Transportation location

Abstract

DEPCT6803 / 02 / 2568 The transport vehicle moves with the supporting surface positioned at a second height if... The straight-line distance (L) from the starting point of motion where the transport vehicle begins its movement. Support the object to the change of orientation position (80) where the transport vehicle must perform the operation. Rotation that does not involve a change in the object's orientation is within a predetermined distance. The advance (Ls) and transport vehicle move with the support surface positioned at a height of three. If the straight-line distance (L) is longer than the predetermined distance (Ls);

Description

TRANSPORT FACILITY

[0001] The present invention relates to a conveying facility that includes a transfer target location having a loading surface on which an item is placed, a transfer device that transfers the item between the transfer target location and the transfer target location, and a conveying vehicle that includes a cart body that runs while supporting the transfer device.

[0002] An example of such a conveying facility is disclosed in Japanese Patent No. 6571916 (Patent Document 1). References in parentheses in the following description of the background art refer to those in Patent Document 1.

[0003] As shown in FIGS. 12 to 16 of Patent Document 1, the transport vