is housed inside spring guide portion 2525a2. By being controlled by control processing unit 2530, slide motor 2526 applies a force directed vertically upward from outer shell casing 2525a1 to spring guide portion 2525a2 via shaft 2525c so that spring guide portion 2525a2 extends from outer shell casing 2525a1. In other words, slide motor 2526 can slide spring guide portion 2525a2 vertically upward relative to outer shell casing 2525a1. Slide motor 2526 is an example of a motor.

[0184] The rollers 2527 are able to run on the rails 7 by rotatably contacting the rails 7. The rollers 2527 are rotatably supported by roller support portions 2525d at the vertical upper ends of the roller support portions 2525a. The rollers 2527 are also formed with recesses that can engage with the rails 7. For this reason, the rollers 2527 are unlikely to come off the rails 7.

[0185] The roller shaft support portion 2525d is fixed to the vertical upper end of the roller support portion 2525a and extends in a direction perpendicular to the longitudinal direction of the roller support portion 2525a. The roller shaft support portion 2525d supports the roller 2527 rotatably relative to the rail 7. The roller shaft support portion 2525d may also have an electric motor. In this case, the roller 2527 rotates by being coupled to the rotating shaft of the electric motor.

[0186] 12B , third connector 2523 further has a slide block 2529 that slides on a slide rail 2541 provided on rotating table 2540. Slide block 2529 is connected to the vertical lower end of third connector 2523.

[0187] In the present embodiment, third connecting body 2523 has two rollers 2527 and two roller shaft supports 2525d, but may have three or more of these, or may have just one of each. Furthermore, first connecting body 2521 and second connecting body 2522 also have one roller 2527 and one roller shaft support 2525d, but may have two or more of these each.

[0188] Here, roller 2527 of first connecting body 2521 is an example of a first rotating roller, roller 2527 of second connecting body 2522 is an example of a second rotating roller, and two rollers 2527 of third connecting body 2523 are an example of a third rotating roller and a fourth rotating roller.

[0189] The rotating base 2540 is located on the upper surface of the machine body 2501, and is installed between the machine body 2501 and the third connector 2523. The third connector 2523 is connected to the rotating base 2540. The rotating base 2540 applies stress to rotate the machine body 2501 in accordance with a control instruction from the control processing unit 2530. As a result, when the third connector 2523 is connected to the rail 7, the rotating base 2540 can rotate the machine body 2501 around the center point O. In this way, the rotating base 2540 rotates the machine body 2501 so that the longitudinal direction of the frame intersects approximately perpendicularly with the direction along the rail 7.

[0190] Furthermore, the rotating table 2540 has a linear slide rail 2541 including the center of rotation. A slide block 2529 provided on the third connector 2523 slides on the slide rail 2541. Stoppers are provided on both ends of the slide rail 2541 to prevent the slide block 2529 from coming off the slide rail 2541.

[0191] FIG. 13A is a diagram illustrating an example of the internal structure of a turntable 2540 of a luggage transporting apparatus according to the second embodiment.

[0192] As shown in FIG. 13A , the rotating table 2540 has a rotation shaft 2542 and a base 2540a that is rotated by the rotation shaft 2542. The rotation shaft 2542 extends vertically so as to be perpendicular to the upper surface of the machine body 2501. The rotation shaft 2542 rotates via the motor 2543 and a worm 2544 when a motor 2543 provided in the machine body 2501 is driven under the control of the control processing unit 2530. The base 2540a is connected vertically above the rotation shaft 2542. The base 2540a is disk-shaped. The rotation shaft 2542 is connected to the center of the base 2540a. As shown in FIG. 11 , a slide rail 2541 is arranged on the upper surface of the base 2540a.

[0193] Figure 13B is a side view illustrating a slide rail 2541 of a luggage transport apparatus 10q1 according to embodiment 2. Figure 13C is a front view illustrating a slide block 2529 of a luggage transport apparatus 10q1 according to embodiment 2. The motor 2545 is not shown in Figure 13C. Figure 13D is a front view illustrating an L-side part, a pole screw 2541c, and a guide 2541a of the slide block 2529 of a luggage transport apparatus 10q1 according to embodiment 2. Figure 13E is a front view illustrating an R-side part, a pole screw 2541c, and a guide 2541a of the slider of a luggage transport apparatus 10q1 according to embodiment 2.

[0194] As shown in FIGS. 13B to 13E , the slide rail 2541 is, for example, a linear guide. The slide rail 2541 is composed of two guides 2541 a, a guide rail 2541 b, two pole screws 2541 c, a motor 2545, and the like. While the two guides 2541 a maintain the posture of the slide block 2529, the two motors 2541 d synchronously rotate the two pole screws 2541 c in a one-to-one relationship, thereby moving the slide block 2529 along the longitudinal direction of the guide rail 2541 b. The slide block 2529 is composed of, for example, two clutch blocks 2541 e and a linear block 2541 f. The slide block 2529 can be moved along the slide rail 2541 by the motor 2545 provided on the rotating table 2540 being controlled by the control processing unit 2530.

[0195] 11 , the side propeller 2551 is provided on the other side (opposite the direction of travel) of the aircraft main body 2501. The side propeller 2551 applies a propulsive force to the aircraft main body 2501 in a direction parallel to the rail 7. Specifically, the side propeller 2551 is rotated by a propeller drive motor 2552 attached to the propeller support portion 22 a 9, thereby applying a propulsive force to the aircraft main body 2501.

[0196] The propeller drive motor 2552 controls the rotation speed of the side propeller 2551 in accordance with a control instruction from the control processing unit 2530 .

[0197] In this luggage transport device 10q1, the rollers 2527 can be moved away from the rail 7 by extending the connectors 2520. The rollers 2527 can also be placed on the rail 7 by retracting the connectors 2520. In FIG. 11 , all of the connectors 2520 are positioned on the right side as viewed along the direction of travel. However, by rotating the rotating base 2540, the third connector 2523 can be positioned on the left side as viewed along the direction of travel. Furthermore, by rotating the rotating base 2540 with only the third connector 2523 connected to the rail 7, the vehicle body 2501 rotates, thereby reversing the direction of travel of the luggage transport device 10q1. Furthermore, by moving the slide block 2529 provided on the slide rail 2541 of the rotating base 2540, the third connector 2523 can be moved horizontally. That is, the rollers 2527 of the third connector 2523 can be moved horizontally away from or closer to the rail 7. In addition, by extending the first slider 2511 and the second slider 2512, it is also possible to deliver luggage to a location that is horizontally distant from the luggage carrying device 10q1.

[0198] (Modification of Second Embodiment) FIG. 14 is a perspective view illustrating a luggage carrying device 10q2 according to a modification of the second embodiment.

[0199] As shown in FIG. 14 , the basic configuration of the luggage transport apparatus 10q2 of this modified example is similar to that of the luggage transport apparatuses of embodiment 2 and the like. Therefore, the basic configuration of the luggage transport apparatus 10q2 of this modified example will be denoted by the same reference numerals as described above, and a description thereof will be omitted where appropriate. The luggage transport apparatus 10q2 of this modified example differs from the luggage transport apparatus of embodiment 2 in that the first connector 2521, the second connector 2522, the rotating platform 2540, and the third connector 2523 move relative to the vehicle body 2501. Furthermore, the luggage transport apparatus 10q2 of this modified example does not have the slide rails of embodiment 2, but may have slide rails. Furthermore, the third connector 2523 of the luggage transport apparatus 10q2 does not have a lifting mechanism using a spring 2525b, a slide motor 2526, or the like.

[0200] The luggage carrying device 10q2 of this modified example has first slide mechanisms 2560a and 2560b that move the first connector 2521 and the second connector 2522.

[0201] First slide mechanism 2560a is disposed between first connector 2521 and machine body 2501 and extends relative to machine body 2501. First slide mechanism 2560b is disposed between first connector 2521 and machine body 2501 and extends relative to machine body 2501. First slide mechanism 2560a is an example of a second slider unit. First slide mechanism 2560b is an example of a third slider unit.

[0202] Specifically, first sliding mechanism 2560a includes a connector support part 2562a that slides along the horizontal direction, which is perpendicular to the longitudinal direction of machine body 2501, and a sliding main body part 2561a that slidably supports connector support part 2562a. First sliding mechanism 2560b includes a connector support part 2562b that slides along the horizontal direction, which is perpendicular to the longitudinal direction of machine body 2501, and a sliding main body part 2561b that slidably supports connector support part 2562b.

[0203] The connector support parts 2562a are arranged on the front end side (in the direction of travel) and rear end side (opposite the direction of travel) of the machine body 2501, and the connector support parts 2562b are arranged on the front end side (in the direction of travel) and rear end side (opposite the direction of travel) of the machine body 2501. The connector support parts 2562a, 2562b slide along the longitudinal direction of the sliding body parts 2561a, 2561b and the horizontal direction. Specifically, the connector support parts 2562a, 2562b slide in a direction perpendicular to the longitudinal direction of the machine body 2501 and approximately parallel to the horizontal direction.

[0204] The slide main bodies 2561a and 2561b are elongated along a predetermined direction relative to the machine body 2501 and are connected to the machine body 2501. Specifically, the slide main bodies 2561a and 2561b are provided along a direction horizontal to the longitudinal direction of the machine body 2501 by a slide motor 2563 provided in the machine body 2501. Therefore, the slide main bodies 2561a and 2561b guide the connection body support parts 2562a and 2562b so that they can slide in a direction perpendicular to the longitudinal direction of the machine body 2501.

[0205] The slide motor 2563 is provided in the machine body 2501 and is controlled by the control processing unit 2530 to cause the slide body portions 2561 a and 2561 b to slide in the vertical direction relative to the machine body 2501 .

[0206] Furthermore, the luggage carrying device 10q2 of this modified example further includes a second slide mechanism 2564 that moves the rotating table 2540 and the third connector 2523 in the vertical direction.

[0207] Second slide mechanism 2564 includes a rotating table 2540 , a shaft motor 2567 , and a shaft 2565 that passes through rotating table 2540 and is connected to third connector 2523 .

[0208] Rotating table 2540 is disposed between third connector 2523 and machine body 2501. Rotating table 2540 extends first slide mechanism 2560a and first slide mechanism 2560b, and moves first connector 2521 and second connector 2522 away from the rails, and then rotates machine body 2501 under the control of control processing unit 2530.

[0209] The shaft motor 2567 is controlled by the control processing unit 2530 to move the shaft 2565 vertically relative to the machine body 2501 and the rotating table 2540 .

[0210] Shaft 2565 passes through the center of turntable 2540, and has its vertical upper end connected to third connector 2523. Shaft 2565 can move vertically by controlling shaft motor 2567 with control processing unit 2530.

[0211] (Embodiment 3) Fig. 15A is a perspective view illustrating a rail 7 and a rail connector 2570 according to embodiment 3. Fig. 15B is another perspective view illustrating a rail 7 and a rail connector 2570 according to embodiment 3. Fig. 16 is a perspective view illustrating a first connecting point T1 of a first rail 7a and a second connecting point T2 of a second rail 7b according to embodiment 3.

[0212] In this embodiment, a case where the first rail 7a and the second rail 7b are connected by a rail connector 2570 is illustrated.

[0213] The rail connector 2570 is L-shaped or inverted L-shaped and can connect the first rail 7a and the second rail 7b at the location where the first rail 7a and the second rail 7b intersect at an intersection. Fig. 15A illustrates an L-shaped rail connector 2570, i.e., positioned on the left side of the traveling direction when viewed along the longitudinal direction of the first rail 7a. Fig. 15B illustrates an inverted L-shaped rail connector 2570, i.e., positioned on the right side of the traveling direction when viewed along the longitudinal direction of the first rail 7a.

[0214] The rail connector 2570 can also connect the first rail 7a and the second rail 7b so that they form an inverted L-shape when viewed along the longitudinal direction of the first rail 7a.

[0215] The rail connecting body 2570 has a first rail connecting portion 2571a, a first rail extending portion 2571b, a second rail connecting portion 2572a, and a second rail extending portion 2572b.

[0216] First rail connecting portion 2571a connects to first rail 7a. Specifically, first rail connecting portion 2571a is connected to first rail 7a by inserting first rail 7a into a first insertion hole of first rail connecting portion 2571a. Furthermore, first rail connecting portion 2571a is connected to first rail extending portion 2571b on its vertically lower surface.

[0217] One end of first rail extension 2571b is connected to first rail connector 2571a, and the other end of first rail extension 2571b is connected to the other end of second rail connector 2572a. First rail extension 2571b extends from first rail connector 2571a in a direction perpendicular to the longitudinal direction of first rail 7a and horizontally.

[0218] Second rail connecting portion 2572a connects to second rail 7b. Specifically, second rail 7b is inserted into a second insertion hole of second rail connecting portion 2572a, thereby connecting second rail connecting portion 2572a to second rail 7b. In addition, second rail connecting portion 2572a is connected to second rail extending portion 2572b on its lower vertical surface.

[0219] One end of second rail extension 2572b is connected to second rail connector 2572a, and the other end of second rail extension 2572b is connected to the other end of first rail connector 2571a. Second rail extension 2572b extends from second rail connector 2572a in a direction perpendicular to the longitudinal direction of second rail 7b and in the vertical direction.

[0220] 15A to 16, rail connector 2570 is connected to second rail 7b at a position that is farther away from the second rail 7b, which is vertically above first connection point T1 where rail connector 2570 is connected to first rail 7a. In other words, second rail connection portion 2572a and second rail extension portion 2572b are located at a distance from first rail 7a. That is, when first rail 7a and second rail 7b are viewed vertically, first connection point T1 between rail connector 2570 and first rail 7a and second connection point T2 between rail connector 2570 and second rail 7b are not located vertically but are located at a distance from each other. Therefore, a space is formed between first rail 7a and second rail connection portion 2572a to allow passage of roller 2527 of luggage transport device 10q2.

[0221] Therefore, in the case of Figure 15A, luggage transport device 10q2 is likely to turn right from first rail 7a to second rail 7b, and in the case of Figure 15B, luggage transport device 10q2 is likely to turn left from first rail 7a to second rail 7b.

[0222] The luggage transport device 10q2 can turn left in FIG. 15A and can turn right in FIG. 15B.

[0223] (Embodiment 4) In the following, the basic configuration of the luggage carrying device 10q1 in this embodiment is the same as the basic configuration of the luggage carrying device in embodiment 2, etc. Therefore, the basic configuration of the luggage carrying device 10q1 in this embodiment will be denoted by the same reference numerals as described above and will not be described as appropriate. In addition, in this embodiment, the lifting system, unmanned aerial vehicle, delivery locker, etc. of embodiments other than embodiment 1 may be used.

[0224] [Operation Example 1] FIG. 17 is a top view and a side view illustrating the operation of the luggage carrying device 10q1 according to the fourth embodiment.

[0225] In this operation example, the luggage carrying device 10q1 rotates the body of the device 10q1 by 180° on the rail 7. It is assumed that the luggage carrying device 10q1 is stopped on the rail 7, and the first connector 2521, the second connector 2522, and the third connector 2523 of the luggage carrying device 10q1 are connected to the rail 7.

[0226] First, as shown in a1 and a2 of FIG. 17, the control processing unit of the luggage carrying device 10q1 controls the slide motor of the third connector 2523 to retract the third connector 2523 of the luggage carrying device 10q1.

[0227] 17 b1 and b2, the body of the luggage carrying device 10q1 is lifted, and the rollers 2527 of the first connector 2521 and the rollers 2527 of the second connector 2522 are separated from the rails 7. At this time, the body tilts relative to the horizontal plane because the first connector 2521, the second connector 2522, and the third connector 2523 are connected to the sides of the body rather than the center of the body. Note that the control processing unit may control the slide rails of the rotating table 2540 or the like to shift the position of the third connector 2523 relative to the body so as to tilt the body.

[0228] 17 c1, the control processing unit of luggage carrying device 10q1 extends third connector 2523 of luggage carrying device 10q1 by controlling the slide motor of third connector 2523. As a result, first connector 2521 and second connector 2522 do not come into contact with rail 7, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned vertically below rail 7.

[0229] 17, the control processing unit of the luggage carrying apparatus 10q1 controls the rotating platform 2540 to rotate the rotating platform 2540 by 180°, thereby reversing the orientation of the luggage carrying apparatus 10q1.

[0230] 17 f1, the control processing unit of the luggage carrying device 10q1 controls the slide motor of the third connector 2523 to retract the third connector 2523 of the luggage carrying device 10q1. As a result, the body of the luggage carrying device 10q1 is raised, and the rollers 2527 of the first connector 2521 and the second connector 2522 are positioned vertically above the rail 7. The first connector 2521 and the second connector 2522 are positioned on the opposite side of the rail 7 from the third connector 2523. At this time, the third connector 2523 is positioned closer to one side of the body than the center of the body, and the first connector 2521 and the second connector 2522 are positioned closer to the other side of the body than the center of the body, so that the body is positioned approximately parallel to the horizontal plane or slightly tilted to the other side of the body.

[0231] 17, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to return third connector 2523 of luggage carrying device 10q1 to its original length. As a result, roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned on rail 7. In this way, luggage carrying device 10q1 starts traveling.

[0232] Alternatively, the control processing unit of the luggage transport device 10q1 may control the slide motor of the third connector 2523 to extend the third connector 2523 of the luggage transport device 10q1, thereby moving the roller 2527 of the third connector 2523 away from the rail 7. The control processing unit of the luggage transport device 10q1 may control the slide motor of the third connector 2523 to retract the third connector 2523 of the luggage transport device 10q1, thereby positioning the roller 2527 of the third connector 2523 vertically below the rail 7. The control processing unit of the luggage transport device 10q1 controls the rotating table 2540 to rotate the rotating table 2540 by 180 degrees. As a result, the third connector 2523 is positioned on the other side of the vehicle body, similar to the first connector 2521 and the second connector 2522. In this manner, the luggage transport device 10q1 begins traveling.

[0233] [Operation Example 2] FIG. 18A is a top view and a side view illustrating an example of the operation of the luggage carrying device 10q1 in accordance with embodiment 4 when making a left turn at an intersection of the first rail 7a and the second rail 7b.

[0234] Figure 18A illustrates a case where a vehicle is turning left from the first rail 7a to the second rail 7b. It also illustrates a case where the first rail 7a and the second rail 7b are connected by the rail connector shown in Figure 15B, i.e., the rail connector located on the right side when viewed along the first rail 7a. It also illustrates a case where the first connector 2521, the second connector 2522, and the third connector 2523 of the luggage transport device 10q1 are located on the opposite side of the rail connector across the first rail 7a. It also illustrates a case where the luggage transport device 10q1 is stopped on the first rail 7a, and the first connector 2521, the second connector 2522, and the third connector 2523 of the luggage transport device 10q1 are connected to the first rail 7a.

[0235] First, as shown in a1 of FIG. 18A , the control processing unit of luggage carrying apparatus 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying apparatus 10q1. This causes the main body of luggage carrying apparatus 10q1 to rise, and rollers 2527 of first connector 2521 and second connector 2522 to move away from first rail 7a. The control processing unit of luggage carrying apparatus 10q1 controls the slide motor of third connector 2523 to extend third connector 2523 of luggage carrying apparatus 10q1. As a result, first connector 2521 and second connector 2522 do not contact first rail 7a and second rail 7b, and rollers 2527 of first connector 2521 and second connector 2522 are positioned vertically below first rail 7a.

[0236] Next, as shown in b1 and c1 of FIG. 18A, the control processing unit of the luggage transport device 10q1 controls the rotating platform 2540 to rotate the rotating platform 2540 counterclockwise by 90°.

[0237] 18A a2, the longitudinal direction of the luggage carrying device 10q1 is parallel to the longitudinal direction of the second rail 7b. In other words, the rollers 2527 of the first connector 2521 and the rollers 2527 of the second connector 2522 are positioned vertically below the second rail 7b.

[0238] 18A b2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying device 10q1. As a result, the main body of luggage carrying device 10q1 is raised, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned vertically above second rail 7b.

[0239] 18A c2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to return third connector 2523 of luggage carrying device 10q1 to its original length, so that roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned on second rail 7b.

[0240] 18A , the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to extend third connector 2523 of luggage carrying device 10q1, thereby separating roller 2527 of third connector 2523 from first rail 7a. At this time, roller 2527 of third connector 2523 is positioned vertically above first rail 7a and second rail 7b.

[0241] Next, as shown in e2 of Figure 18A, the control processing unit of luggage transport device 10q1 controls turntable 2540 to rotate turntable 2540 90° clockwise. As a result, roller 2527 of third connector 2523 is positioned vertically above second rail 7b. The control processing unit of luggage transport device 10q1 controls the motor of first connector 2521 and the motor of second connector 2522 to rotate roller 2527, and moves second connector 2522 slightly forward so as to approach first rail 7a.

[0242] 18A f2, the control processing unit of luggage carrying apparatus 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying apparatus 10q1. As a result, the main body of luggage carrying apparatus 10q1 is lifted, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 move away from second rail 7b.

[0243] 18A g2, the control processing unit of luggage carrying device 10q1 extends third connector 2523 of luggage carrying device 10q1 by controlling the slide motor of third connector 2523. As a result, first connector 2521 and second connector 2522 do not contact first rail 7a and second rail 7b, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned vertically below second rail 7b.

[0244] Next, as shown at h2 in FIG. 18A, the control processing unit of the luggage carrying device 10q1 controls the motor of the third connector 2523 to move the second connector 2522 forward until it passes over the first rail 7a.

[0245] Next, as shown in i2 of Figure 18A, the control processing unit of the luggage carrying device 10q1 controls the slide motor of the third connector 2523 to retract the third connector 2523 of the luggage carrying device 10q1, thereby positioning the roller 2527 of the first connector 2521 and the roller 2527 of the second connector 2522 vertically above the second rail 7b.

[0246] 18A j2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to return third connector 2523 of luggage carrying device 10q1 to its original length, so that roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned on second rail 7b.

[0247] Thus, the luggage transporting device 10q1 starts traveling.

[0248] Furthermore, while FIG. 18A illustrates an example of a left turn, FIG. 18B illustrates an example of a right turn.

[0249] 18B is a top view and a side view illustrating the operation of the luggage carrying device according to embodiment 4 when turning right at an intersection of the first rail and the second rail. The operation when turning right is similar to the operation when turning left, as shown in FIG. 18A, and therefore the description will be omitted as appropriate.

[0250] Figure 18B illustrates a case in which a vehicle makes a right turn from the first rail 7a to the second rail 7b. It also illustrates a case in which the first rail 7a and the second rail 7b are connected by the rail connector shown in Figure 15A, i.e., the rail connector located on the left side when viewed along the first rail 7a. It also illustrates a case in which the first connector 2521, the second connector 2522, and the third connector 2523 of the luggage transport device 10q1 are located on the opposite side of the rail connector across the first rail 7a. It also illustrates a case in which the luggage transport device 10q1 is stopped on the first rail 7a, and the first connector 2521, the second connector 2522, and the third connector 2523 of the luggage transport device 10q1 are connected to the first rail 7a.

[0251] First, as shown in a1 of FIG. 18B , the control processing unit of luggage carrying apparatus 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying apparatus 10q1. This causes the main body of luggage carrying apparatus 10q1 to rise, and rollers 2527 of first connector 2521 and second connector 2522 to move away from first rail 7a. The control processing unit of luggage carrying apparatus 10q1 controls the slide motor of third connector 2523 to extend third connector 2523 of luggage carrying apparatus 10q1. As a result, first connector 2521 and second connector 2522 do not contact first rail 7a and second rail 7b, and rollers 2527 of first connector 2521 and second connector 2522 are positioned vertically below first rail 7a.

[0252] Next, as shown in b1 and c1 of FIG. 18B, the control processing unit of the luggage transport device 10q1 controls the rotating platform 2540 to rotate the rotating platform 2540 by 90° clockwise.

[0253] 18B a2, the longitudinal direction of the luggage carrying device 10q1 is parallel to the longitudinal direction of the second rail 7b. In other words, the rollers 2527 of the first connector 2521 and the rollers 2527 of the second connector 2522 are positioned vertically below the second rail 7b.

[0254] 18B b2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying device 10q1. As a result, the main body of luggage carrying device 10q1 is raised, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned vertically above second rail 7b.

[0255] 18B c2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to return third connector 2523 of luggage carrying device 10q1 to its original length, so that roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned on second rail 7b.

[0256] 18B , the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to extend third connector 2523 of luggage carrying device 10q1, thereby separating roller 2527 of third connector 2523 from first rail 7a. At this time, roller 2527 of third connector 2523 is positioned vertically above first rail 7a and second rail 7b.

[0257] Next, as shown in e2 of Figure 18B, the control processing unit of luggage carrying device 10q1 controls turntable 2540 to rotate turntable 2540 counterclockwise by 90°. As a result, roller 2527 of third connector 2523 is positioned vertically above second rail 7b. The control processing unit of luggage carrying device 10q1 controls the motor of first connector 2521 and the motor of second connector 2522 to rotate roller 2527, and moves first connector 2521 slightly forward so as to approach first rail 7a.

[0258] 18B f2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to retract third connector 2523 of luggage carrying device 10q1. As a result, the main body of luggage carrying device 10q1 is lifted, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 move away from second rail 7b.

[0259] 18B g2, the control processing unit of luggage carrying device 10q1 extends third connector 2523 of luggage carrying device 10q1 by controlling the slide motor of third connector 2523. As a result, first connector 2521 and second connector 2522 do not contact first rail 7a and second rail 7b, and roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned vertically below second rail 7b.

[0260] Next, as shown at h2 in FIG. 18B, the control processing unit of the luggage carrying device 10q1 controls the motor of the third connector 2523 to move the first connector 2521 forward until it passes over the first rail 7a.

[0261] Next, as shown in i2 of Figure 18B, the control processing unit of the luggage carrying device 10q1 controls the slide motor of the third connector 2523 to retract the third connector 2523 of the luggage carrying device 10q1, thereby positioning the roller 2527 of the first connector 2521 and the roller 2527 of the second connector 2522 vertically above the second rail 7b.

[0262] 18B j2, the control processing unit of luggage carrying device 10q1 controls the slide motor of third connector 2523 to return third connector 2523 of luggage carrying device 10q1 to its original length, so that roller 2527 of first connector 2521 and roller 2527 of second connector 2522 are positioned on second rail 7b.

[0263] Thus, the luggage transporting device 10q1 starts traveling.

[0264] It should be noted that even in the case of the rail connector of FIG. 15A, the luggage transport apparatus 10q1 is able to turn left, and even in the case of the rail connector of FIG. 15B, the luggage transport apparatus 10q1 is able to turn right.

[0265] Fifth Embodiment FIG. 19 is a diagram showing an example of the configuration of a logistics system according to this embodiment.

[0266] The logistics system Sy4 in this embodiment includes, for example, an office building intra-delivery system Sy1 installed in Building A, an office building intra-delivery system Sy1 installed in Building B, and a connection mechanism connecting these office building intra-delivery systems Sy1. The connection mechanism is installed on a connecting bridge connecting Building A and Building B and includes a conveyor rail 30 along the connecting bridge, a protective net 70, and multiple doors 71. The protective net 70 is disposed below the conveyor rail 30. Therefore, even if an automated guided vehicle 100 traveling on the conveyor rail 30 drops a package 1, the package 1 can be prevented from falling to the floor or onto the heads of people traveling on the connecting bridge. In addition, the door 71 is provided at the boundary between the connecting bridge and Building A or Building B, thereby preventing, for example, birds from entering Building A or Building B.

[0267] Sixth Embodiment FIG. 20 is a diagram showing an example of an elevator in an apartment delivery system Sy2 according to this embodiment.

[0268] 20, the elevator 200 includes a rail lift 33 and a rail extension / contraction device 34. The rail extension / contraction device 34 is a device including an actuator that extends or contracts the inner elevator rail 32 by horizontally moving the above-mentioned movable rail 32a included in the inner elevator rail 32. The rail extension / contraction device 34 may also be called a rail horizontal movement device.

[0269] If the floors in a building have different heights, a mechanism is required to adjust the height of the elevator inner rail 32 each time the elevator car 210 arrives at a floor. Therefore, in this embodiment, as shown in Figure 20, a rail elevator 33 is used to adjust the height of the elevator inner rail 32 to match the height of the floor inner rail 31.

[0270] That is, the elevator car 210 is equipped with a rail elevator 33 that raises and lowers the elevator inner rail 32. According to the above-described embodiment, even if the floor heights of the various floors of a building differ from floor to floor, the rail elevator 33 can appropriately align the heights of the elevator inner rail 32 and the floor inner rail 31. The rail elevator 33 is also configured to change the distance between the elevator inner rail 32 and the ceiling of the second elevator space 212 according to the floor height of each floor of the building. Furthermore, the first floor height of a first floor of a building is different from the second floor height of a second floor of the building. In this case, the elevator inner rail 32 is in a first first rail state on the first floor of the building and in a second first rail state on the second floor of the building. Here, the first distance between the inner elevator rail 32 and the ceiling of the second elevator space 212 in the first first rail state is different from the second distance between the inner elevator rail 32 and the ceiling of the second elevator space 212 in the second first rail state. Also, the absolute value of the difference between the first floor height and the second floor height is equal to the absolute value of the difference between the first distance and the second distance.

[0271] As described above, the elevator 200 in this embodiment is an elevator installed in a building, and includes an elevator car 210 that rises and falls, a partition 221 that divides the space inside the elevator car 210 into a first elevator space 211 for passengers to board and a second elevator space 212 for the automated guided vehicle 100 to board, an inner elevator rail 32 that is disposed in the second elevator space 212, and a rail elevator 33 that raises and lowers the inner elevator rail 32. The automated guided vehicle 100 runs along the inner elevator rail 32. The rail elevator 33 is configured to be able to change the distance between the inner elevator rail 32 and the ceiling of the second elevator space 212 according to the height of each floor of the building.

[0272] Fig. 21 is a diagram showing an example of an elevator 200 in an office building delivery system Sy1 according to the present embodiment. As shown in Fig. 21, the elevator 200 in the office building delivery system Sy1 may also include a rail elevator 33 and a rail extension / retraction device 34, similar to the example in Fig. 20.

[0273] Furthermore, the first floor height on the Nth floor (N is any natural number) of the building is different from the second floor height on the (N-1)th floor of the building. In this case, the inner elevator rail 32 is in a first first rail state on the Nth floor of the building, and in a second first rail state on the (N-1)th floor of the building. Here, the first distance between the inner elevator rail 32 and the ceiling of the second elevator space 212 in the first first rail state is different from the second distance between the inner elevator rail 32 and the ceiling of the second elevator space 212 in the second first rail state. In other words, the first distance L1 between the inner elevator rail 32 and the reference position in the first first rail state is different from the second distance L2 between the inner elevator rail 32 and the reference position in the second first rail state.

[0274] Seventh Embodiment While the automated guided vehicle 100 in the first to sixth embodiments travels along one rail, an automated guided vehicle 110 in this embodiment travels along two rails.

[0275] Fig. 22 is a diagram showing an example of the configuration of the office building intra-delivery system Sy1 according to this embodiment. As with Fig. 1, Fig. 22 shows one of multiple floors in an office building where the office building intra-delivery system Sy1 is installed, as viewed obliquely from above.

[0276] The office building intra-delivery system Sy1 in this embodiment is installed in a floor area of ​​an office building. Furthermore, the third floor space 13 in the floor area shown in FIG. 22 is narrower in the height direction than the third floor space 13 shown in FIG. 1 . Therefore, in this embodiment, the automated guided vehicle 110 is configured thinner than the automated guided vehicle 100 so that it can travel within the narrow third floor space 13, and travels along a pair of in-floor rails 31 arranged parallel to each other on a horizontal plane. Note that multiple pairs of in-floor rails 31 are arranged in the third floor space 13, and a pair of first in-floor rails 31a and a pair of second in-floor rails 31b included in the multiple pairs of in-floor rails 31 are perpendicular to each other.

[0277] For example, the automated guided vehicle 100 has four wheels 113 arranged on an imaginary plane (e.g., a horizontal plane), with two of the four wheels 113 placed on one of a pair of in-floor rails 31 and the remaining two wheels 113 placed on the other in-floor rail 31. The housing 111 of the automated guided vehicle 110 is arranged so as to be sandwiched between the pair of in-floor rails 31. In the following description, the left-right direction of the automated guided vehicle 110 is the direction along the axes of the four wheels 113, and the front-rear direction of the automated guided vehicle 110 is the direction along the above-mentioned plane on which the four wheels 113 are arranged and perpendicular to the left-right direction.

[0278] FIG. 23 is a diagram showing an example of the operation of the automated guided vehicle 110 transferring from one pair of rails to another pair of rails.

[0279] For example, rails 711 and 712 forming one pair of rails and rails 713 and 714 forming another pair of rails intersect perpendicularly. Note that rails 711 and 712 may be a pair of in-floor rails 31 or a pair of first in-floor rails 31a. Similarly, rails 713 and 714 may be a pair of in-floor rails 31 or a pair of second in-floor rails 31b. Furthermore, rails 711 and 712 are disposed lower than rails 713 and 714.

[0280] For example, an automated guided vehicle 110 having eight wheels 113 travels along rails 711 and 712, and transfers from the rails 711 and 712 to rails 713 and 714. In Fig. 23, the eight wheels 113 are shown as wheels d1 to d8.

[0281] 23(a), the automated guided vehicle 110 travels along rails 711 and 712 with wheels d1 and d7 placed on rail 711 and wheels d4 and d6 placed on rail 712. Then, as wheels d1 and d4 approach rail 714 and wheels d7 and d6 approach rail 713, the automated guided vehicle 110 places wheels d2 and d3 on rail 714 and wheels d8 and d5 on rail 713. Thereafter, the automated guided vehicle 110 removes wheels d1 and d7 from rail 711 and removes wheels d4 and d6 from rail 712.

[0282] 23(b), the automated guided vehicle 110 places wheel d4 on rail 714 and wheel d6 on rail 713. Then, as wheels d2, d3, d4, d8, d5, and d6 rotate, the automated guided vehicle 110 travels along rails 713 and 714. Then, the automated guided vehicle 110 moves wheels d3 and d5 closer to rail 711.

[0283] Next, as shown in Fig. 23(c), the automated guided vehicle 110 moves wheels d3 and d5 under the rail 711, and then, as shown in Fig. 23(d), moves wheels d4 and d6 under the rail 711. As a result, the automated guided vehicle 110 travels along the rails 713 and 714 as wheels d2, d3, d8, and d5 rotate.

[0284] FIG. 24 is a diagram showing an example in which the automated guided vehicle 110 is applied to an elevator 200.

[0285] 20 , the elevator 200 includes a rail lift 33 and a rail extension / retraction device 34. In this embodiment, a pair of in-floor rails 31 are provided in the fourth floor space 13b, and a pair of in-elevator rails 32 are provided in the second elevator space 212. The automated guided vehicle 110 travels along the pair of in-floor rails 31 and the pair of in-elevator rails 32.

[0286] 24 , at least one wheel 113 of the automated guided vehicle 110 is placed on one of the pair of rails 7, and the remaining at least one wheel 113 of the automated guided vehicle 110 is placed on the other of the pair of rails 7. The pair of rails 7 is a pair of intra-floor rails 31 or a pair of intra-elevator rails 32. The housing 111 of the automated guided vehicle 110 is disposed so as to be sandwiched between the pair of rails 7. Here, the thickness L4 of the automated guided vehicle 110 is greater than the height L2 from the bottom surface of the automated guided vehicle 110 to the pair of rails 7, and the thickness L3 of the cargo 1 is greater than the height L2.

[0287] FIG. 25 is a diagram showing an example of the configuration of a logistics system Sy4 in this embodiment.

[0288] The logistics system Sy4 in this embodiment includes, for example, an office building intra-delivery system Sy1 disposed in building A, an office building intra-delivery system Sy1 disposed in building B, and multiple pairs of conveyor rails 30 connecting these office building intra-delivery systems Sy1. The multiple pairs of conveyor rails 30 are arranged in a third floor space 13 of a connecting bridge 300 connecting building A and building B. The conveyor rails 30 are connected to one end of each of the intra-floor rails 31 in building A and building B. Therefore, it can be said that a single rail 7 is formed by connecting the intra-floor rails 31 of building A, the conveyor rail 30, and the intra-floor rails 31 of building B in series. Note that, although multiple pairs of conveyor rails 30 are arranged in the example of FIG. 25 , only one pair of conveyor rails 30 may be arranged.

[0289] The automated guided vehicle 110 travels along a pair of rails 7 in the third floor space 13 of each of Building A, Building B and the connecting bridge 300.

[0290] As described above, the structure in this embodiment includes a first building, a second building, a connecting bridge 300 connecting the first building and the second building, and rails 7 extending from within the first building through the connecting bridge 300 into the second building and on which the automated guided vehicle 110 travels. The first building is, for example, Building A, and the second building is, for example, Building B. The first building includes a first floor and a second floor, and a first space for the automated guided vehicle 110 to travel is provided between the ceiling of the first floor and the floor of the second floor of the first building. The second building also includes a first floor and a second floor, and a second space for the automated guided vehicle 110 to travel is provided between the ceiling of the first floor and the floor of the second floor of the second building. The first space is, for example, the third floor space 13 of Building A, and the second space is, for example, the third floor space 13 of Building B. The connecting bridge 300 further includes a walkway 301 connecting the second floor of the first building with the second floor of the second building. A third space, which is connected to the first space and the second space and in which the automated guided vehicle 110 travels, is provided below the walkway 301. The third space is, for example, the third floor space 13 of the connecting bridge 300. The rails 7 are arranged across the first space, the third space, and the second space.

[0291] This allows the unmanned transport vehicle 110 to travel between the first building and the second building via the connecting bridge 300.

[0292] FIG. 26 is a diagram showing an example of the size of the automatic carrier 110.

[0293] The automated guided vehicle 110 travels in the third floor space 13, which is the space between the first horizontal wall 22a and the second horizontal wall 22b. The height of this third floor space 13, i.e., the distance between the first horizontal wall 22a and the second horizontal wall 22b, is, for example, 40 cm. The thickness (i.e., height) of the automated guided vehicle 110 is, for example, 30 cm. In this case, the gap between the automated guided vehicle 110 and the first horizontal wall 22a or the second horizontal wall 22b is, for example, 5 cm. The thickness of the automated guided vehicle 110 may be 30 cm or more depending on the height of the third floor space 13. For example, the thickness may be 35 cm, 40 cm, or 50 cm. The distance between the pair of rails 7 is, for example, 50 cm. The cargo 1 stored in the housing 111 is, for example, 25 x 36 x 40 cm. 25 cm is the thickness (i.e., height) of the luggage 1, 36 cm is the width of the luggage 1 (i.e., the length in the direction of arrangement of the pair of rails 7), and 40 cm is the total length of the luggage 1 (i.e., the length in the direction along the pair of rails 7). The thickness of the luggage 1 may be greater than or equal to 25 cm or less than 25 cm. For example, the thickness of the luggage 1 may be 15 cm, 20 cm, 30 cm, etc.

[0294] FIG. 27 is a diagram showing an example of a configuration (turntable) for changing the orientation of the automatic transport vehicle 110.

[0295] The top view of Figure 27 is a view from below of a plurality of rails 7 laid on, for example, the first horizontal wall 22a. The plurality of rails 7 include two pairs of rails 7v, two pairs of rails 7h, and a pair of rails 7x. The rails 7v are rails 7 that run along a first direction, and the rails 7h are rails 7 that run along a second direction that is perpendicular to the first direction. The first and second directions are directions perpendicular to the vertical direction. The pair of rails 7v consists of two parallel rails 7v, and the pair of rails 7h consists of two parallel rails 7h.

[0296] One pair of the two pairs of rails 7v is disposed spaced apart from the other pair along the first direction. That is, one pair of rails 7v and another pair of rails 7v different from the first pair of rails 7v are disposed spaced apart from each other along the first direction.

[0297] One pair of the two pairs of rails 7 h is spaced apart from the other pair of rails 7 h in the second direction. That is, one pair of rails 7 h and another pair of rails 7 h different from the first pair of rails 7 h are spaced apart from each other in the second direction.

[0298] 27, an annular pedestal 37 is attached to the underside of the first horizontal wall 22a. A rotating member is attached to the pedestal 37. The rotating member includes a ring 36 and four support columns 36a extending downward from the ring 36 toward the center. Specifically, the pedestal 37 is provided with a groove having an opening toward the center, and the ring 36 is fitted into the groove. Two of the four support columns 36a support a rail 7x, and the remaining two support columns 36a support another rail 7x different from the rail 7x.

[0299] The ring 36 rotates while sliding relative to the base 37 along the grooves of the base 37. At this time, the pair of rails 7x connected to the ring 36 via four support posts 36a also rotates. This rotation of the pair of rails 7x connects the two pairs of rails 7v to each other via the pair of rails 7x. That is, the pair of rails 7v is connected to the pair of rails 7x, and the pair of rails 7x is further connected to the other pair of rails 7v. At this time, the automated guided vehicle 110 can travel along the pair of rails 7v, the pair of rails 7x, and the other pair of rails 7v. Alternatively, the rotation of the pair of rails 7x connects the two pairs of rails 7h to each other via the pair of rails 7h. That is, the pair of rails 7h is connected to the pair of rails 7x, and the other pair of rails 7h is further connected to the other pair of rails 7h. At this time, the automated guided vehicle 110 can travel along the pair of rails 7h, the pair of rails 7x, and the other pair of rails 7h.

[0300] Furthermore, when the four wheels 113 of the unmanned transport vehicle 110 are placed on the pair of rails 7x, if the rotating member rotates, the orientation of the unmanned transport vehicle 110 can be changed.

[0301] 28A and 28B are diagrams showing an example of an operation for changing the orientation of the automated guided vehicle 110. FIG.

[0302] 28A, the automated guided vehicle 110 travels along a pair of rails 7h toward the ring 36. At this time, the pair of rails 7h are connected to a pair of rails 7x. The automated guided vehicle 110 then stops at the center of the ring 36. In other words, the automated guided vehicle 110 stops when its four wheels 113 rest on the pair of rails 7x.

[0303] Next, as shown in FIG. 28B , the rotating member rotates. That is, the ring 36 rotates by being driven by the turntable rotation motor 38. This switches the longitudinal direction of the pair of rails 7x from a direction parallel to the pair of rails 7h (i.e., the second direction) to a direction parallel to the pair of rails 7v (i.e., the first direction). As a result, the pair of rails 7x are connected to the pair of rails 7v. This allows the automated guided vehicle 110 to travel along the pair of rails 7x and then the pair of rails 7v. Therefore, the orientation of the automated guided vehicle 110, i.e., the traveling direction, is changed from the second direction to the first direction.

[0304] As described above, the turntable in this embodiment includes a base 37, a rotating member attached to the base 37 so as to be rotatable about a rotation axis extending in the vertical direction, a first movable rail connected to the rotating member, and a second movable rail connected to the rotating member. The rotating member is, for example, configured from a ring 36 and four support posts 36a, as shown in FIGS. 27 to 28B. The first movable rail and the second movable rail are, for example, a pair of rails 7x. This allows the orientation of the automated guided vehicle 110 to be appropriately changed.

[0305] The turntable in this embodiment also includes an actuator that rotates the rotating member. The actuator is, for example, a turntable rotation motor 38 shown in FIG. 28B . Drive of the actuator switches the rotating member between a first rotation state and a second rotation state. In the first rotation state, a first movable rail, which is one of a pair of rails 7x, is connected to a first-direction first fixed rail extending along the first direction, and a second movable rail, which is the other of the pair of rails 7x, is connected to a first-direction second fixed rail extending along the first direction. The first-direction first fixed rail and the first-direction second fixed rail are, for example, a pair of rails 7v shown in FIGS. 27 to 28B . In the second rotation state, the first movable rail is connected to a second-direction first fixed rail extending along the second direction, and the second movable rail is connected to a second-direction second fixed rail extending along the second direction. The first fixed rail for the second direction and the second fixed rail for the second direction are, for example, a pair of rails 7h shown in FIGS. 27 to 28B.

[0306] This allows the orientation of the automated guided vehicle 110 to be switched between the first direction and the second direction, and the automated guided vehicle 110 can travel along the first fixed rail for the first direction and the second fixed rail for the first direction, or can travel along the first fixed rail for the second direction and the second fixed rail for the second direction.

[0307] 29A and 29B are diagrams showing an example of a detailed configuration of the automated guided vehicle 110. (a1) and (a2) of FIGS. 29A and 29B are diagrams showing the automated guided vehicle 110 from the left and right, i.e., from a direction perpendicular to the pair of rails 7 on the surface on which the pair of rails 7 are arranged. (a1) shows the appearance of the automated guided vehicle 110, and (a2) shows the internal configuration of the automated guided vehicle 110. (b) of FIGS. 29A and 29B are diagrams showing the automated guided vehicle 110 from above, i.e., from a direction perpendicular to the surface on which the pair of rails 7 are arranged. (c1), (c2), and (c3) of FIGS. 29A and 29B are diagrams showing the automated guided vehicle 110 from the front-rear direction, i.e., from a direction along the pair of rails 7. Also, (c1) shows a cross section of the unmanned transport vehicle 110 at a predetermined depth position, (c2) shows a cross section of the unmanned transport vehicle 110 at another depth position, and (c3) shows a state in which the unmanned transport vehicle 110 is unloading the cargo 1. The depth position is a position in the direction along the pair of rails 7.

[0308] As shown in FIGS. 29A and 29B, the automated guided vehicle 110 includes a housing 111, a luggage basket 112, a winch 115, motors 117a and 117b, and a pulley 116.

[0309] The housing 111 is shaped like a rectangular box and is configured to be able to house a luggage basket 112. The luggage basket 112 stores luggage 1. The pulley 116 is disposed approximately in the center of the top surface of the housing 111, and a wire 114 is hung on the pulley 116. One end of the wire 114 is connected to approximately the center of the top surface of the luggage basket 112, and the other end is wound around a winch 115. The winch 115 reels in or pays out the wire 114 by driving a motor 117a or 117b.

[0310] 29A and 29B (a2) and (b), the winch 115 is disposed at a position offset from the luggage car 112 in the direction along the pair of rails 7. In other words, as shown in Figures 29A and 29B (b), when the automated guided vehicle 110 is viewed from above, the winch 115 is disposed at a position that does not overlap with the luggage car 112. This eliminates the need to provide space within the housing 111 for disposing the winch 115 above the luggage car 112, allowing the thickness of the automated guided vehicle 110 to be reduced.

[0311] As shown in (b) of Figures 29A and 29B, the automated guided vehicle 110 is equipped with two first motors 117L and two second motors 117R for rotating the four wheels 113. Like the winch 115, these first motors 117L and second motors 117R are also arranged so as not to overlap the baggage car 112 when the automated guided vehicle 110 is viewed from above. As shown in (b) of Figure 29B, the left-right width of the central portion of the housing 111 in the front-rear direction may be wider than the example shown in (a) of Figure 29A. When the automated guided vehicle 110 unloads the baggage 1, as shown in (c3) of Figures 29A and 29B, the bottom of the housing 111 is opened and the motor 117a or 117b is driven to cause the winch 115 to reel out the wire 114. As a result, the luggage car 112 descends while being suspended from the pulley 116 by the wire 114.

[0312] 29A (c1), the automated guided vehicle 110 in this embodiment includes a housing 111 having a first side surface 111L and a second side surface 111R facing each other, a first wheel 113L provided on the first side surface 111L, and a second wheel 113R provided on the second side surface 111R. The first wheel 113L is a wheel 113 for traveling on a first rail 7L, and the second wheel 113R is a wheel 113 for traveling on a second rail 7R parallel to the first rail 7L. The first rail 7L and the second rail 7R constitute a pair of rails 7. 29A, when the housing 111 and the first wheel 113L and the second wheel 113R are viewed from the direction in which the first rail 7L and the second rail 7R extend, the shafts 113a of the first wheel 113L and the second wheel 113R are lower than the upper surface 111u of the housing 111 and higher than the lower surface 111d of the housing 111. The automated guided vehicle 110 is also called a conveying machine.

[0313] This allows the thickness of the unmanned transport vehicle 110 to be reduced, making it possible to realize a transport vehicle that is suitable for running in the third floor space 13 (i.e., above the ceiling, etc.) where the vertical width is limited.

[0314] Furthermore, as shown in (b) of FIG. 29A, when the automatic guided vehicle 110 is viewed from above in the vertical direction, the housing 111 and the first wheel 113L do not overlap, and the housing 111 and the second wheel 113R do not overlap.

[0315] This allows the first wheel 113L and the second wheel 113R to be effectively lower than the upper surface 111u of the housing 111 and higher than the lower surface 111d of the housing 111, thereby appropriately making the unmanned transport vehicle 110 thinner.

[0316] Here, the configuration of the automatic guided vehicle 110 in this embodiment can also be expressed as follows.

[0317] When the housing 111 and the first wheel 113L and the second wheel 113R are viewed from the direction in which the first rail 7L and the second rail 7R extend, the housing 111 is located between the first rail 7L and the second rail 7R.

[0318] Furthermore, when the unmanned transport vehicle 110 is viewed from above in the vertical direction, the width of the housing 111 in a direction perpendicular to the direction along the first rail 7L and the second rail 7R is shorter than the distance between the first rail 7L and the second rail 7R.

[0319] Also, as shown in (b) of Figure 29A, when the unmanned transport vehicle 110 is viewed from above in the vertical direction, the width of the housing 111 in a direction perpendicular to the direction along the first rail 7L and the second rail 7R is shorter than the distance between the first wheel 113L and the second wheel 113R.

[0320] Even in such a case, the automatic transport vehicle 110 can be appropriately made thinner.

[0321] In this embodiment, as shown in (a2) of Fig. 29A, the automated guided vehicle 110 includes a luggage car 112 connected to a wire 114, a winch 115 capable of reeling out and reeling in the wire 114, and a pulley 116. The luggage car 112 is suspended by hanging the wire 114 on the pulley 116. As shown in (b) of Fig. 29A, when the automated guided vehicle 110 is viewed vertically from above, the luggage car 112 and the winch 115 do not overlap.

[0322] This prevents the winch 115 from increasing the thickness of the automated guided vehicle 110, thereby enabling the automated guided vehicle 110 to be appropriately made thinner. Generally, the winch 115 is large in size. Therefore, if the winch 115 and the car 112 overlap within the housing 111 when the automated guided vehicle 110 is viewed from above in the vertical direction, it is difficult to accommodate the winch 115 and the car 112 within the housing 111, which has a narrow width in the vertical direction. As a result, it is difficult to realize an automated guided vehicle 110 that is thin in the vertical direction (i.e., in the height direction). In contrast, according to the present embodiment, the winch 115 and the car 112 do not overlap within the housing 111 when the automated guided vehicle 110 is viewed from above in the vertical direction, making it possible to realize an automated guided vehicle 110 that is thin in the vertical direction.

[0323] In this embodiment, as shown in (a2) and (b) of Fig. 29A, the winch 115 is located at a corner within the housing 111. For example, the winch 115 is disposed closer to the upper surface 111u than to the lower surface 111d within the housing 111. The winch 115 is also disposed forward or rearward of the center in the front-to-rear direction within the housing 111. As shown in (b) of Fig. 29A, the winch 115 is disposed between the first wheel 113L and the second wheel 113R, or between the first motor 117L and the second motor 117R, when the automated guided vehicle 110 is viewed from above in the vertical direction.

[0324] This effectively prevents the luggage car 112 and the winch 115 from overlapping when the automatic transport vehicle 110 is viewed vertically from above.

[0325] 29A(b), the automated guided vehicle 110 includes a first motor 117L located inside the housing 111 and rotating the first wheel 113L, and a second motor 117R located inside the housing 111 and rotating the second wheel 113R. When the automated guided vehicle 110 is viewed from above in the vertical direction, the first motor 117L does not overlap with the luggage car 112, and the second motor 117R does not overlap with the luggage car 112.

[0326] This makes it possible to prevent the thickness of the automated guided vehicle 110 from being increased by the first motor 117L and the second motor 117R, thereby making it possible to appropriately reduce the thickness of the automated guided vehicle 110. In other words, when the automated guided vehicle 110 is viewed from above in the vertical direction, the first motor 117L and the second motor 117R do not overlap with the luggage car 112, making it possible to realize an automated guided vehicle 110 that is thin in the vertical direction.

[0327] 30A to 30E are diagrams for explaining an example of the operation of the automated guided vehicle 110 changing rails. Note that the upper part of each of Fig. 30A to 30E shows the automated guided vehicle 110 as viewed from the left and right, and the lower part shows the automated guided vehicle 110 as viewed from above.

[0328] For example, the automated guided vehicle 110 travels along a pair of rails 7d, then transfers to one rail 7u and travels along that rail 7u, and then transfers to a pair of rails 7d and travels along that pair of rails 7d. The rails 7d and 7u are examples of rails 7. The automated guided vehicle 110 also includes four wheels 113 for traveling along the pair of rails 7d, and two arms 118 and two wheels 119 for traveling along the rails 7u.

[0329] The bases of the two arms 118 are attached to the upper surface of the housing 111 of the automated guided vehicle 110, approximately in the center in the left-right direction of the automated guided vehicle 110, so as to be aligned along the traveling direction (i.e., the front-to-rear direction) of the automated guided vehicle 110. Two wheels 119 are attached to the ends of the arms 118. Each of the two arms 118 is, for example, rod-shaped, and the automated guided vehicle 110 rotates the arms 118 around the bases of the arms 118. The rotation axis of the arms 118 is parallel to the left-to-right direction of the automated guided vehicle 110.

[0330] 30A(1), the automated guided vehicle 110 travels along the pair of rails 7d with the two wheels 113 on the right side placed on the right rail 7d of the pair of rails 7d and the two wheels 113 on the left side placed on the left rail 7d of the pair of rails 7d. At this time, the automated guided vehicle 110 has its two wheels 119 lowered, but before transferring from the pair of rails 7d to the rail 7u, the two arms 118 are rotated to raise the two wheels 119.

[0331] Next, as shown in (2) of FIG. 30A , the automated guided vehicle 110 approaches rail 7u, which is located above the pair of rails 7d. When rail 7u and the pair of rails 7d are viewed from above, rail 7u is parallel to the pair of rails 7d. At this time, the end of rail 7u is located lower than the two wheels 119. A first rail section including the end of rail 7u is located at the lowest position within rail 7u, a second rail section following the first rail section is located higher than the first rail section, and a third rail section following the second rail section is located higher than the second rail section. In other words, rail 7u is configured by three rail sections at different heights, connected via inclined sections in ascending order of height, starting from the lowest rail section.

[0332] Next, as shown in (3) of Figure 30A, as the automated guided vehicle 110 travels with the rotation of the four wheels 113, two wheels 119 are placed on the rail 7u. At this time, for example, the two wheels 119 are placed on the above-mentioned second rail portion of the rail 7u. Then, the two wheels 119 and the four wheels 113 rotate, causing the automated guided vehicle 110 to travel.

[0333] Next, as shown in (4) of Figure 30B, as the automated guided vehicle 110 continues to travel, two wheels 119 ride on the third rail portion via the inclined portion of rail 7u, and the four wheels 113 leave the pair of rails 7d. As the automated guided vehicle 110 travels further due to the rotation of the two wheels 119, the automated guided vehicle 110 passes the end of the pair of rails 7d, as shown in (5) of Figure 30B. This completes the transfer of the automated guided vehicle 110 from the pair of rails 7d to the rail 7u.

[0334] Here, the rail 7u includes the first rail portion, the second rail portion, and the third rail portion as described above, but may not include the third rail portion. That is, the rail 7u is configured by connecting a lower rail portion and a higher rail portion via an inclined portion. In this case, the automated guided vehicle 110 may perform the operations shown in (4-1) and (5-1) of FIG. 30C instead of the operations shown in (4) and (5) of FIG. 30A. That is, after the state shown in (3) of FIG. 30A, the automated guided vehicle 110 drives the two arms 118 to lower the two wheels 119 so that they move away from each other, as shown in (4-1) of FIG. 30C. For example, the automated guided vehicle 110 lowers the two wheels 119 so that the two arms 118 are tilted 45 degrees forward and backward from the vertical. As a result, the four wheels 113 of the automated guided vehicle 110 are lifted off the pair of rails 7d. Then, as shown in (5-1) of Figure 30C, when the automated guided vehicle 110 travels by rotating the two wheels 119, the automated guided vehicle 110 passes the end of the pair of rails 7d. After that, as shown in (6) of Figure 30C, the automated guided vehicle 110 raises the two wheels 119 by rotating the two arms 118. That is, the automated guided vehicle 110 raises the tips of the two arms 118 in the vertical direction. As a result, the housing 111 of the automated guided vehicle 110 moves away from the rail 7u by the length of the arms 118.

[0335] Next, the automated guided vehicle 110 transfers from the rail 7u to the pair of rails 7d. For example, as shown in (7) of FIG. 30D , the automated guided vehicle 110 approaches the pair of rails 7d while traveling by rotating the two wheels 119. Each of the pair of rails 7d has a first rail portion including a starting end, a second rail portion connected to the first portion, and a third rail portion connected to the second portion via an inclined portion. The first rail portion is inclined. In other words, the first rail portion is formed so that it becomes higher from the starting end toward the terminal end.

[0336] When the wheels 113 come into contact with the first rail portion of the rail 7d as the automated guided vehicle 110 travels due to the rotation of the two wheels 119, the wheels 113 are pushed up by the inclination of the first rail portion of the rail 7d and placed on the second rail portion, as shown in (8) of Fig. 30D. Furthermore, when the automated guided vehicle 110 travels due to the rotation of the four wheels 113, the four wheels 113 are pushed up by the inclined portion of the rail 7d and placed on the third rail portion, as shown in (9) of Fig. 30E. At this time, the two wheels 119 lift off the rail 7u.

[0337] Next, as shown in (10) of Figure 30E, when the automated guided vehicle 110 travels by rotating the four wheels 113, the automated guided vehicle 110 passes the end of the rail 7u, thereby completing the transfer of the automated guided vehicle 110 from the rail 7u to the pair of rails 7d.

[0338] 30A (1) and (2), the automated guided vehicle 110 in this embodiment includes a first arm 118F and a second arm 118R, each connected to a housing 111, a third wheel 119F connected to the distal end of the first arm 118F, a fourth wheel 119R connected to the distal end of the second arm 118R, and at least one actuator for driving the first arm 118F and the second arm 118R. The first arm 118F is one of the two arms 118, and the second arm 118R is the other of the two arms 118. Similarly, the third wheel 119F is one of the two wheels 119, and the fourth wheel 119R is the other of the two wheels 119. The number of first wheels 113L provided on the housing 111 is two or more, and the number of second wheels 113R provided on the housing 111 is two or more. The first arm 118F and the second arm 118R are switched between a first arm state and a second arm state by driving the at least one actuator. As shown in (2) of Fig. 30A, in the first arm state, the third wheel 119F and the fourth wheel 119R are located at a first position above the first wheel 113L and the second wheel 113R. As shown in (1) of Fig. 30A, in the second arm state, the third wheel 119F and the fourth wheel 119R are located at a second position below the first position.

[0339] As a result, by switching the states of the first arm 118F and the second arm 118R, the automated guided vehicle 110 traveling along the first rail 7L and the second rail 7R can be transferred to the third rail, rail 7u. The first rail 7L and the second rail 7R form the pair of rails 7d in Fig. 30A. That is, it is possible to switch from a state in which the first wheel 113L travels on the first rail 7L and the second wheel 113R travels on the second rail 7R to a state in which the third wheel 119F and the fourth wheel 119R travel on the rail 7u.

[0340] The automated guided vehicle 110 in this embodiment also includes a controller. This controller may be configured as a processor or a CPU (Central Processing Unit) and may perform the following operations by reading and executing a computer program stored in a recording medium such as a memory. For example, the first wheel 113L and the second wheel 113R travel on the first rail 7L and the second rail 7R (i.e., on a pair of rails 7d), respectively, from the first section to the second section. Here, as shown in (1) of FIG. 30A , there is no rail 7u above the first rail 7L and the second rail 7R in the first section. Furthermore, as shown in (3) of FIG. 30A , there is a rail 7u above the first rail 7L and the second rail 7R in the second section. In this case, as shown in (1) of Fig. 30A, when the first wheel 113L and the second wheel 113R are in the first section, the controller controls at least one actuator to change the first arm 118F and the second arm 118R from the second arm state to the first arm state. As a result, as shown in (2) and (3) of Fig. 30A, when the rail 7u is positioned below the third wheel 119F and the fourth wheel 119R, the controller causes the third wheel 119F and the fourth wheel 119R to run on the rail 7u.

[0341] This allows the automated guided vehicle 110 to be properly transferred from the pair of rails 7d, the first rail 7L and the second rail 7R, to the third rail 7u, which is located above those rails.

[0342] In this embodiment, as shown in (4-1) and (5-1) of FIG. 30C , the first arm 118F and the second arm 118R are further switched to a third arm state by driving at least one actuator. In the third arm state, the third wheel 119F and the fourth wheel 119R are located at a third position that is lower than the first position and higher than the second position. For example, the controller changes the first arm 118F and the second arm 118R from the second arm state to the first arm state, and after the third wheel 119F and the fourth wheel 119R travel on the rail 7u, the controller controls at least one actuator to change the first arm 118F and the second arm 118R from the first arm state to the third arm state.

[0343] This allows the first wheel 113L and the second wheel 113R to be lifted off the pair of rails 7d, that is, the first rail 7L and the second rail 7R. In other words, the automated guided vehicle 110 can be appropriately transferred from the pair of rails 7d, that is, the first rail 7L and the second rail 7R, to the third rail, that is, the rail 7u.

[0344] In this embodiment, as shown in (9) and (10) of Fig. 30E, the first wheel 113L and the second wheel 113R run on the first rail 7L and the second rail 7R (i.e., on the pair of rails 7d), respectively, and the third wheel 119F and the fourth wheel 119R move away from the rail 7u. After this, the controller controls at least one actuator to change the first arm 118F and the second arm 118R from the first arm state to the second arm state, as shown in (1) of Fig. 30A.

[0345] This allows the automated guided vehicle 110 to be properly transferred from the third rail, which is the rail 7u, to the pair of rails 7d, which are the first rail 7L and the second rail 7R.

[0346] Furthermore, as shown in FIGS. 30A to 30E , the automated guided vehicle 110 in this embodiment is a guided vehicle and includes at least one wheel 119 and at least two wheels 113. The wheel 119 may be referred to as a first wheel, and the wheel 113 may be referred to as a second wheel. The at least one wheel 119 is for traveling on a rail 7u, which is located outside the first building and used for the guided vehicle to travel outdoors. The rail 7u may be referred to as a first rail. The at least two wheels 113 are for traveling on a pair of rails 7d, which are located inside the first building and used for the guided vehicle to travel indoors. The rails 7d are also referred to as second rails.

[0347] Thus, the automated guided vehicle 110 is equipped with at least one wheel 119 and at least two wheels 113, and is therefore capable of traveling along the rail 7u and also along the pair of rails 7d. In other words, the automated guided vehicle 110 can travel freely both indoors and outdoors in the first building.

[0348] In addition, the unmanned transport vehicle 110 in this embodiment is configured to be changeable between a first traveling mode in which at least one wheel 119 travels on the rail 7u, and a second traveling mode in which at least two wheels 113 travel on a pair of rails 7d.

[0349] This allows the automated guided vehicle 110 to transfer between the rail 7u and the pair of rails 7d by switching between the first travel mode and the second travel mode.

[0350] Here, the rail structure in this embodiment includes a pair of rails 7d located inside the first building and along which the automated guided vehicle 110 travels indoors, and a rail 7u located outside the first building and along which the automated guided vehicle 110 travels outdoors. The rail structure has a first area where the automated guided vehicle 110 transfers from the rails 7u to the pair of rails 7d, or from the pair of rails 7d to the first rail 7u. The first area is, for example, the area shown in (3) of Fig. 30A or the area shown in (8) of Fig. 30D.

[0351] This allows the automated guided vehicle 110 to easily change rails.

[0352] In addition, in this embodiment, when the first area is viewed from above in the vertical direction, the rail 7u is located between the pair of rails 7d.

[0353] This allows the automatic guided vehicle 110 to stably transfer onto the rail 7u.

[0354] In this embodiment, as shown in (3) of Figure 30A, when the first area is viewed horizontally, rail 7u is located above the pair of rails 7d. When the first area is viewed horizontally, a first region exists where the distance between rail 7u and the pair of rails 7d increases as the distance increases toward the first direction. Here, the first direction is the direction in which the automated guided vehicle 110 moves from inside the first building to outside the first building. In the example of (3) of Figure 30A, the first direction is the direction indicated by the arrow.

[0355] This allows the automatic guided vehicle 110 to be appropriately transferred from the pair of rails 7d to the pair of rails 7u while suppressing aggressive movement of the automatic guided vehicle 110.

[0356] In this embodiment, as shown in (3) of FIG. 30A, in the first section, the height of the rail 7u from the ground increases toward the first direction.

[0357] This allows the automated guided vehicle 110 to be properly transferred from the pair of rails 7d to the pair of rails 7u with a simple configuration.

[0358] In this embodiment, as shown in (8) of Figure 30D, the height of the pair of rails 7d from the ground increases in the first section as it moves in the second direction. Here, the second direction is the direction in which the automated guided vehicle 110 moves from the outside of the first building to the inside of the first building. In the example of (8) of Figure 30D, the second direction is the direction indicated by the arrow.

[0359] This allows the automatic guided vehicle 110 to be prevented from moving aggressively, and allows the automatic guided vehicle 110 to move appropriately from the rail 7u to the pair of rails 7d.

[0360] Figure 31 is a diagram showing an example of the automated guided vehicle 110 entering building A from outside. Note that (A) in Figure 31 shows building A and the automated guided vehicle 110 as viewed from above, and (B) in Figure 31 shows building A and the automated guided vehicle 110 as viewed from the horizontal direction. Note that Figure 31 shows a cross section of building A. Figure 31 also shows an example in which the automated guided vehicle 110 passes through position (a), position (b), and position (c) in that order.

[0361] In the example of Figure 31 , rail 7u is arranged in third floor space 13 within building A so as to penetrate building A horizontally, and a pair of rails 7d is arranged below rail 7u in third floor space 13 within building A. Specifically, rail 7u is arranged in a straight line so as to pass through openings A1 and A2 of building A. Meanwhile, as shown in Figure 31 (A) , the pair of rails 7d is arranged along rail 7u from opening A1 to position (c) within building A, but when viewed from the direction from opening A1 toward opening A2, the pair of rails 7d curves to the left in the horizontal direction within building A.

[0362] The automated guided vehicle 110 enters building A from outside through opening A1 along the rails 7u. At this time, the automated guided vehicle 110 has the tips of the two arms 118 raised so that each is aligned vertically, and the two wheels 119 placed on the rails 7u. In this state, the automated guided vehicle 110 travels by rotating the two wheels 119.

[0363] When the automated guided vehicle 110 enters building A and starts traveling, the four wheels 113 of the automated guided vehicle 110 are positioned above the pair of rails 7d. As the automated guided vehicle 110 travels, the height of the pair of rails 7d below the four wheels 113 rises. As a result, as shown in Figure 31 (B) , at position (a), the four wheels 113 are placed on the pair of rails 7d, and two wheels 119 are separated upward from the pair of rails 7d. As a result, the automated guided vehicle 110 travels along the pair of rails 7d by the rotation of the four wheels 113.

[0364] 31A, the portion of the pair of rails 7d at position (b) is shifted, for example, by about 10 cm to the left as viewed in the traveling direction of the automated guided vehicle 110, from the portion of the pair of rails 7d at position (a). Therefore, as the automated guided vehicle 110 passes through position (a) and heads toward position (b), the position of the automated guided vehicle 110 shifts to the left. As a result, when the automated guided vehicle 110 passes through position (b), the rail 7u is not located below the two wheels 119. Therefore, when the automated guided vehicle 110 passes through position (b) and heads toward position (c), the two arms 118 are rotated so that the tips of the arms 118 are lowered, thereby allowing the two wheels 119 to be lowered.

[0365] Thereafter, the automated guided vehicle 110 travels along the pair of rails 7d while curving to the left, as shown in FIG. 31(A).

[0366] Figure 32 is a diagram showing another example of the automated guided vehicle 110 entering building A from outside. Note that (A) of Figure 32 shows building A and the automated guided vehicle 110 as viewed from above, and (B) of Figure 32 shows building A and the automated guided vehicle 110 as viewed from the horizontal direction. Note that Figure 32 shows a cross section of building A. In the example of Figure 32, the rail 7u and the pair of rails 7d are arranged in the same manner as in the example of Figure 31. Figure 32 also shows an example in which the automated guided vehicle 110 passes through position (a), position (c), and position (d) in that order.

[0367] Outside building A, the automated guided vehicle 110 has the tips of the two arms 118 raised so that each arm is aligned vertically, and the two wheels 119 placed on the rails 7u. In this state, the automated guided vehicle 110 travels by rotating the two wheels 119. Here, the automated guided vehicle 110 enters building A from outside through opening A1 along the rails 7u. At this time, the automated guided vehicle 110 rotates the two arms 118 so that each arm 118 is tilted forward and backward by approximately 45° from the vertical. As a result, the housing 111 of the automated guided vehicle 110 approaches the rails 7u and becomes higher above the ground.

[0368] Then, when the automated guided vehicle 110 enters building A and travels, the four wheels 113 of the automated guided vehicle 110 are positioned above the pair of rails 7d. Furthermore, as the automated guided vehicle 110 travels, the height of the pair of rails 7d below the four wheels 113 rises. However, in the example of FIG. 32 , unlike the example of FIG. 31 , the housing 111 of the automated guided vehicle 110 is moved closer to the rail 7u and positioned higher above the ground. Therefore, even when the automated guided vehicle 110 passes through positions (a) and (c), the four wheels 113 do not rest on the pair of rails 7d. In other words, the automated guided vehicle 110 does not transfer from the rail 7u to the pair of rails 7d. As a result, the automated guided vehicle 110 continues traveling along the rails 7u and passes position (d). At this time, the pair of rails 7d is not present below the automated guided vehicle 110. Therefore, when the automated guided vehicle 110 passes position (d), it rotates the two arms 118 so that the tip of each of the two arms 118 is raised in the vertical direction. Then, the automated guided vehicle 110 continues traveling along the rail 7u and leaves building A.

[0369] As described above, the rail structure of this embodiment includes rail 7d and rail 7u located above rail 7d. Rail 7d is also referred to as the first rail, and rail 7u is also referred to as the second rail. As shown in Figures 31 and 32 , when the regions that exist in order along the direction in which rail 7u extends are defined as a first region, a second region, a third region, and a fourth region, rail 7d exists in the second and third regions. The second region includes a first slope region in which the height distance between rail 7d and rail 7u narrows with increasing distance from the first region. In the third region, rail 7d includes a first portion in which the distance from rail 7u increases with increasing distance from the second region when viewed from above in the vertical direction.

[0370] As a result, because the second region includes the first slope region, the automated guided vehicle 110 can easily transfer from the rail 7u to the rail 7d, as shown in Fig. 31. Furthermore, because the rail 7d includes the first portion, the automated guided vehicle 110 can easily move off the rail 7u in the horizontal direction by traveling along the rail 7d.

[0371] In the first slope region, the rail 7d is inclined with respect to the horizontal direction, and the rail 7u is aligned with the horizontal direction.

[0372] This allows the unmanned transport vehicle 110 to move its four wheels 113 closer to the rail 7d as shown in Figure 31 while traveling along the rail 7u, making it easy to transfer from the rail 7u to the rail 7d.

[0373] 31, the first portion includes a first shift portion that moves away from rail 7u in the horizontal direction and is connected to a first parallel running portion of rail 7d as it moves away from the second region. In the third region, the first parallel running portion and rail 7u are parallel to each other.

[0374] As a result, the first portion of the rail 7d includes the first shift portion, so that the automated guided vehicle 110 traveling along the rail 7d can easily move away from the rail 7u in the horizontal direction.

[0375] As shown in FIG. 31, the first section has a shape curved in the horizontal direction and includes a first curved section that changes the traveling direction of the rail 7d.

[0376] As a result, the first portion of the rail 7d includes a first curved portion, so that the unmanned transport vehicle 110 traveling along the first curved portion can easily change its direction of travel without stopping.

[0377] Figure 33 is a diagram showing another example of the automated guided vehicle 110 entering building A from outside. Note that (A) of Figure 33 shows building A and the automated guided vehicle 110 as viewed from above, and (B) of Figure 33 shows building A and the automated guided vehicle 110 as viewed from the horizontal direction. Note that Figure 33 shows a cross section of building A. Figure 33 also shows an example in which the automated guided vehicle 110 passes through position (a), position (b), position (c), position (d), and position (e) in that order.

[0378] In the example of Figure 33, rails 7u are arranged in third floor space 13 within building A so as to penetrate building A horizontally, similar to the examples of Figures 31 and 32. Also, in the example of Figure 33, a pair of rails 7da and a pair of rails 7db are arranged as pairs of rails 7d in third floor space 13 within building A. The pair of rails 7da are arranged on the opening A1 side of third floor space 13, and the pair of rails 7db are arranged on the opening A2 side of third floor space 13. Also, as shown in Figure 33 (A), the pair of rails 7da are arranged along rails 7u from opening A1 to position (b) within building A, but when viewed from the direction from opening A1 toward opening A2, the pair of rails 7da curve horizontally to the left within building A. Meanwhile, the pair of rails 7db are arranged along the rail 7u from the center of building A to position (e) within building A, but when viewed from the direction from opening A1 toward opening A2, the pair of rails 7db curve horizontally to the right within building A. Furthermore, the portions of the pair of rails 7da and the pair of rails 7db on the opening A1 side are located lower than the other portions.

[0379] The automated guided vehicle 110 enters building A from outside through opening A1 along the rails 7u. At this time, the automated guided vehicle 110 places two wheels 119 on the rails 7u, and tilts each of its two arms 118 forward and backward by approximately 45° from the vertical. This positions the housing 111 of the automated guided vehicle 110 close to the rails 7u and high above the ground. As a result, even after entering building A, the automated guided vehicle 110 continues to travel along the rails 7u, and even when passing positions (a) and (b), the four wheels 113 do not rest on the pair of rails 7d. In other words, the automated guided vehicle 110 does not transfer from the rails 7u to the pair of rails 7d.

[0380] As the automated guided vehicle 110 travels through the center of Building A, a pair of rails 7db is located below the four wheels 113. At this time, the automated guided vehicle 110 rotates the two arms 118 so that the tips of the two arms 118 are raised along the vertical direction. This increases the distance between the rail 7u and the housing 111 of the automated guided vehicle 110, lowering the height of the housing 111 from the ground. As a result, when the automated guided vehicle 110 passes through position (c), the four wheels 113 of the automated guided vehicle 110 rest on the pair of rails 7db, and the two wheels 119 move upward and away from the rails 7u. Furthermore, as the four wheels 113 rotate, the automated guided vehicle 110 begins traveling along the pair of rails 7db, and deviates to the left as it travels from position (c) to position (d). As a result, when the automated guided vehicle 110 passes through position (d), the rails 7u are not positioned below the two wheels 119. Therefore, when the automated guided vehicle 110 passes through position (d) and heads toward position (e), the arm 118 can be rotated to lower the two wheels 119.

[0381] Thereafter, the automated guided vehicle 110 travels along the pair of rails 7db while curving to the right, as shown in FIG. 33(A).

[0382] As described above, the rail structure in this embodiment includes rail 7da, rail 7db, and rail 7u located above rail 7da and rail 7db. Rail 7da, rail 7db, and rail 7u are also referred to as a first lower rail, a second lower rail, and an upper rail, respectively. When the regions that exist in order along the direction in which rail 7u extends are defined as a first region, a second region, a third region, a fourth region, and a fifth region, rail 7da exists in the second and third regions, and rail 7db exists in the fourth and fifth regions. The second region includes a first slope region in which the height distance between rail 7da and rail 7u narrows with increasing distance from the first region. In the third region, rail 7da includes a first portion in which the distance from rail 7u increases with increasing distance from the second region when viewed from above in the vertical direction. The fourth region includes a second slope region in which the height distance between the rail 7db and the rail 7u narrows with increasing distance from the third region. In the fifth region, the rail 7db includes a second portion in which the distance from the rail 7u increases with increasing distance from the fourth region when viewed from above in the vertical direction.

[0383] As a result, because the second region includes the first slope region, the automated guided vehicle 110 can easily transfer from rail 7u to rail 7da, as shown in Fig. 33. Furthermore, because rail 7da includes the first portion, the automated guided vehicle 110 can easily move off rail 7u in the horizontal direction by traveling along rail 7da. Similarly, because the fourth region includes the second slope region, the automated guided vehicle 110 can easily transfer from rail 7u to rail 7db, as shown in Fig. 33. Furthermore, because rail 7db includes the second portion, the automated guided vehicle 110 can easily move off rail 7u in the horizontal direction by traveling along rail 7db.

[0384] In the first slope region, the rail 7da is inclined relative to the horizontal direction, and the rail 7u is aligned with the horizontal direction. In the second slope region, the rail 7db is inclined relative to the horizontal direction, and the rail 7u is aligned with the horizontal direction.

[0385] As a result, the automated guided vehicle 110 can move its four wheels 113 close to the rail 7da while traveling along the rail 7u, as shown in Fig. 33, and can easily transfer from the rail 7u to the rail 7da. Similarly, the automated guided vehicle 110 can move its four wheels 113 close to the rail 7db while traveling along the rail 7u, as shown in Fig. 33, and can easily transfer from the rail 7u to the rail 7db.

[0386] The first portion includes a first shift portion that moves horizontally away from rail 7u and connects to a first parallel running portion of rail 7da as it moves away from the second region. In the third region, the first parallel running portion and rail 7u are parallel. The second portion includes a second shift portion that moves horizontally away from rail 7u and connects to a second parallel running portion of rail 7db as it moves away from the fourth region. In the fifth region, the second parallel running portion and rail 7u are parallel.

[0387] As a result, because the first portion of the rail 7da includes the first shift portion, the automated guided vehicle 110 traveling along the rail 7da can easily move away from the rail 7u in the horizontal direction. Similarly, because the first portion of the rail 7db includes the second shift portion, the automated guided vehicle 110 traveling along the rail 7db can easily move away from the rail 7u in the horizontal direction.

[0388] The first section has a horizontally curved shape and includes a first curved section that changes the traveling direction of the rail 7da, and the second section has a horizontally curved shape and includes a second curved section that changes the traveling direction of the rail 7db.

[0389] As a result, the first portion of the rail 7da includes a first curved portion, so the automated guided vehicle 110 traveling along the first curved portion can easily change its direction of travel without stopping. Similarly, the second portion of the rail 7db includes a second curved portion, so the automated guided vehicle 110 traveling along the second curved portion can easily change its direction of travel without stopping.

[0390] Figure 34 is a diagram showing another example of the automated guided vehicle 110 entering building A from outside. Note that (A) in Figure 34 shows building A and the automated guided vehicle 110 as seen from the horizontal direction, and (B) in Figure 34 shows building A and the automated guided vehicle 110 as seen from above. Note that Figure 34 shows a cross section of building A. Figure 34 also shows an example in which the automated guided vehicle 110 passes through position (a), position (b), position (c), position (d), and position (e) in that order.

[0391] In the example of Fig. 34, a pair of rails 7dc and a pair of rails 7dd are arranged in a third floor space 13 within building A so as to penetrate building A horizontally, and a pair of rails 7de is arranged outside building A. Note that each of the pair of rails 7dc, the pair of rails 7dd, and the pair of rails 7de is a pair of rails 7d on which wheels 113 are placed. In other words, three pairs of rails 7d are arranged. Rail 7u is arranged above the three pairs of rails 7d.

[0392] Specifically, the pair of rails 7dc and the rails 7d included in the pair of rails 7dd are disposed substantially parallel to each other and in a straight line so as to pass through openings A1 and A2 of building A. Furthermore, the pair of rails 7de are disposed so as to extend outward from opening A3 of building A, as shown in Fig. 34(B) . Note that ceiling beams 22ab are located above openings A1, A2, and A3.

[0393] As shown in FIG. 34B , the rail 7u has a first side end portion that runs along the pair of rails 7dc, a central portion that straddles the pair of rails 7dd, and a second side end portion that passes through the opening A3. The first side end portion is formed so that its height from the ground increases from the end on the opening A1 side toward the central portion. The second side end portion is formed so that its height from the ground decreases from the central portion toward the end on the opening A3 side. A pair of rails 7de are disposed below the portion of the second side end portion that is outside the building A. Furthermore, the central portion of the first side end portion and that central portion are formed so that they curve horizontally to the right when viewed from the direction from the opening A2 toward the opening A1.

[0394] The automated guided vehicle 110 travels along the pair of rails 7dc by rotating its four wheels 113 and enters building A through opening A2 of building A. When the automated guided vehicle 110 reaches position (a), it raises the tips of the two arms 118 so that each arm is aligned vertically. Then, by rotating its four wheels 113, the automated guided vehicle 110 places two wheels 119 on the first side end of the rail 7u, which is located above the pair of rails 7dc. As a result, the automated guided vehicle 110 travels along the first side end of the rail 7u by rotating its two wheels 119. In other words, the automated guided vehicle 110 transfers from the pair of rails 7dc to the first side end of the rail 7u. At this time, as described above, the height of the first side end from the ground increases from the end on the opening A1 side toward the center. Therefore, the four wheels 113 of the automated guided vehicle 110 move upward away from the pair of rails 7dc. The automated guided vehicle 110 then travels along the rail 7u, turning right from position (b), and passes position (c), which is the center of the rail 7u. Here, the center of the rail 7u is located at a high position above the ground. In other words, the center of the rail 7u is sufficiently separated in the vertical direction from the pair of rails 7dd located directly below. Therefore, even if another automated guided vehicle 110 travels along the pair of rails 7dd and comes directly below the automated guided vehicle 110 when the automated guided vehicle 110 passes position (c), a vertical interval of distance d (d is, for example, 1 cm or more) can be secured between the automated guided vehicle 110 and the other automated guided vehicle 110.

[0395] The automated guided vehicle 110 travels along the rail 7u while descending from the center toward the second side end, and reaches the second side end (for example, position (d)). At this time, a pair of rails 7de is disposed below the four wheels 113 of the automated guided vehicle 110. Then, as the automated guided vehicle 110 descends as it travels along the rail 7u, the four wheels 113 are placed on the pair of rails 7de at position (e). Thereafter, the automated guided vehicle 110 travels along the pair of rails 7de by rotating the four wheels 113. As a result, the automated guided vehicle 110 transfers from the rail 7u to the pair of rails 7de.

[0396] Figure 35 is a diagram showing another example of the automated guided vehicle 110 entering building A from outside. Note that (A) of Figure 35 shows building A and the automated guided vehicle 110 as viewed from the horizontal direction, and (B) of Figure 35 shows building A and the automated guided vehicle 110 as viewed from above. Note that Figure 35 shows a cross section of building A. In the example of Figure 35, the rail 7u, the pair of rails 7dc, the pair of rails 7dd, and the pair of rails 7de are arranged in the same manner as in the example of Figure 34.

[0397] The automated guided vehicle 110 travels along the pair of rails 7dc by rotating its four wheels 113 and enters building A through opening A2 of building A. In the example of Fig. 34, the automated guided vehicle 110 raises the tips of each of the two arms 118. However, in the example of Fig. 35, the automated guided vehicle 110 does not raise the tips of each of the two arms 118. As a result, the automated guided vehicle 110 continues to travel along the pair of rails 7dc in the third floor space 13 of building A. In other words, the automated guided vehicle 110 continues to travel along the pair of rails 7dc without changing rails.

[0398] As described above, the rail structure in this embodiment includes rail 7d and rail 7u located above rail 7d. Rail 7d is also referred to as the first rail, and rail 7u is also referred to as the second rail. As shown in FIG. 34 , when regions that exist in order along the direction in which rail 7d extends are defined as a first region and a second region, rail 7u exists in the second region. The second region includes a slope region in which the height distance between rail 7d and rail 7u increases with increasing distance from the first region. In the second region, rail 7u includes a first portion in which the distance from rail 7d increases with increasing distance from the first region when viewed from above in the vertical direction.

[0399] As a result, because the second region includes a slope region, the automated guided vehicle 110 can easily transfer from the rail 7d to the rail 7u, as shown in Fig. 34. Furthermore, because the rail 7u includes the first portion, the automated guided vehicle 110 can easily move off the rail 7d in the horizontal direction by traveling along the rail 7u.

[0400] In the slope region, the rail 7d is aligned horizontally, and the rail 7u is inclined relative to the horizontal.

[0401] As a result, while the automated guided vehicle 110 travels along the rail 7d, it is possible to place two wheels 119 on the rail 7u and rotate them as shown in Figure 34, thereby separating the four wheels 113 from the rail 7d. As a result, the automated guided vehicle 110 can easily transfer from the rail 7u to the rail 7d.

[0402] The first portion has a shape that is curved in the horizontal direction and includes a curved portion that changes the traveling direction of the rail 7u.

[0403] As a result, the first portion of the rail 7u includes a curved portion, so that the automated guided vehicle 110 traveling along the curved portion can easily change its direction of travel without having to stop.

[0404] The automated guided vehicle 110 in this embodiment includes a housing 111, wheels 113 provided on the housing 111, an arm 118 having a first end connected to the housing 111, at least one actuator for driving the arm 118, and wheels 119 connected to a second end of the arm 118. The arm 118 may be referred to as a first arm, the first end of the arm 118 may be referred to as a base, and the second end of the arm 118 may be referred to as a tip. The wheels 113 and 119 may be referred to as first and second wheels, respectively. The wheels 113 are for traveling on the rail 7d, and the wheels 119 are for traveling on the rail 7u located above the rail 7d. The arm 118 is switched between a first arm state and a second arm state by driving the at least one actuator. As shown in FIG. 31B , in the first arm state, the wheels 119 are located at a first position above the wheels 113. In the second arm state, the wheel 119 is located at a second position lower than the first position.

[0405] As a result, by switching the arm 118 between the first arm state and the second arm state, the unmanned transport vehicle 110 can transfer from rail 7d to rail 7u, and conversely, from rail 7u to rail 7d.

[0406] Furthermore, the arm 118 can be switched to a third arm state by driving at least one actuator. As shown in Figure 32 (B) , in the third arm state, the wheel 119 is located at a third position that is lower than the first position and higher than the second position. Note that the first, second, and third positions are vertical positions based on the wheel 113.

[0407] As a result, by positioning the wheels 119 in the third position as shown in Figure 32, the unmanned transport vehicle 110 can lift the wheels 113 off the rail 7d, thereby avoiding transfer from rail 7u to rail 7d.

[0408] Also, as shown in FIG. 31, when the arm 118 is in the first arm state and the wheel 119 is running on the rail 7u, if the wheel 113 runs on the rail 7d and the wheel 119 moves away from the rail 7u, the arm 118 changes from the first arm state to the second arm state by the drive of at least one actuator.

[0409] This allows the unmanned transport vehicle 110 to store the unused wheels 119 and allows stable travel using the wheels 113.

[0410] Also, as shown in Figures 32 and 33, when the arm 118 is in the first arm state and the wheel 119 is running on the rail 7u, the arm 118 is changed from the first arm state to the third arm state by driving at least one actuator so that the wheel 119 does not come into contact with the structure.

[0411] This allows the automated guided vehicle 110 to travel appropriately along the rail 7u while avoiding contact of the wheels 113 with structures (for example, the rail 7d).

[0412] Also, as shown in FIG. 32, when the arm 118 is in the first arm state and the wheel 119 is running on the rail 7u, the arm 118 is changed from the first arm state to the third arm state by driving at least one actuator so that the wheel 119 does not come into contact with the structure, and then changed from the third arm state to the first arm state by driving at least one actuator.

[0413] This allows the automated guided vehicle 110 to travel along the rail 7u, so as to jump over the structure.

[0414] FIG. 36 is a diagram showing another example of the automatic transport vehicle 110. In FIG.

[0415] In the past, when the automated guided vehicle 110 traveled around a curved section on the rail 7u, especially a curved section with a large angle, there was a possibility that the wheels 119 would derail. In the example of FIG. 36 , as shown in (5-1), a rotation structure is provided that allows the wheels 119 to rotate in a direction along the rail 7u. The rotation structure may be any structure that allows the wheels 119 to rotate in a direction along the rail 7u. Furthermore, the rotation structure may be installed at the connection point between the arm 118 and the housing 111, or at the connection point between the arm 118 and the wheels 119. A rotation structure may be provided for each arm 118. The rotation structure allows the direction in which the housing 111 extends to differ from the orientation of the front wheels 119Fa and 119Fb. The rotation structure allows the direction in which the housing 111 extends to differ from the orientation of the rear wheels 119Ra and 119Rb. The rotation structure makes it possible to make the direction in which the front wheels 119Fa and 119Fb run along the rail 7u different from the direction in which the rear wheels 119Ra and 119Rb run along the rail 7u. In other words, the rotation structure makes it possible to set an angle between the direction in which the front wheels 119Fa and 119Fb run along the rail 7u and the direction in which the rear wheels 119Ra and 119Rb run along the rail 7u. As a result, when the automated guided vehicle 110 travels around a curved section on the rail 7u, the direction in which the front wheels 119Fa and 119Fb run along the rail 7u and / or the direction in which the rear wheels 119Ra and 119Rb run along the rail 7u can be changed to follow the curve, thereby reducing the possibility of the wheels 119 derailing when the automated guided vehicle 110 travels around a curved section on the rail 7u. The number of wheels 119 connected to one arm 118 may be two, as in the example of (5-1) in Fig. 36. By providing two wheels 119, the contact between the wheel 119 and the rail 7u can be stabilized compared to when there is only one wheel 119. This further reduces the possibility of the wheel 119 derailing.

[0416] As shown in (5-1) of FIG. 36 , the automated guided vehicle 110 in this embodiment includes a housing 111, a first arm 118F having a first end e1 connected to the housing 111, one or more wheels 119 connected to a second end e2 of the first arm 118F, a second arm 118R having a first end e1 connected to the housing 111, and one or more wheels 119 connected to a second end e2 of the second arm 118R. The first arm 118F and the second arm 118R are also referred to as arms 118. The one or more wheels 119 of the first arm 118F are also referred to as one or more first wheels, and the one or more wheels 119 of the second arm 118R are also referred to as one or more second wheels. The automated guided vehicle 110 also includes a rotation structure that changes the orientation of the one or more first wheels and the one or more second wheels, and at least one actuator that drives the first arm 118F, the second arm 118R, and the rotation structure. The one or more first wheels of the first arm 118F are for traveling on the rail 7u, and the one or more second wheels of the second arm 118R are for traveling on the rail 7u.

[0417] This allows the rotation structure to change the orientation of one or more first wheels and the orientation of one or more second wheels in accordance with the curve of the rail 7u on which the automated guided vehicle 110 travels, thereby improving the stability of the automated guided vehicle 110 when traveling around a curve.

[0418] The one or more first wheels include wheels 119Fa and 119Fb. Wheels 119Fa and 119Fb are also referred to as the first first wheel and the second first wheel, respectively. The one or more second wheels include wheels 119Ra and 119Rb. Wheels 119Ra and 119Rb are also referred to as the first second wheel and the second second wheel, respectively.

[0419] As a result, since a plurality of wheels 119 are attached to one arm 118, the stability of the automated guided vehicle 110 can be further improved when traveling around a curve.

[0420] Furthermore, the rotation structure varies the degree to which the orientation of one or more first wheels and the orientation of one or more second wheels are changed depending on the curvature of the curve of the rail 7u.

[0421] This further reduces the possibility that one or more first wheels and one or more second wheels will derail from the rail 7u.

[0422] Fig. 37 is a diagram showing an example of a structure including a rail 7d in this embodiment. Specifically, Fig. 37 relates to a structure including a fire door J2 and a rail 7d.

[0423] In Figure 37, a pair of rails 7d, namely, movable rails 7xL and 7xR, are integrally provided with the fire door J2 and rotate together with the fire door J2. Therefore, even when it becomes necessary to close the fire door J2 in the event of a fire, it is possible to prevent the rails 7d from getting in the way and preventing the fire door J2 from being closed.

[0424] The configuration of Figure 37 will be described below. The fire door J2 is rotatably connected to the fire wall J1. The movable rails 7xL and 7xR are connected to the fire door J2 via their respective support parts ha. Furthermore, in Figure 37, a counterweight hb is provided on the side opposite to the side where the movable rails 7xL and 7xR are located to offset the weights of the movable rails 7xL, 7xR, and the two support parts ha. Therefore, when the fire door J2 rotates relative to the fire wall J1, the movable rails 7xL, 7xR, the two support parts ha, and the counterweight hb rotate together with the fire door J2.

[0425] The fire door J2 can be switched between an open state and a closed state. In the open state, the movable rail 7xL is connected to the rail 7L of the pair of fixed rails 7d, and the movable rail 7xR is connected to the rail 7R of the pair of fixed rails 7d. The rails 7L and 7R are also referred to as fixed rails. This allows the automated guided vehicle 110 to travel along the rails 7d and pass through the frame in which the fire door J2 is installed. The movable rail 7xL and the rail 7L are connected by engaging a first convex portion g1 provided on the movable rail 7xL with a second convex portion g2 provided on the rail 7L.

[0426] The fire door J2 is maintained in an open state by a stopper J2a. When the stopper J2a is released, the fire door J2 may close automatically. An elastic body such as a spring may be used as a means for automatically closing the fire door J2. For example, when the stopper J2a is released, a compressed spring may expand and push the fire door J2, thereby closing the fire door J2. When the stopper J2a is released and the fire door J2 starts to rotate, the connection between the movable rail 7xL and the rail 7L is released. Note that the movable rail 7xR and the rail 7R also change in the same manner as the movable rail 7xL and the rail 7L.

[0427] As described above, the structure in this embodiment includes a fire wall J1 which is a wall, a fire door J2 which is a door rotatably connected to the fire wall J1, a support part ha connected to the fire door J2, and a movable rail 7xL or 7xR which is connected to the support part ha and serves as a movable rail along which the unmanned transport vehicle 110 travels and which rotates together with the fire door J2.

[0428] As a result, the movable rail 7xL or 7xR rotates together with the fire door J2, so that the movable rail 7xL or 7xR can be set to an appropriate state depending on the state of the fire door J2.

[0429] The structure can be changed between a first door state in which the fire door J2 is open and a second door state in which the fire door J2 is closed, and in the first door state, the movable rail 7xL or 7xR is connected to the fixed rail, while in the second door state, the movable rail 7xL or 7xR is not connected to the fixed rail. The fixed rail is the rail 7L or 7R.

[0430] This allows the unmanned transport vehicle 110 to travel along the rail 7d by opening the fire door J2 and connecting the movable rail 7xL or 7xR to the fixed rail, and also allows the fire door J2 to be properly closed by moving the movable rail 7xL or 7xR together with the fire door J2.

[0431] Furthermore, the structure is provided with a stopper J2a that prevents the movement of the fire door J2 to maintain the first door state.

[0432] This maintains the first door state of the fire door J2, allowing the automated guided vehicle 110 to travel safely along the rail 7d.

[0433] The movable rail 7xL includes a first protrusion g1, and the rail 7L, which is a fixed rail, includes a second protrusion g2. In the first door state, the first protrusion g1 and the second protrusion g2 come into contact with each other, thereby connecting the movable rail 7xL to the rail 7L.

[0434] This makes it possible to stabilize the connection state between the movable rail 7xL and the rail 7L.

[0435] The fire door J2 has a first surface h1 and a second surface h2. The movable rails 7xL and 7xR and the two support parts ha are installed on the first surface h1. The structure also includes a counterweight hb installed on the second surface h2.

[0436] This makes it possible to maintain a balance between the weight on the first surface h1 of the fire door J2 and the weight on the second surface h2 of the fire door J2, thereby stabilizing the movement or state of the fire door J2.

[0437] FIG. 38 is a diagram showing an example of a schematic configuration of the automated guided vehicle, structure, and logistics system in each of the above embodiments.

[0438] As shown in FIG. 38 , the automated guided vehicle includes, for example, a control unit 120, a communication unit 130, and a drive unit 140. The automated guided vehicle may be the automated guided vehicle 100 or the automated guided vehicle 110. The control unit 120 includes, for example, a CPU or a processor, and controls each processing operation of the automated guided vehicle by reading and executing programs stored in memory. The control unit 120 includes a travel controller 121, a gyro sensor 122, a GPS 123, and a speed sensor 124. The travel controller 121 performs processing operations to rotate the wheels 103, 113, 119, etc., to travel the automated guided vehicle. The gyro sensor 122 detects the acceleration, inclination, etc. of the automated guided vehicle, the GPS (Global Positioning System) sensor 123 detects the position of the automated guided vehicle, and the speed sensor 124 detects the speed of the automated guided vehicle. The travel controller 121 may control the travel of the automated guided vehicle based on the detection results of these sensors. The communication unit 130 communicates with devices or facilities outside the automated guided vehicle via wired or wireless communication. Wireless communication may be performed using, but is not limited to, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or specific low-power radio. The drive unit 140 includes a battery 141, a motor 142, and a winch 143. The battery 141 supplies power for the automated guided vehicle to travel or for the communication unit 130 to communicate. The motor 142 is an actuator for driving, for example, the arm 118, the wheels 119, the wheels 113, a rotating structure, etc. The automated guided vehicle may include multiple motors 142. The winch 143 may be used as the winch 115.

[0439] The structure 400 is the above-mentioned rail structure or structure, and includes, for example, a motor 401, a communication unit 402, and a control unit 403. The motor 401 may be the turntable rotation motor 38, or may be an actuator for opening and closing the above-mentioned fire door J2. The communication unit 402 communicates with devices or equipment outside the structure 400 via wire or wirelessly, similar to the communication unit 130 of the automated guided vehicle. For example, the communication unit 402 may communicate with the automated guided vehicle.

[0440] The logistics system 500 may be, for example, an office building delivery system Sy1, an apartment delivery system Sy2, a logistics system Sy3, or a logistics system Sy4. The logistics system 500 includes, for example, a control unit 501, a communication unit 502, an elevator 200, and a drive unit 503. The elevator 200 includes a motor 203 and a winch 204. The motor 203 may be an actuator such as a rail lift 33 or a rail extension / retraction device 34 disposed in the elevator 200. The winch 204 raises and lowers the elevator car 210 by reeling out and reeling in the car wire 202. The drive unit 503 may be an actuator for moving rails installed in various structures such as buildings. The communication unit 502, like the communication unit 130 of the automated guided vehicle, communicates with devices or facilities external to the logistics system 500 via wire or wirelessly. For example, the communication unit 502 may communicate with the automated guided vehicle. The logistics system 500 may also include a structure 400 .

[0441] (Embodiment 8) The automated guided vehicle 100 in the above-mentioned embodiments 1 to 6 travels along one rail 7. On the other hand, the automated guided vehicle 110 in the above-mentioned embodiment 7 travels along two rails 7, similar to the automated guided vehicle 110a in this embodiment. The automated guided vehicles 100, 110 in the above-mentioned embodiments 1 to 7 travel with the housing 111 located below the rail 7 or between the two rails 7. The automated guided vehicle 110a in this embodiment travels with the housing 111 located above the two rails 7.

[0442] Fig. 39A is a diagram showing an example in which the automated guided vehicle 110a in embodiment 8 is applied to an elevator 200. (a) of Fig. 39A shows a state in which a pair of in-floor rails 31 and a pair of in-elevator rails 32 are not connected. (b) of Fig. 39A shows a state in which a pair of in-floor rails 31 and a pair of in-elevator rails 32 are connected.

[0443] The office building delivery system Sy1 in this embodiment is installed on a floor area of ​​an office building. The office building delivery system Sy1 includes an automated guided vehicle 110a and an elevator 200.

[0444] In this embodiment, the automated guided vehicle 110a is configured to be thinner in the vertical direction than the automated guided vehicles 100 and 110 described above so that it can travel in a narrow space such as the third floor space 13, and travels along a pair of in-floor rails 31 that are arranged parallel to each other on a horizontal plane. The automated guided vehicles 100, 110, and 110a are examples of transport vehicles.

[0445] A pair of in-floor rails 31 are provided in the fourth floor space 13b, and a pair of in-elevator rails 32 are provided in the second elevator space 212. The automated guided vehicle 110a can travel along the pair of in-floor rails 31 or along the pair of in-elevator rails 32.

[0446] In the second elevator space 212, a second car door 232 is formed in a position facing the pair of in-floor rails 31. In addition, in the fourth floor space 13b, a second landing door 62 is formed in a position facing the pair of in-floor rails 31. When the lift car 210 in the inside elevator 200 arrives at a predetermined floor, the second car door 232 is positioned to face the second landing door 62. At this time, the height of the pair of in-elevator rails 32 and the height of the pair of in-floor rails 31 are aligned.

[0447] If the floors of a building have different heights, each time the elevator car 210 arrives at a predetermined floor, the height of the pair of inner elevator rails 32 is adjusted to match the height of the pair of inner floor rails 31. The height of the pair of inner elevator rails 32 may be aligned with the height of the pair of inner floor rails 31 by the rail elevator 33 described above, or the height of the pair of inner elevator rails 32 may be aligned with the height of the pair of inner floor rails 31 by the elevator car 210 being controlled by the control unit 501 described above.

[0448] For example, the automated guided vehicle 110a has four wheels 113 arranged on an imaginary plane (e.g., a horizontal plane), with two of the four wheels 113 placed on one of a pair of in-floor rails 31 and the remaining two wheels 113 placed on the other in-floor rail 31. Since the four wheels 113 are arranged below the housing 111 of the automated guided vehicle 110a, the housing 111 of the automated guided vehicle 110a is arranged above the pair of in-floor rails 31. Here, in a system including the automated guided vehicle 110a and a rail 7, the height of the system is the sum of the thickness (height) L4 of the automated guided vehicle 110a and the thickness (height) L5 and height of a portion of the rail 7 with which the four wheels 113 of the automated guided vehicle 110a come into contact.

[0449] In the following description, the left-right direction of the unmanned transport vehicle 110a is the direction along the axes of each of the four wheels 113, and the front-to-rear direction of the unmanned transport vehicle 110a is the direction along the above-mentioned plane on which the four wheels 113 are arranged and perpendicular to the left-to-right direction.

[0450] In this embodiment, the elevator 200 is provided with a rail extension / contraction device 34 similar to the examples shown in FIGS.

[0451] The rail extension / contraction device 34 connects the pair of movable rails 32a included in the pair of inner elevator rails 32 to the pair of inner floor rails 31 by moving the pair of movable rails 32a in the horizontal direction.

[0452] When the heights of the pair of inner elevator rails 32 are aligned with the height of the pair of inner floor rails 31, the rail extension and contraction device 34 is controlled by the control unit 501 to move the pair of movable rails 32a horizontally so as to be connected to the pair of inner floor rails 31. First ends 32k of the pair of movable rails 32a in the pair of inner elevator rails 32 are connected to second ends 31k of the pair of inner floor rails 31. In this way, the pair of movable rails 32a are connected to the pair of inner floor rails 31.

[0453] FIG. 39B is a diagram showing the state of connection between a pair of movable rails 32a and a pair of in-floor rails 31.

[0454] Here, the first ends 32k of the pair of movable rails 32a of the pair of inner elevator rails 32 and the second ends 31k of the pair of inner floor rails 31 are processed so as to be easily connected.

[0455] Specifically, the first end 32k has a protruding portion 32t that protrudes toward the second end 31k of the pair of in-floor rails 31. The protruding portion 32t is a part of the first end 32k and is the upper edge portion of the first end 32k. The protruding portion 32t has a protruding inclined portion 32t1. The protruding inclined portion 32t1, which is the portion of the protruding portion 32t that engages with the second end 31k, is inclined upward as it approaches the second end 31k. The protruding inclined portion 32t1 has a linear surface or an arc-shaped curved surface that faces the second end 31k. The second end 31k has a notched portion 31t that is cut out to engage with the first end 32k. The notch portion 31t has a shape in which the upper edge portion of the second end 31k is notched so as to engage with the protrusion 32t of the first end 32k when the pair of movable rails 32a and the pair of in-floor rails 31 are connected. The notch portion 31t has a notched inclined portion 31t1. The notched inclined portion 31t1, which is the portion of the notch portion 31t that engages with the first end 32k, slopes downward as it approaches the second end 31k. The notched inclined portion 31t1 has a linear surface or an arc-shaped curved surface that faces the first end 32k.

[0456] When the first ends 32k of the pair of movable rails 32a are connected to the second ends 31k of the pair of in-floor rails 31, the first ends 32k and the second ends 31k are interlocked, so that the first ends 32k and the second ends 31k are coupled together with the protrusions 32t of the first ends 32k positioned above the notches 31t of the second ends 31k. Therefore, when the automated guided vehicle 110a travels on the pair of movable rails 32a and the pair of in-floor rails 31 whose first ends 32k and second ends 31k are coupled together, the weight of the automated guided vehicle 110a can be supported by the pair of movable rails 32a and the pair of in-floor rails 31. Therefore, when the automated guided vehicle 110a travels along the pair of movable rails 32a and the pair of in-floor rails 31, it is less likely to fall off the pair of movable rails 32a and the pair of in-floor rails 31.

[0457] Furthermore, the end of the pair of movable rails 32a opposite the first end 32k has a protrusion 32m that partially protrudes upward. The protrusion 32m has a linear surface or an arc-shaped curved surface on the first end 32k side. Therefore, when the first end 32k and the second end 31k are connected, even if the automated guided vehicle 110a traveling from the pair of in-floor rails 31 toward the pair of movable rails 32a reaches the end of the pair of movable rails 32a, the force of the traveling automated guided vehicle 110a can be released in the tangential direction of the linear surface or the arc-shaped curved surface of the protrusion 32m, thereby preventing the automated guided vehicle 110a from suddenly colliding with the end of the pair of movable rails 32a, compared to when the protrusion simply protrudes vertically from the end.

[0458] In this way, the automated guided vehicle 110a in the second elevator space 212 can travel from the second elevator space 212 to the fourth floor space 13b by traveling along the pair of intra-elevator rails 32 and the pair of intra-floor rails 31. Conversely, the automated guided vehicle 110a in the fourth floor space 13b can also travel from the fourth floor space 13b to the second elevator space 212 by traveling along the pair of intra-floor rails 31 and the pair of intra-elevator rails 32.

[0459] In this embodiment, a pair of in-floor rails 31 are provided in the fourth floor space 13b, and a pair of in-elevator rails 32 are provided in the second elevator space 212. The automated guided vehicle 110a travels along the pair of in-floor rails 31 and the pair of in-elevator rails 32.

[0460] Figure 39C is a diagram showing another example in which the automated guided vehicle 110 is applied to an elevator 200. (a) of Figure 39C shows a state in which a pair of in-floor rails 31 and a pair of in-elevator rails 32 are not connected. (b) of Figure 39C shows a state in which a pair of in-floor rails 31 and a pair of in-elevator rails 32 are connected. (c) of Figure 39C shows a state in which the automated guided vehicle 110 is suspended from the elevated rail 7d1 by the first arm and the second arm.

[0461] Although FIG. 39C illustrates an office building delivery system Sy1 using an automated guided vehicle 110, automated guided vehicles 100, 110a, and 110b may also be used.

[0462] Similar to the example shown in Figure 39B etc., the elevator 200 is equipped with a rail lift 33 and a rail extension / retraction device 34. In this embodiment, a pair of in-floor rails 31 are arranged in the fourth floor space 13b, and a pair of in-elevator rails 32 are arranged in the second elevator space 212. The heights of the fourth floor space 13b and the second elevator space 212 are set lower than in the case of Figure 39B.

[0463] At least one wheel 113 of the housing 111 is placed on one of the pair of rails 7, and the remaining at least one wheel 113 of the automated guided vehicle 110 is placed on the other of the pair of rails 7. The housing 111 of the automated guided vehicle 110 is then disposed so as to be sandwiched between the pair of rails 7.

[0464] Here, the thickness L4 of the automated guided vehicle 110 is greater than the height L2 from the bottom surface of the automated guided vehicle 110 to the pair of rails 7, and the thickness L3 of the cargo 1 is greater than the height L2.

[0465] In this case, the wheels of the first arm and the wheels of the second arm of the automated guided vehicle 110 are moved to a position (second position) lower than the wheels 113 of the housing 111 (the first arm and the second arm are in the second arm state). Then, the automated guided vehicle 110 travels along the pair of in-floor rails 31 and the pair of in-elevator rails 32.

[0466] Furthermore, if the height of the second elevator space 212 is set high, elevated rails 7d1 may be placed in the second elevator space 212. In this case, the wheels of the first arm and the wheels of the second arm of the automated guided vehicle 110 are moved to a position (first position) higher than the wheels 113 of the housing 111 (the first arm and the second arm are in the first arm state). Then, the automated guided vehicle 110 travels along the pair of in-floor rails 31 and the pair of in-elevator rails 32.

[0467] Fig. 40 is a diagram showing a configuration example of an office building intra-delivery system Sy1 in embodiment 8. Similar to Figs. 1 and 22, Fig. 40 shows one of multiple floors included in an office building on which the office building intra-delivery system Sy1 is installed, as viewed obliquely from above.

[0468] The office building intra-delivery system Sy1 in this embodiment is installed in a floor area of ​​an office building. The third floor space 13 in the floor area shown in FIG. 40 is narrower in height than the third floor space 13 shown in FIG. 22 . Therefore, in this embodiment, the automated guided vehicle 110a is thinner than the automated guided vehicles 100 and 110 so that it can travel within the narrow third floor space 13, and can travel along a pair of in-floor rails 31 arranged parallel to each other on a horizontal plane. The third floor space 13 is provided with multiple pairs of in-floor rails 31, each including a pair of first in-floor rails 31a and a pair of second in-floor rails 31b that are perpendicular to each other.

[0469] For example, the automated guided vehicle 110a has four wheels 113 arranged on an imaginary plane (e.g., a horizontal plane), with two of the four wheels 113 placed on one of a pair of in-floor rails 31 and the remaining two wheels 113 placed on the other in-floor rail 31. The housing 111 of the automated guided vehicle 110a is arranged so as to be sandwiched between the pair of in-floor rails 31. In the following description, the left-right direction of the automated guided vehicle 110a is the direction along the axes of the four wheels 113, and the front-rear direction of the automated guided vehicle 110a is the direction along the above-mentioned plane on which the four wheels 113 are arranged and perpendicular to the left-right direction.

[0470] FIG. 41 is a diagram showing an example of the configuration of a logistics system Sy4 according to the eighth embodiment.

[0471] The logistics system Sy4 in this embodiment includes, for example, an office building intra-delivery system Sy1 disposed in building A, an office building intra-delivery system Sy1 disposed in building B, and multiple pairs of conveyor rails 30 connecting these office building intra-delivery systems Sy1. The multiple pairs of conveyor rails 30 are arranged in a third floor space 13 of a connecting bridge 300 connecting building A and building B. The conveyor rails 30 are connected to one end of each pair of intra-floor rails 31 in building A and building B. Therefore, it can be said that a single rail 7 is formed by connecting the pair of intra-floor rails 31 in building A, the conveyor rail 30, and the pair of intra-floor rails 31 in building B in series. Note that, although multiple pairs of conveyor rails 30 are arranged in the example of FIG. 41 , only one pair of conveyor rails 30 may be arranged.

[0472] The automated guided vehicle 110 a travels along a pair of rails 7 in the third floor space 13 of each of Building A, Building B and the connecting bridge 300 .

[0473] As described above, the structure in this embodiment includes a first building, a second building, a connecting bridge 300 connecting the first and second buildings, and a rail 7 extending from within the first building through the connecting bridge 300 into the second building and on which the automated guided vehicle 110a travels. The first building is, for example, Building A, and the second building is, for example, Building B. The first building includes a first floor and a second floor, and a first space for the automated guided vehicle 110a to travel is provided between the ceiling of the first floor and the floor of the second floor of the first building. The second building also includes a first floor and a second floor, and a second space for the automated guided vehicle 110a to travel is provided between the ceiling of the first floor and the floor of the second floor of the second building. The first space is, for example, the third floor space 13 of Building A, and the second space is, for example, the third floor space 13 of Building B. The connecting bridge 300 further includes a walkway 301 connecting the second floor of the first building with the second floor of the second building. A third space, which is connected to the first space and the second space and in which the automated guided vehicle 110a travels, is provided below the walkway 301. The third space is, for example, the third floor space 13 of the connecting bridge 300. The rail 7 is arranged across the first space, the third space, and the second space.

[0474] This allows the automated guided vehicle 110a to travel between the first building and the second building via the connecting bridge 300.

[0475] Fig. 42 is a diagram showing a groove structure 7p of a rail 7 according to embodiment 8. Fig. 42 shows a cross-sectional view of the rail 7 taken along line α1-α1 and a cross-sectional view of the rail 7 taken along line α2-α2. The rail 7 is an example of a first rail.

[0476] In this embodiment, the office building delivery system Sy1 includes a groove structure 7p.

[0477] The groove structure 7p is applied to the above-described pair of transport rails 30, pair of inner floor rails 31, and pair of inner elevator rails 32. In the groove structure 7p, three pairs of rails 7 extending from the first direction to the third direction are connected.

[0478] The pair of rails 7a1 heading in the first direction, indicated by solid lines, travels straight. The pair of rails 7a1 is an example of a pair of grooves for traveling straight. The pair of rails 7a2 heading in the second direction, indicated by dashed lines, turns left at the transfer point 7g of the groove structure 7p. The pair of rails 7a2 is an example of a pair of grooves for turning left. The pair of rails 7a3 heading in the third direction, indicated by dashed lines, turns right at the transfer point 7g. The pair of rails 7a3 is an example of a pair of grooves for turning right. The pair of rails 7 is a general term for the pairs of rails 7a1 to 7a3.

[0479] The pair of rails 7a1 to 7a3 provided in the groove structure 7p may be groove-shaped. In this case, the depths of the pair of rails 7a1 to 7a3 are different. In this embodiment, the depth d2 of the pair of rails 7a2, 7a3 is deeper than the depth d1 of the pair of rails 7a1. The depth of the pair of rails 7a1 may be deeper than the depth of the pair of rails 7a2, 7a3. The depths d2 of the pair of rails 7a2, 7a3 are the same. The depths of the pair of rails 7a2 and the pair of rails 7a3 may be different from each other.

[0480] The widths of the pair of rails 7a1 to 7a3 are different. The width of the pair of rails 7a1 is larger than the widths of the pair of rails 7a2 and 7a3. The width of the pair of rails 7a3 is larger than the width of the pair of rails 7a2.

[0481] The groove structure 7p has a transfer section 7g which is a branching point where multiple pairs of rails 7 are formed. The transfer section 7g has the same depth as the depth d2 of the pair of rails 7a2, 7a3, and has a uniform flat bottom surface.

[0482] There may be cases where the automated guided vehicle 110a wants to move between a pair of rails 7a2 and a pair of rails 7a3. In this case, the automated guided vehicle 110a may adjust the width of the pair of front wheels 113a1 and the width of the pair of rear wheels 113b1 at the transfer section 7g.

[0483] Specifically, the automated guided vehicle 110a further includes a wheel width adjustment unit that adjusts the width of the wheels 113. The control unit 120 of the automated guided vehicle 110a controls the wheel width adjustment unit to adjust the wheel width of the pair of front wheels 3514a and the pair of rear wheels 3514b to fit the pair of rails 7a2 or the pair of rails 7a3. The wheel width adjustment unit can simultaneously adjust the width of the pair of front wheels 3514a and the width of the pair of rear wheels 3514b along the axial direction of the wheels 113. In this way, the front wheels 113a1 are configured to be able to change the distance between the first and second front wheels on the left and right, and the rear wheels 113b1 are also configured to be able to change the distance between the first and second rear wheels on the left and right.

[0484] In this embodiment, the groove structure 7p may be configured to allow mutual transfer between the pair of rails 7a2, 7a3 and the pair of rails 7a1. In this case, since the pair of rails 7a1 and the pair of rails 7a2, 7a3 differ in depth, the groove structure 7p may be formed with an inclined portion that allows the automated guided vehicle 110a to transfer so as to adjust the difference in depth between the pair of rails 7a1 and the pair of rails 7a2, 7a3, and a flat portion for adjusting the wheel width.

[0485] In this embodiment, the unmanned carrier 110b can also be used. Note that the unmanned carrier 110b can also be used in the above embodiment. The unmanned carrier 110b is an example of a carrier.

[0486] FIG. 43 is a block diagram illustrating an automated guided vehicle 110b according to embodiment 8. FIG. 44 is a diagram illustrating the state in which the first arm 3511 and the second arm 3512 of the automated guided vehicle 110b according to embodiment 8 travel on the rail 7 in the second arm state. (a) of FIG. 44 shows the automated guided vehicle 110b traveling on the rail 7 as viewed from the side. (b) of FIG. 44 shows the automated guided vehicle 110b traveling on the rail 7 as viewed from the front. (c) of FIG. 44 shows the automated guided vehicle 110b traveling on the rail 7 as viewed from above when the steering angle of the front wheels 113a1 has been adjusted. (d) of FIG. 44 shows the automated guided vehicle 110b traveling on the rail 7 as viewed from the front when the steering angle of the front wheels 113a1 has been adjusted. FIG. 45A is a diagram illustrating an example of the first arm 3511 and the second arm 3512 of the unmanned transport vehicle 110b according to embodiment 8 traveling on the elevated rail 7d1 in the first arm state. (a) of FIG. 45A shows the unmanned transport vehicle 110b traveling on the elevated rail 7d1 as viewed from the side. (b) of FIG. 45A shows the unmanned transport vehicle 110b traveling on the elevated rail 7d1 as viewed from the front. (c) of FIG. 45A shows the unmanned transport vehicle 110b traveling on the elevated rail 7d1 as viewed from above when the steering angle of the front wheels 113a1 has been adjusted. (d) of FIG. 45A shows the unmanned transport vehicle 110b traveling on the elevated rail 7d1 as viewed from the front when the steering angle of the front wheels 113a1 has been adjusted. 45B is a diagram illustrating an example of the state in which the first arm 3511 and the second arm 3512 of the automated guided vehicle 110b according to embodiment 8 travels on the elevated rail 7d1 in the third arm state. (a) of FIG. 45B shows the automated guided vehicle 110b traveling on the elevated rail 7d1 as viewed from the side. (b) of FIG. 45B shows the automated guided vehicle 110b traveling on the elevated rail 7d1 as viewed from the front.

[0487] As shown in Figures 43 to 45B, the automated guided vehicle 110b can deliver packages to structures such as houses, apartment buildings, and buildings. Rails 7 are laid throughout the structure. The rails 7 are a pair of rails, consisting of a first rail 7c1 and a second rail 7c2. In this embodiment, the first rail 7c1 and the second rail 7c2 are collectively referred to simply as rails 7. The rails 7 are laid throughout, for example, each floor and each room inside the structure. Furthermore, the rails 7 are laid throughout so as to connect two adjacent structures, and are also laid throughout residential areas, roads, bridges, and the like. The automated guided vehicle 110b can deliver packages from a delivery source to a delivery destination by traveling along the rails 7.

[0488] Specifically, the unmanned transport vehicle 110b has a main body 3501, wheels 113a1, 113b1, a first arm 3511, a second arm 3512, a wheel drive unit 144, a steering device 145, an arm drive unit 146, and a control unit 120.

[0489] The main body 3501 has a storage space formed therein so that it can store luggage. For example, the delivery source stores the luggage in the storage space of the main body 3501. The storage space may be provided with the luggage basket described above. The main body 3501 is an example of the housing 111.

[0490] A plurality of wheels 113a1, 113b1 are provided on the machine body 3501. In the present embodiment, since the machine body 3501 has a cubic shape, the machine body 3501 is provided with two front wheels 113a1 arranged on both the left and right sides in the forward direction of travel of the machine body 3501 and two rear wheels 113b1 arranged on both the left and right sides in the rear direction of travel of the machine body 3501. When the automated guided vehicle 110b travels along the rail 7, the front right front wheel 113a1 in the forward direction of travel and the rear right rear wheel 113b1 in the rear direction of travel are placed on the first rail 7c1 so as to travel on the first rail 7c1, and the front left front wheel 113a1 in the forward direction of travel and the rear left rear wheel 113b1 in the rear direction of travel are placed on the second rail 7c2 so as to travel on the second rail 7c2.

[0491] The first arm 3511 is disposed on the front side of the machine body 3501 and in the center in the width direction of the machine body 3501. The second arm 3512 is disposed on the rear side of the machine body 3501 and in the center in the width direction. The width direction of the machine body 3501 is the direction perpendicular to the extension direction of the rail 7 when the rail 7 is viewed in a plan view.

[0492] The arm drivers 146 are provided on the first arm 3511 and the second arm 3512. Each arm driver 146 is an actuator that can rotate (drive) the first arm 3511 and the second arm 3512 under the control of the control unit 120. The first arm 3511 and the second arm 3512 are switched between a first arm state and a second arm state by driving at least one arm driver 146. As shown in (a) of FIG. 45 , in the first arm state, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are located at a first position above the front wheels 113a1 and the rear wheels 113b1. As shown in (a) of FIG. 44 , in the second arm state, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are located at a second position below the first position.

[0493] The wheel driving units 144 are respectively provided on the machine body 3501, the first arm 3511, and the second arm 3512. By being controlled by the control unit 120, each wheel driving unit 144 can rotate (drive) the plurality of wheels 113a1, 113b1 of the machine body 3501, the wheel 3511a connected to the tip side of the first arm 3511, and the wheel 3512a connected to the tip side of the second arm 3512.

[0494] The steering angle device 145 is controlled by the control unit 120 to adjust (change) the steering angle of the front wheels 113a1 of the vehicle body 3501. Furthermore, the steering angle device 145 cannot adjust (change) the steering angle of the rear wheels 113b1 of the vehicle body 3501. In other words, the steering angle of the front wheels 113a1 is configured to be changeable, while the steering angle of the rear wheels 113b1 is configured to be unchangeable. The steering angle device 145 is an example of a steering device.

[0495] The radius of the front wheel 113a1 is smaller than the radius of the rear wheel 113b1. In other words, since the diameter of the front wheel 113a1 is smaller than the diameter of the rear wheel 113b1, the steering angle device 145 can easily adjust the steering angle of the front wheel 113a1.

[0496] If the steering angle could not be adjusted, it would be difficult for the unmanned transport vehicle 110b to turn right or left, as shown in Figure 42. Furthermore, although the unmanned transport vehicle 110b could travel along the rail 7, if the traveling speed of the unmanned transport vehicle 110b is high, it is conceivable that the unmanned transport vehicle 110b would climb up off the rail 7 when turning left or right. For this reason, the unmanned transport vehicle 110b can make smooth right or left turns by adjusting the steering angle of the front wheels 113a1 with the steering angle device 145. This makes it less likely that the manufacturing costs of the unmanned transport vehicle 110b will rise, compared to when the traveling direction of the vehicle body 3501 is adjusted using a turntable or the like that can change the direction of the unmanned transport vehicle 110b.

[0497] The control unit 120 can control each arm driving unit 146 that drives the first arm 3511 and the second arm 3512. The control unit 120 can also control each wheel driving unit 144 that drives the plurality of wheels 113a1, 113b1 of the machine body 3501, the wheel 3511a of the first arm 3511, and the wheel 3512a of the second arm 3512. The control unit 120 can control a steering angle device 145 that adjusts the steering angle of the front wheel 113a1 of the machine body 3501. The control unit 120 is an example of a controller.

[0498] The timing at which the control unit 120 controls the wheel drive unit 144, the steering angle device 145, and the arm drive unit 146 may be based on image data obtained from an imaging unit mounted on the automated guided vehicle 110b, or may be based on map information regarding the rail 7 and the elevated rail 7d1 obtained from a management server. When obtaining map information, the automated guided vehicle 110b has a wireless communication unit capable of communicating with the management server. The elevated rail 7d1 is an example of a second rail.

[0499] Here, the management server sets a movement route for the automated guided vehicle 110b based on location information of the delivery destination and location information of the delivery source. The management server also acquires location information of the automated guided vehicle 110b and changes the route depending on the status of the set movement route for the automated guided vehicle 110b. The management server also sets a movement route for the automated guided vehicle 110b depending on other automated guided vehicles 110b that are currently operating or scheduled to be operating. The management server transmits departure instructions to the automated guided vehicle 110b based on the set movement route. The management server also manages the traveling status of the automated guided vehicle 110b. Such a management server is realized by a computer, a cloud server, or the like. The movement route is a traveling route taken by the automated guided vehicle 110b to travel through areas where rails 7 are installed and structures where rails 7 are installed, and is shown in map information.

[0500] Such an automatic carrier 110b can perform the following operations.

[0501] 44 and 45A , the lower ends of the first arm 3511 and the second arm 3512 are rotatably mounted on the machine body 3501 by the respective arm drivers 146 around an axis extending in the width direction of the machine body 3501. Each arm driver 146 is an electric motor or the like. Under the control of the control unit 120, each arm driver 146 extends the first arm 3511 and the second arm 3512 upward from the machine body 3501 so that the wheels 3511 a of the first arm 3511 and the wheels 3512 a of the second arm 3512 are positioned above the machine body 3501. When the automated guided vehicle 110b transfers to an elevated rail 7d1 that is positioned higher than the rail 7, the first arm 3511 and the second arm 3512 rotate so that the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are placed on the elevated rail 7d1. Furthermore, under the control of the control unit 120, the wheel drive unit 144 rotates the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512, thereby enabling the automated guided vehicle 110b to travel on the elevated rail 7d1.

[0502] Specifically, when the front wheels 113a1 and rear wheels 113b1 are running on the rails 7 from the first section to the second section, and there is no elevated rail 7d1 above the rails 7 in the first section, but there is an elevated rail 7d1 above the rails 7 in the second section, the control unit 120 controls at least one arm driving unit 146 when the front wheels 113a1 and rear wheels 113b1 are in the first section to change the first arm 3511 and the second arm 3512 from the second arm state to the first arm state, so that when the elevated rail 7d1 is positioned below the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 run on the elevated rail 7d1.

[0503] In other words, the unmanned transport vehicle 110b can transfer from the rail 7 located below the main body 3501 to the elevated rail 7d1 located at a higher position than the main body 3501, and can travel continuously from the rail 7 to the elevated rail 7d1.

[0504] 45B , the first arm 3511 and the second arm 3512 may be further switched to a third arm state by driving at least one arm driver 146. In the third arm state, the wheels 3511 a of the first arm 3511 and the wheels 3512 a of the second arm 3512 are located at a third position that is lower than the first position and higher than the second position. In the third arm state, the machine body 3501 can be lifted up compared to the first arm state.

[0505] For example, when the first arm 3511 and the second arm 3512 are in the first arm state and the unmanned transport vehicle 3500 is traveling on the elevated rail 7d1, the first arm 3511 and the second arm 3512 can be switched to the third arm state, thereby moving the main body 3501 of the unmanned transport vehicle 3500 closer to the elevated rail 7d1.

[0506] Also, as shown in Figures 44 and 45A, the automated guided vehicle 110b can transfer from the elevated rail 7d1 to the rail 7 by the reverse procedure to that described above.

[0507] When the machine body 3501 travels on the rails 7 , the wheels 3511 a of the first arm 3511 and the wheels 3512 a of the second arm 3512 are positioned below the rails 7 .

[0508] Specifically, when the front wheels 113a1 and the rear wheels 113b1 are traveling on the rails 7, after the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 leave the elevated rail 7d1, the control unit 120 controls at least one arm driver 146 to change the first arm 3511 and the second arm 3512 from the first arm state to the second arm state. This allows the automated guided vehicle 110b to continue traveling on the rails 7.

[0509] When the unmanned guided vehicle 110b travels on the rail 7, the control unit 120 controls the wheel drive unit 144 to rotate the plurality of wheels 113a1, 113b1 arranged on the lower side of the vehicle body 3501 of the unmanned guided vehicle 110b. For example, when the unmanned guided vehicle 110b transfers from an elevated rail 7d1 located at a higher position to the rail 7, the wheel drive unit 144 is controlled by the control unit 120 to rotate the plurality of wheels 113a1, 113b1 of the vehicle body 3501. This allows the unmanned guided vehicle 110b to transfer from the elevated rail 7d1 located at a higher position than the vehicle body 3501 to the rail 7 arranged below the vehicle body 3501, and to travel continuously from the elevated rail 7d1 to the rail 7.

[0510] When wheel 3511a of first arm 3511 and wheel 3512a of second arm 3512 move away from high altitude rail 7d1, wheel drive unit 144 is controlled by control unit 120 to stop the rotation of wheel 3511a of first arm 3511 and wheel 3512a of second arm 3512. In addition, each arm drive unit 146 is controlled by control unit 120 to rotate first arm 3511 and second arm 3512, respectively, so that wheel 3511a of first arm 3511 and wheel 3512a of second arm 3512 are placed on the underside of machine body 3501.

[0511] When looking at the main body 3501, front wheel 113a1, and rail 7 on which front wheel 113a1 runs along the direction in which the axes of front wheel 113a1 and rear wheel 113b1 extend, the bottom surface of main body 3501 is located between front wheel 113a1 and the point of contact (point of contact) between front wheel 113a1 and rail 7.

[0512] When the aircraft body 3501, front wheel 113a1, and rail 7 are viewed along the direction in which the axes of the front wheel 113a1 and rear wheel 113b1 extend, the distance between the bottom surface of the aircraft body 3501 and the position of the contact point is 5 mm or more and 15 mm or less.

[0513] Fig. 46 is a diagram illustrating an office building intra-delivery system Sy1 applied to an office building. Fig. 47 is a diagram illustrating an elevator 200 of the office building intra-delivery system Sy1 on a certain floor of the office building. Figs. 46 and 47 illustrate the case of the automated guided vehicle 110, but the automated guided vehicles 100, 110a, and 110b may also be used.

[0514] The office building intra-delivery system Sy1 includes an elevator 200. In this embodiment as well, a car 210 of the elevator 200 is suspended by a car wire in a vertical hoistway, and moves up and down by letting out and reeling in the car wire with an elevator winch.

[0515] In this office building intra-delivery system Sy1, the automated guided vehicle 110 also travels along a pair of inner elevator rails 32. In this embodiment, multiple pairs of inner elevator rails 32 are provided in the second elevator space 212.

[0516] When the first landing door of the corridor and the first car door of the first elevator space 211 for boarding people are closed, and the second landing door 62 of the fourth floor space 13b on the corridor and the second car door 232 of the second elevator space 212 for boarding the automated guided vehicle 110 are closed, the automated guided vehicle 110 stops while hanging from the pair of inner elevator rails 32. In this case, because the movable rails of the pair of inner elevator rails 32 are not connected to the pair of inner floor rails 31, movement of the automated guided vehicle 110 between the fourth floor space 13b and the second elevator space 212 is prohibited.

[0517] When the first landing door and the first car door, and the second landing door 62 and the second car door 232 are open, the pair of inner elevator rails 32 are coupled with a pair of inner floor rails 31 arranged in the third floor space. This allows the automated guided vehicle 110 in the second elevator space 212 to travel along the pair of inner elevator rails 32 and the pair of inner floor rails 31 and move from the second elevator space 212 to the fourth floor space 13b. Conversely, the automated guided vehicle 110 in the fourth floor space 13b can also travel along the pair of inner floor rails 31 and the pair of inner elevator rails 32 and move from the fourth floor space 13b to the second elevator space 212.

[0518] The multiple pairs of in-floor rails 31 include a pair of first in-floor rails 31a and a pair of second in-floor rails 31b. The pair of first in-floor rails 31a and the pair of second in-floor rails 31b are perpendicular to each other. Therefore, the automated guided vehicle 110 can switch its traveling direction at the intersection of the pair of first in-floor rails 31a and the pair of second in-floor rails 31b.

[0519] Figure 48 is a diagram illustrating a case where the office building intra-delivery system Sy1 is applied to an office building with a floor height of 4.5 m. Figure 48 (a) shows a state where a pair of intra-floor rails 31 and a pair of intra-elevator rails 32 are not connected. Figure 48 (b) shows a state where a pair of intra-floor rails 31 and a pair of intra-elevator rails 32 are connected. Figure 48 illustrates a case where an automated guided vehicle 110 is used. Note that the above-mentioned automated guided vehicles 110a and 110b may also be used.

[0520] In the example shown in Figure 48, the third floor space 13, one of the above-mentioned spaces in the floor area, is divided into two floor spaces. Specifically, the third floor space 13 includes a third floor space 13a, which is a space for laying pipes, electrical wires, etc., and a fourth floor space 13b, in which multiple pairs of in-floor rails 31 are arranged horizontally. The third floor space 13a is located above the fourth floor space 13b and is separated from the upper floor by a first horizontal wall 22a above. The third floor space 13a and the fourth floor space 13b are separated by a third horizontal wall 22c.

[0521] The height of the floor area, i.e., the height between the two first horizontal walls 22a, is 4.5 m. The height of the first floor space 11, i.e., the height between the lower first horizontal wall 22a and the second horizontal wall 22b, is 3 m. The height of the fourth floor space 13b above the first floor space 11, i.e., the height between the second horizontal wall 22b and the upper first horizontal wall 22a, is 40 cm to 50 cm. The height of the automated guided vehicle 110, i.e., the height between the bottom and top surfaces of the automated guided vehicle 110, is 30 cm. Therefore, the distance between the bottom surface of the automated guided vehicle 110 and the second horizontal wall 22b and the distance between the top surface of the automated guided vehicle 110 and the second horizontal wall 22b are 5 to 10 cm. The height between the ceiling of the first elevator space 211 (the floor of the second elevator space 212) and the ceiling of the second elevator space 212 is 1 m. These heights are merely examples and are not limiting.

[0522] A second landing door 62 is disposed opposite the second car door 232 and opens and closes in conjunction with the second car door 232. When the second landing door 62 and the second car door 232 open in conjunction with each other, the fourth floor space 13b and the second elevator space 212 communicate with each other.

[0523] The elevator 200 includes a rail elevator 33 and a rail extension / retraction device 34 .

[0524] The rail elevator 33 aligns the height of the pair of inner elevator rails 32 with the height of the pair of inner floor rails 31. In other words, when the second landing door 62 and the second car door 232 open in conjunction with each other, the rail elevator 33 is controlled by the control unit 501 to adjust the positions (heights) of the pair of inner elevator rails 32 so that the heights of the pair of inner elevator rails 32 are aligned with the height of the pair of inner floor rails 31.

[0525] The rail extension / contraction device 34 is controlled by the control unit 501 to move the pair of movable rails 32a in the horizontal direction so as to be connected to the pair of in-floor rails 31. First ends 32k of the movable rails 32a of the pair of in-elevator rails 32 are connected to second ends 31k of the pair of in-floor rails 31. This connects the pair of in-floor rails 31 and the pair of in-elevator rails 32.

[0526] The automated guided vehicle 110 in the second elevator space 212 can travel from the second elevator space 212 to the fourth floor space 13b by traveling along a pair of intra-elevator rails 32 and a pair of intra-floor rails 31. Conversely, the automated guided vehicle 110 in the fourth floor space 13b can also travel from the fourth floor space 13b to the second elevator space 212 by traveling along a pair of intra-floor rails 31 and a pair of intra-elevator rails 32.

[0527] Figure 49 is a diagram illustrating an office building delivery system Sy1 in which a first car door 231 and a first landing door 61, and a second landing door 62 and a second car door 232 through which an unmanned transport vehicle 110 passes are arranged.

[0528] The height between the upper first horizontal wall 22a and the lower first horizontal wall 22a in the first floor space 11 is 7 m. In this case, even if a pair of in-floor rails 31 are arranged above the first floor space 11, it is difficult to align the positions of the pair of in-floor rails 31 with the positions of the pair of in-elevator rails 32 arranged in the second elevator space 212. Note that these heights are merely examples and are not limited to these.

[0529] 49 , a first landing door 61 of the first floor space 11 that opens and closes in conjunction with the first car door 231 is disposed at a position facing the first car door 231 of the first elevator space 211. A second car door 232 of the second elevator space 212 is disposed on the opposite side of the first car door 231. A second landing door 62 that opens and closes in conjunction with the second car door 232 is disposed at a position facing the second car door 232. In other words, the first car door 231 and first landing door 61 through which people pass are on the opposite side from the second landing door 62 and second car door 232 through which the automated guided vehicle 110 passes.

[0530] In this case, the automated guided vehicle 110 can also travel between a pair of inner elevator rails 32 and a pair of inner floor rails 31 .

[0531] FIG. 50 is a diagram illustrating an office building delivery system Sy1 applied to an office building.

[0532] The pair of in-floor rails 31 are arranged under the beams 22ab that support the office building. The height between the second horizontal wall 22b of the ceiling and the beams 22ab in the fourth floor space 13b is at least 70 cm. The pair of in-floor rails 31 are stretched between the second horizontal wall 22b and the beams 22ab so as to be parallel to the second horizontal wall 22b. Note that these heights are merely examples and are not limited to these.

[0533] For example, when the elevator 200 arrives at a predetermined floor of an office building, a pair of inner elevator rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of inner floor rails 31 in the fourth floor space 13b are coupled together. The automated guided vehicle 110 can move from the pair of inner elevator rails 32 to the pair of inner floor rails 31, thereby moving from the second elevator space 212 to the fourth floor space 13b.

[0534] The automated guided vehicle 110 travels along a pair of in-floor rails 31 in the fourth floor space 13b and stops above the delivery locker 43. A travel opening 28 is formed in the second horizontal wall 22b in the ceiling above the delivery locker 43. The automated guided vehicle 110 lowers a luggage basket through the travel opening 28 and stores the luggage in the delivery locker 43. Once the luggage has been stored in the delivery locker 43, the automated guided vehicle 110 raises the luggage basket and retrieves it. In this way, the luggage can be delivered to the specified delivery locker 43.

[0535] Here, an example is shown in which the unmanned transport vehicle 110 retrieves luggage, but the unmanned transport vehicle 110 can also lower a luggage basket from the running entrance 28 and retrieve luggage stored in the delivery box 43.

[0536] FIG. 51 is a diagram illustrating an office building delivery system Sy1 on the top floor of an office building.

[0537] The height between the ceiling of the first elevator space 211 and the ceiling of the second elevator space 212 is 60 cm. In this case, since it is difficult to increase the height of the second elevator space 212 and the fourth floor space 13b on the top floor, it is preferable to make the mechanical equipment for the elevator 200 thin. It is also preferable to make the pair of in-floor rails 31 and the pair of in-elevator rails 32 one layer. Note that these heights are merely examples and are not limited to these.

[0538] FIG. 52 is another diagram illustrating an office building delivery system Sy1.

[0539] Figure 50 shows a case where a pair of elevator inner rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of floor inner rails 31 arranged in the fourth floor space 13b are arranged in one layer, while Figure 52 shows a case where a pair of elevator inner rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of floor inner rails 31 in the fourth floor space 13b are arranged in two layers in the vertical direction.

[0540] That is, the pair of inner elevator rails 32 arranged in the second elevator space 212 of the elevator 200 are arranged above and below each other. The upper pair of inner elevator rails 32 and the lower pair of inner elevator rails 32 are laid out parallel to the second horizontal wall 22b at a height such that the unmanned transport vehicles 110 do not come into contact with each other even when the unmanned transport vehicles 110 travel on each of them.

[0541] Furthermore, a pair of in-floor rails 31 in the fourth floor space 13b are arranged above and below each other. The upper pair of in-floor rails 31 and the lower pair of in-floor rails 31 are stretched parallel to the second horizontal wall 22b at a height such that the unmanned transport vehicles 110 do not come into contact with each other even when they travel on each other.

[0542] When connecting the upper pair of in-floor rails 31 and the upper pair of in-elevator rails 32, the rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the upper pair of in-floor rails 31 and the upper pair of in-elevator rails 32 so that they are aligned in height. The rail extension and contraction device 34 is controlled by the control unit 501 to move the pair of movable rails horizontally so as to be connected to the upper pair of in-floor rails 31. This connects the upper pair of in-floor rails 31 and the upper pair of in-elevator rails 32. The automated guided vehicle 110 can travel along the upper pair of in-floor rails 32 and the upper pair of in-floor rails 31, and between the upper pair of in-elevator rails 32 and the upper pair of in-floor rails 31.

[0543] When connecting the lower pair of in-floor rails 31 and the lower pair of in-elevator rails 32, the rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the lower pair of in-floor rails 31 so that they are aligned with the height of the lower pair of in-floor rails 32. The rail extension and contraction device 34 is controlled by the control unit 501 to move the pair of movable rails horizontally so as to be connected to the lower pair of in-floor rails 31. This connects the lower pair of in-floor rails 31 and the lower pair of in-elevator rails 32. The automated guided vehicle 110 can travel along the lower pair of in-floor rails 32 and the lower pair of in-floor rails 31, and between the lower pair of in-elevator rails 32 and the lower pair of in-floor rails 31.

[0544] The pair of in-floor rails 31 are arranged below the beams 22ab that support the office. The height between the second horizontal wall 22b of the ceiling and the beams 22ab in the fourth floor space 13b is at least 70 cm. Therefore, in areas where the height between the second horizontal wall 22b of the ceiling and the beams 22ab in the fourth floor space 13b is low, the pair of in-floor rails 31 in the fourth floor space 13b form a single layer. Note that these heights are merely examples and are not limited to these.

[0545] For example, when the elevator 200 arrives at a predetermined floor in an office, a pair of inner elevator rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of inner floor rails 31 in the fourth floor space 13b are coupled together. The automated guided vehicle 110 travels from the pair of inner elevator rails 32 along the pair of inner floor rails 31, and can move from the second elevator space 212 to the fourth floor space 13b.

[0546] The automated guided vehicle 110 travels along a pair of in-floor rails 31 in the fourth floor space 13b and stops above the delivery locker 43. A travel opening 28 is formed in the second horizontal wall 22b of the ceiling above the delivery locker 43. The automated guided vehicle 110 lowers the luggage basket and places the luggage in the delivery locker 43. Once the luggage has been placed in the delivery locker 43, the automated guided vehicle 110 raises the luggage basket and retrieves it. In this way, the luggage can be delivered to the specified delivery locker 43. The automated guided vehicle 110 can also retrieve luggage from the delivery locker 43.

[0547] FIG. 53 is a diagram illustrating an elevator 200 having a second elevator space 212 and a fourth elevator space 214 in an office building distribution system Sy1.

[0548] As with Figure 52, Figure 53 also illustrates an example in which a pair of elevator inner rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of floor inner rails 31 in the fourth floor space 13b are arranged in two layers in the vertical direction.

[0549] While Figure 52 illustrates an example in which a pair of inner elevator rails 32 arranged in the second elevator space 212 of the elevator 200 and a pair of inner floor rails 31 in the fourth floor space 13b are arranged in two layers in the vertical direction, Figure 53 shows a fourth elevator space 214 formed below the first elevator space 211 of the elevator 200. Similar to the second elevator space 212, the fourth elevator space 214 also has a pair of inner floor rails 31 arranged in two layers in the vertical direction, which are connected to a pair of inner elevator rails 32 arranged in the fourth floor space 13b, which is one floor (N-1) below the first floor space 11.

[0550] The pair of inner elevator rails 32 arranged in the fourth elevator space 214 are also arranged in the vertical direction. The upper pair of inner elevator rails 32 and the lower pair of inner elevator rails 32 are stretched parallel to the second horizontal wall 22b at a height such that the unmanned transport vehicles 110 do not come into contact with each other even when they travel on each other.

[0551] A beam 22ab is provided in a fourth floor space 13b between the floor (Nth floor) of the first floor space 11 and the (N-1) floor one floor below the first floor space 11, so a fifth elevator space 215 is formed between the fourth elevator space 214 and the first elevator space 211. The fifth elevator space 215 is set to the same height as the beam 22ab.

[0552] When people can move between the first elevator space 211 and the first floor space 11, the fourth elevator space 214 can be connected to a fourth floor space 13b between the floor (N floor) of the first floor space 11 and the (N-1) floor one floor below the first floor space 11. In other words, since the elevator 200 is formed with the second elevator space 212 and the fourth elevator space 214, the automated guided vehicle 110 can travel between the pair of intra-floor rails 31 and the pair of intra-elevator rails 32 simultaneously in the fourth floor space 13b above the floor (N floor) of the first floor space 11 where the elevator 200 is stopped, and in the fourth floor space 13b on the (N-1) floor one floor below the first floor space 11. In addition, when the elevator 200 has arrived at the lowest floor, the fourth floor space 13b may not be formed under the floor, so the unmanned transport vehicle 110 in the fourth elevator space 214 may wait in the fourth elevator space 214.

[0553] Under the control of the control unit 501, the rail elevator 33 adjusts the positions (heights) of the pair of inner elevator rails 32 arranged in the second elevator space 212 by two stories so as to align the heights of the pair of inner elevator rails 32 arranged in the fourth floor space 13b on the Nth floor with that of the pair of inner floor rails 31 arranged in the fourth floor space 13b on the Nth floor. Furthermore, under the control of the control unit 501, the rail elevator 33 adjusts the positions (heights) of the pair of inner elevator rails 32 arranged in the fourth elevator space 214 by two stories so as to align the heights of the pair of inner floor rails 31 arranged in the fourth floor space 13b on the (N-1)th floor with that of the pair of inner elevator rails 32 arranged in the fourth elevator space 214 with that of the pair of inner floor rails 31 arranged in the fourth floor space 13b on the (N-1)th floor.

[0554] Under the control of the control unit 501, the rail extension and retraction device 34 moves the pair of movable rails arranged in the second elevator space 212 horizontally by two stories so as to be connected to the pair of in-floor rails 31 arranged in the fourth floor space 13b on the Nth floor. Furthermore, under the control of the control unit 501, the rail extension and retraction device 34 moves the pair of movable rails arranged in the fourth elevator space 214 horizontally by two stories so as to be connected to the pair of in-floor rails 31 arranged in the fourth floor space 13b on the (N-1)th floor.

[0555] This connects two floors between a pair of in-floor rails 31 above the floor (N floor) of the first floor space 11 and a pair of in-elevator rails 32 arranged in the second elevator space 212. Furthermore, a pair of in-floor rails 31 on the (N-1) floor one floor below the floor (N floor) of the first floor space 11 and a pair of in-elevator rails 32 arranged in the fourth elevator space 214 are connected two floors.

[0556] The automated guided vehicle 110 can travel between a pair of in-floor rails 31 above the floor (Nth floor) of the first floor space 11 and a pair of in-elevator rails 32 arranged in the second elevator space 212. The automated guided vehicle 110 can also travel between a pair of in-floor rails 31 on the (N-1)th floor, which is one floor below the first floor space 11, and a pair of in-elevator rails 32 arranged in the fourth elevator space 214.

[0557] FIG. 54 is a diagram illustrating an elevator 200 having a fourth elevator space 214 in an office building distribution system Sy1.

[0558] As in Figure 53, Figure 54 also illustrates a case in which a fourth elevator space 214 is formed below the first elevator space 211 of the elevator 200, and a pair of in-floor rails 31 on the (N-1) floor one floor below the first floor space 11 and a pair of in-elevator rails 32 arranged in the fourth elevator space 214 are arranged in two layers in the vertical direction.

[0559] In Figure 54, unlike Figure 53, the second elevator space 212 is not formed above the first elevator space 211 of the elevator 200.

[0560] Figure 55 is a diagram illustrating an example of a bird's-eye view of the first elevator space 211 of the elevator 200 in the office building intra-delivery system Sy1 and the first floor space 11 of the office building. Figure 56 is a diagram illustrating an example of a bird's-eye view of the second elevator space 212 of the elevator 200 in the office building intra-delivery system Sy1 and the fourth floor space 13b of the office building.

[0561] A plurality of elevators 200 are installed in the office building, and some of the elevators 200 may be operated even if no one is on board, as long as an unmanned transport vehicle 110 is on the elevator 200 or an unmanned transport vehicle 110 is about to board the elevator 200. Also, in the office building, a space is secured in the fourth floor space 13b located above the corridor or the like of the first floor space 11 for installing a pair of in-floor rails 31.

[0562] A fourth floor space 13b is formed above the first floor space 11 of the office building. A second elevator space 212 is formed above the first elevator space 211 of the elevator 200.

[0563] A pair of in-floor rails 31 are laid throughout the fourth floor space 13b. The automated guided vehicle 110 can travel between the pair of in-floor rails 31 and the pair of in-elevator rails 32, and thus can travel along the pair of in-floor rails 31 to reach the fourth floor space 13b corresponding to each room. The automated guided vehicle 110 stops above the delivery locker 43 at the delivery destination, lowers a luggage basket from the travel entrance 28 above the delivery locker 43, and stores the luggage in the delivery locker 43. Once the luggage is stored in the delivery locker 43, the automated guided vehicle 110 raises the luggage basket to retrieve it. In this way, the luggage can be delivered to the specified delivery locker 43. The automated guided vehicle 110 can also lower a luggage basket from the travel entrance 28 to retrieve the luggage stored in the delivery locker 43.

[0564] Fig. 57 is a diagram illustrating an office building intra-delivery system Sy1 having a duct 35 through which the automated guided vehicle 110 can travel. Fig. 58 is a diagram illustrating an office building intra-delivery system Sy1 having a duct 35 through which the automated guided vehicle 110 can travel and a beam 22ab through which the duct 35 is inserted. Fig. 58(a) shows the duct 35 passing through the through-hole 22ac of the beam 22ab. Fig. 58(b) shows the duct 35 disposed below the beam 22ab. Fig. 58(c) shows the automated guided vehicle 110 traveling along the duct 35 and a pair of in-floor rails 31 inside the duct 35.

[0565] The duct 35 is laid throughout the fourth floor space 13b. Specifically, the duct 35 is laid throughout the fourth floor space 13b above the first floor space 11, and is also connected to a second landing door provided in the fourth floor space 13b.

[0566] The duct 35 has a cylindrical shape, but may have a rectangular tubular shape. Rails 7 on which the automated guided vehicle 110 can travel, that is, a pair of in-floor rails 31, are provided inside the duct 35. Therefore, the automated guided vehicle 110 can travel along the pair of in-floor rails 31 inside the duct 35.

[0567] It is difficult for the automated guided vehicle 110 to travel in areas where beams 22ab that support the office building are located. However, in this embodiment, through holes 22ac for inserting ducts 35 are formed in the beams 22ab. This allows the ducts 35 to be laid throughout the fourth floor space 13b.

[0568] Since the automated guided vehicle 110 carries packages into the delivery locker 43 at the delivery destination, the duct 35 has a through-hole formed in a position corresponding to (opposite) the travel opening 28 above the delivery locker 43. This allows the automated guided vehicle 110 to stop above the delivery locker 43 at the delivery destination, lower a luggage basket through the through-hole and the travel opening 28, and store the package in the delivery locker 43. Once the package has been stored in the delivery locker 43, the automated guided vehicle 110 raises the luggage basket to retrieve it. In this way, the package can be delivered to the specified delivery locker 43. The automated guided vehicle 110 can also lower the luggage basket from the travel opening 28 to retrieve the package stored in the delivery locker 43.

[0569] Figure 59 is a diagram illustrating an example in which an office building intra-delivery system Sy1 having ducts 35 is applied to an office building. Figure 59 (a) shows a case in which two layers of ducts 35 are arranged vertically in the fourth floor space 13b between the upper first horizontal wall 22a and the second horizontal wall 22b. In the two layers of ducts 35, the upper duct 35 is not arranged vertically above the lower duct 35. Figure 59 (b) shows a case in which one layer of ducts 35 is arranged in the fourth floor space 13b.

[0570] A through-hole 35a is formed in the duct 35 at a position corresponding to (opposite) the travel opening 28 above the delivery box 43. A shutter 35c is disposed in the through-hole 35a. When the automated guided vehicle 110 arrives above the shutter 35c, the shutter drive unit is controlled by the control unit to open the shutter 35c. This allows the automated guided vehicle 110 to unload a baggage basket through the through-hole 35a and the travel opening 28.

[0571] With reference to Figure 60, the case where the duct 35 is installed in an office building will be described.

[0572] FIG. 60 shows a flow chart illustrating an example of the installation of the duct 35 in an office building.

[0573] As shown in Figure 59(a) and Figure 60, the inner diameter of the duct 35 is 50 cm. The height between the lower end of the beam 22ab and the lower end of the duct 35 is 20 cm. Note that these heights are merely examples and are not limited to these.

[0574] First, workers perform various duct work in the office building (S11). Specifically, they install a duct 35 and a pair of in-floor rails 31 in the fourth floor space 13b. They also install air conditioning ducts, ventilation ducts, and the like in the office building.

[0575] Next, the worker performs piping work for the office building, such as water pipes, gas pipes, and fire extinguishing pipes such as sprinklers (S12).

[0576] Next, the worker performs wiring work such as electrical wiring and communication wiring, and installation work for fire alarms, surveillance cameras, etc. in the office building (S13).

[0577] Next, the worker installs the second horizontal wall 22b, which is a ceiling board, in the office building (S14), thereby forming a fourth floor space 13b between the upper first horizontal wall 22a and the second horizontal wall 22b, and also hiding wiring, piping, ducts 35, a pair of in-floor rails 31, etc.

[0578] Next, the worker installs lighting fixtures, air conditioning equipment, etc. on the second horizontal wall 22b, etc. of the office building (S15).

[0579] Next, for the office building, the worker forms the running opening 28 in the second horizontal wall 22b and removes the blind cover 35b that was previously installed on the through hole 35a of the duct 35 located opposite the running opening 28 (S16). The duct 35 has a plurality of through holes 35a formed therein, and the blind cover 35b that covers the through holes 35a of the duct 35 is also previously attached. Only the blind cover 35b corresponding to the running opening 28 is removed. At this time, a gap is formed between the through hole 35a and the running opening 28, so the worker installs a pipe 35d that connects the through hole 35a and the running opening 28. The worker also installs a shutter 35c that can open and close the through hole 35a. The worker also sets a control unit that controls the shutter drive unit and the shutter drive unit so that the shutter 35c is driven by the shutter drive unit.

[0580] Next, the worker installs the automated guided vehicle 110, which can travel on a pair of in-floor rails 31, etc., in the office building (S17). In this way, the construction work on the office building is completed.

[0581] As a result, the automated guided vehicle 110 stops above the delivery locker 43 at the delivery destination, and when the shutter 35c opens the through-hole 35a, the automated guided vehicle 110 can lower the luggage basket through the through-hole 35a and the travel opening 28 above the delivery locker 43 and store the luggage in the delivery locker 43. In this way, the luggage can be delivered to the specified delivery locker 43. The automated guided vehicle 110 can also lower the luggage basket from the travel opening 28 and collect the luggage stored in the delivery locker 43.

[0582] In this embodiment, the office building delivery system Sy1 has been described, but the present invention can also be applied to the apartment delivery system Sy2 and the physical distribution systems Sy3 and Sy4.

[0583] In this embodiment, the automated guided vehicles 110, 110a, and 110b may be equipped with the above-described luggage baskets.

[0584] Figures 61 to 64A are diagrams illustrating an example of the configuration of the office building intra-delivery system Sy1 according to this embodiment. Similar to Figures 1 and 22, Figures 61(a), 62(a), 63(a), and 64A(a) illustrate a state in which one of multiple floors in an office building in which the office building intra-delivery system Sy1 is installed is viewed from diagonally above. Figures 61(b), 62(b), 63(b), and 64A(b) illustrate a bird's-eye view of the third floor space 13, the second elevator space 212, and the automated guided vehicle 110c.

[0585] Note that Figure 61 shows a diagonal top view of one of multiple floors (also referred to as a floor area) included in an office building where the office building intra-building delivery system Sy1 is installed. Figure 61 also shows an elevator with a car 210 installed in the office building and an automated guided vehicle 110c. An elevator hall and a corridor connected to the elevator hall are formed in front of the entrance / exit of the car 210. The elevator hall and corridor are included in the first floor space 11 included in the above-mentioned floor area. Note that even if reference numerals are not assigned in this figure, the same reference numerals as those described above will be used in the description.

[0586] In the third floor space 13 included in the floor area, rails for the unmanned transport vehicle 110c to run on are arranged in-floor rails 31 (first in-floor rail 31a, second in-floor rail 31b) that are aligned horizontally.

[0587] The multiple second in-floor rails 31b are arranged horizontally in the third floor space 13 and include a boarding second in-floor rail 31b and a disembarking second in-floor rail 31b extending from the boarding second in-floor rail 31b to the elevator hall. The crossing points of the boarding second in-floor rails 31b and the disembarking second in-floor rails 31b form a diamond crossing like railway rails. In other words, the crossing points (diamond crossing points) of the boarding second in-floor rails 31b and the disembarking second in-floor rails 31b are configured so that the automated guided vehicle 110c can move between the boarding and disembarking second in-floor rails 31b.

[0588] The second in-floor rails 31b for boarding and disembarking do not mean the second in-floor rails 31b exclusively for boarding and disembarking. The second in-floor rails 31b for boarding and the second in-floor rails 31b for disembarking may be interchangeable.

[0589] The elevator car 210 has a partition 221 that divides the space inside the elevator car 210 into a first elevator space 211 and a second elevator space 212. In other words, the elevator car 210 is a two-story or two-tier car.

[0590] The first elevator space 211 is a space for people to board. The first elevator space 211 is an example of a first space. The second elevator space 212 is a space for the automated guided vehicle 110c to board. The second elevator space 212 is an example of a second space. The second elevator space 212 is located above the first elevator space 211.

[0591] A plurality of inner elevator rails 32 are installed in the second elevator space 212. The plurality of inner elevator rails 32 correspond one-to-one to the plurality of second inner floor rails 31b. In this embodiment, the second elevator space 212 is provided with a boarding inner elevator rail 32 for the automated guided vehicle 110c to board the elevator car 210, and a disembarking inner elevator rail 32 for the automated guided vehicle 110c to disembark from the elevator car 210. The boarding inner elevator rail 32 corresponds to the boarding second inner floor rail 31b, and the disembarking inner elevator rail 32 corresponds to the disembarking second inner floor rail 31b. The boarding inner elevator rail 32 and the disembarking inner elevator rail 32 are examples of first inner elevator rails.

[0592] It should be noted that the inner elevator rails 32 for boarding and disembarking do not mean inner elevator rails 32 exclusively for boarding and disembarking. The inner elevator rails 32 for boarding and the inner elevator rails 32 for disembarking may be interchangeable.

[0593] The multiple boarding inner elevator rails 32 and the multiple disembarking inner elevator rails 32 correspond one-to-one to the multiple boarding second inner floor rails 31b and the multiple disembarking second inner floor rails 31b. The system is configured so that the automated guided vehicle 110c can board from the boarding second inner floor rail 31b to the boarding inner elevator rail 32, and so that the automated guided vehicle 110c can disembark from the disembarking inner elevator rail 32 to the disembarking second inner floor rail 31b. In this case, when the elevator car 210 arrives in front of the entrance / exit of the floor area, the boarding and disembarking inner elevator rails 32 and the boarding and disembarking second inner floor rails 31b are connected in a straight line so that the automated guided vehicle 110c can board the elevator car 210 and disembark from the elevator car 210.

[0594] The multiple inner elevator rails 32 also include a connecting inner elevator rail 32 that connects the boarding inner elevator rail 32 and the disembarking inner elevator rail 32 and forms a diamond crossing with the boarding and disembarking inner elevator rails 32. In other words, the connecting inner elevator rail 32 intersects with the boarding inner elevator rail 32 and the disembarking inner elevator rail 32. The connecting inner elevator rail 32 is an example of a second inner elevator rail.

[0595] With such rails, the automated guided vehicle 110c can move from the boarding inner elevator rail 32 via the connecting inner elevator rail 32 to the disembarking inner elevator rail 32.

[0596] In this embodiment, when a person is on board in the first elevator space 211 and the unmanned transport vehicle 110c is on board in the second elevator space 212, the control unit 501 shown in Figure 38 controls the winch 204 shown in Figure 38 so as not to stop the elevator car 210 at the floor where only the unmanned transport vehicle 110c is scheduled to disembark.

[0597] For example, when a person riding in the first elevator space 211 presses a destination button on the elevator car 210 to wish to disembark at a desired floor area, or when a person presses a call button in the elevator hall to board from the floor area where that call button is located, the automated guided vehicle 110c can board from the third floor space 13 to the second elevator space 212 or disembark from the second elevator space 212 to the third floor space 13. In other words, in floor areas where no person is boarding or disembarking from the elevator car 210, the automated guided vehicle 110c does not stop the elevator car 210 even if the automated guided vehicle 110c is scheduled to board the elevator car 210 or disembark from the elevator car 210.

[0598] On the other hand, when there is no person on board in the first elevator space 211 and the unmanned transport vehicle 110c is on board in the second elevator space 212, the control unit 501 controls the winch 204 to stop the elevator car 210 at the floor where the unmanned transport vehicle 110c is scheduled to disembark.

[0599] This allows the unmanned transport vehicle 110c to board from the third floor space 13 to the second elevator space 212 and to disembark from the second elevator space 212 to the third floor space 13 when no person is on board the elevator car 210. In other words, when no person is on board the elevator car 210, the elevator car 210 can transport the unmanned transport vehicle 110c to a floor in each floor area.

[0600] As described above, the elevator car 210 includes the first car door 231 and the second car door 232 .

[0601] The first car door 231 is a door that opens and closes an opening that leads from the outside of the elevator car 210 to the first elevator space 211. The second car door 232 is a door that opens and closes an opening that leads from the outside of the elevator car 210 to the second elevator space 212. The control unit 501 can control the opening and closing of the first car door 231 and the second car door 232.

[0602] Specifically, when a person is on board the first elevator space 211 and an unmanned transport vehicle is on board the second elevator space 212, and when the person and the unmanned transport vehicle 110c disembark at a predetermined floor, the control unit 501 controls the drive mechanism of the first car door 231 and the drive mechanism of the second car door 232 to open the first car door 231 and the second car door 232. On the other hand, when a person is on board the first elevator space 211 and the unmanned transport vehicle 110c is not on board the second elevator space 212, and when the person disembarks at a predetermined floor, the control unit 501 controls the drive mechanism of the first car door 231 to open the first car door 231 and to close the second car door 232.

[0603] Note that when a person is on board in the first elevator space 211 and the automated guided vehicle 110c is on board the second elevator space 212, the control unit 501 may close the first car door 231 and open the second car door 232 when the automated guided vehicle 110c disembarks at a predetermined floor. In the above description, the boarding and disembarking of people in the elevator car 210 is given priority over the boarding and disembarking of the automated guided vehicle 110c, but this is not limited to this.

[0604] In this case, it is conceivable that a person riding in the elevator car 210 may feel uneasy or have questions. For this reason, the control unit 501 may keep the first car door 231 closed and, when the second car door 232 is open, cause a display mounted on the elevator car 210 to display that the elevator car is stopped due to the unmanned transport vehicle 110c. This makes it possible to notify the person riding in the elevator car 210 that the elevator car 210 is not stopped due to an abnormality, which is expected to alleviate the anxiety and questions of the person riding in the elevator car 210.

[0605] Furthermore, the control unit 501 may keep the first car door 231 closed and, when the second car door 232 is open, output from a speaker mounted on the elevator car 210 a message that the elevator car has stopped due to the unmanned transport vehicle 110c. Furthermore, the control unit 501 may keep the first car door 231 closed and, when the second car door 232 is open, output from a speaker and display mounted on the elevator car 210 a message that the elevator car has stopped due to the unmanned transport vehicle 110c. This makes it possible to notify the driver that the elevator car 210 is not stopped due to an abnormality, which is expected to alleviate the anxiety and doubts of passengers in the elevator car 210.

[0606] The elevator car 210 moves to and stops at the floor area where the call button is pressed. The call button is a button for calling the elevator car 210. The call buttons are installed in each floor area. In other words, when a call button is pressed, the elevator car 210 moves to the floor area where the pressed call button is located.

[0607] For example, FIG. 61 shows eight unmanned transport vehicles 110c numbered "1 to 8" loaded onto the elevator car 210.

[0608] The office building intra-delivery system Sy1 shown in Figure 61 is configured so that when the elevator car 210 stops in a floor area and the first elevator door 231 of the first elevator space 211 where a person is boarding opens, the second elevator door 232 of the second elevator space 212 also opens. At this time, the four automated guided vehicles 110c numbered "1 to 4" receive control instructions from the control unit 501 and the control unit 120 controls the drive unit 140, thereby starting to disembark from the elevator car 210. In addition, the four automated guided vehicles 110c numbered "5 to 8" receive control instructions from the control unit 501 and the control unit 120 controls the drive unit 140, thereby starting to move from the boarding inner elevator rail 32 to the disembarking inner elevator rail 32 within the elevator car 210. Furthermore, the four unmanned transport vehicles 110c numbered "9 to 12" receive control instructions from the control unit 501, and the control unit 120 controls the drive unit 140 to begin boarding the elevator car 210. The unmanned transport vehicles 110c may begin moving in the order of numbers "1 to 4", numbers "5 to 8", and numbers "9 to 12". The control instructions are signals instructing the unmanned transport vehicles 110c to board the elevator car 210, or signals instructing the unmanned transport vehicles 110c to dismount from the elevator car 210.

[0609] As shown in FIG. 62, the four unmanned transport vehicles 110c numbered "1 to 4" move from the elevator inner rail 32 for disembarking to the second floor inner rail 31b for disembarking, and disembark from the elevator car 210.

[0610] Next, as shown in FIG. 63, the four unmanned transport vehicles 110c numbered "5 to 8" move from the boarding inner elevator rail 32 via the connecting inner elevator rail 32 to the disembarking inner elevator rail 32.

[0611] Next, as shown in FIG. 64A, the four unmanned transport vehicles 110c numbered "9 to 12" move from the second floor inner rail 31b for boarding to the elevator inner rail 32 for boarding, and board the elevator car 210.

[0612] In this way, because multiple automated guided vehicles 110c board and disembark together, the office building intra-delivery system Sy1 can improve the transport efficie...

Claims

1. An elevator installed in a building, A lifting car that rises and falls, a partition that divides the space inside the elevator car into a first space for a person to board and a second space for an automated guided vehicle to board; an inner elevator rail including a movable rail disposed in the second space; an actuator that moves the movable rail, The automated guided vehicle travels along the rail inside the elevator, the movable rail is switched between a first rail state and a second rail state by driving the actuator, In the first rail state, a first end of the movable rail is connected to a second end of an in-floor rail installed on a predetermined floor of the building; In the second rail state, The first end is not connected to the second end. Elevator.

2. The elevator further comprises: a first car door that opens and closes an opening formed in the elevator car that communicates with the first space; a second car door that opens and closes an opening formed in the elevator car that communicates with the second space, 2. The elevator of claim 1.

3. the first car door and the second car door are integrally configured.

3. The elevator according to claim 2.

4. the second space is located above the first space, The elevator inner rail is installed on the ceiling of the second space.

2. The elevator of claim 1.

5. The automated guided vehicle is A luggage basket connected to a wire, and a winch capable of reeling out and reeling in the wire.

2. The elevator of claim 1.

6. The inner elevator rail further comprises: Includes fixed rails The movable rail is The second rail state is switched to the first rail state by sliding relative to the fixed rail and stopping at a predetermined position.

2. The elevator of claim 1.

7. The elevator further comprises: a second partition disposed below the first partition in the elevator car; a second elevator inner rail including a movable rail different from the first elevator inner rail, The space inside the elevator car is the first partition and the second partition divide the space into the first space, the second space, and a third space for the automated guided vehicle to board; the second inner elevator rail is disposed in the third space; The movable rail of the second elevator inner rail is switched between a third rail state and a fourth rail state by driving an actuator, In the third rail state, a third end of the movable rail of the second elevator inner rail is connected to a fourth end of an inner floor rail installed on a floor one floor below the predetermined floor of the building; In the fourth rail state, The third end is not connected to the fourth end. An elevator according to any one of claims 1 to 6.

8. moreover, A rail elevator is provided to raise and lower the rail inside the elevator.

2. The elevator of claim 1.

9. The rail elevator is configured to be able to change the distance between the elevator inner rail and the ceiling of the second space according to the floor height of each floor of the building.

9. The elevator of claim 8.

10. a first story height of a first story of the building; a second story height at a second story of the building that is different from the second story height; the elevator inner rail is in a first first rail state at a first floor of the building and in a second first rail state at a second floor of the building; a first distance between the inner elevator rail and the ceiling of the second space in the first first rail state; a second distance between the inner elevator rail and the ceiling of the second space in the second first rail state, the second distance being different from the second distance; 10. The elevator of claim 9.

11. The absolute value of the difference between the first floor height and the second floor height is equal to the absolute value of the difference between the first distance and the second distance, 11. The elevator of claim 10.

12. An elevator installed in a building, A lifting car that rises and falls, a partition that divides the space inside the elevator car into a first space for a person to board and a second space for an automated guided vehicle to board; an inner elevator rail disposed in the second space; a rail elevator that raises and lowers the elevator inner rail, The automated guided vehicle travels along the rail inside the elevator, The rail elevator is configured to be able to change the distance between the elevator inner rail and the ceiling of the second space according to the floor height of each floor of the building. Elevator.

13. An elevator installed in a building, A lifting car that rises and falls, a first partition and a second partition that divide a space within the elevator car; the space within the elevator car includes, in order from above in the vertical direction, a first and second space for an unmanned transport vehicle to board, the first partition, a first space for a person to board, the second partition, and a second and second space for the unmanned transport vehicle to board, a first inner elevator rail for the automated guided vehicle to travel on, the first inner elevator rail being disposed in the first second space; a second inner elevator rail disposed in the second second space and along which the automated guided vehicle travels; An elevator equipped with:

14. moreover, the first inner elevator rail includes a first movable rail; the second inner elevator rail includes a second movable rail; Furthermore, the elevator a first actuator that moves the first movable rail; a second actuator that moves the second movable rail; Preparation, the first movable rail is switched between a first rail state and a first rail state by driving the first actuator; In the first first rail state, a first end of the first movable rail connected to a first second end of an in-floor rail installed on a predetermined floor of the building; In the first second rail state, the first first end is not connected to the first second end; the second movable rail is switched between a second first rail state and a second second rail state by driving the second actuator; In the second first rail state, a second first end of the second movable rail connected to a second second end of an in-floor rail installed on a predetermined floor of the building; In the second second rail state, The second first end is not connected to the second second end.

14. The elevator of claim 13.

15. moreover, a first rail elevator that raises and lowers the first elevator inner rail; a second rail elevator that raises and lowers the second inner elevator rail; 15. An elevator according to claim 13 or 14, comprising:

16. 1. A delivery system comprising: Elevators installed in the building; an in-floor rail including a movable rail installed on a predetermined floor of the building; an actuator that moves the movable rail, The elevator is A lifting car that rises and falls, a partition that divides the space inside the elevator car into a first space for a person to board and a second space for an automated guided vehicle to board; an inner elevator rail disposed in the second space; The automated guided vehicle travels along the rail inside the elevator, The movable rail is The actuator is driven to switch between a first rail state and a second rail state, In the first rail state, a first end of the movable rail connected to a second end of the inner elevator rail; and in the second rail state: The first end is not connected to the second end. Delivery system.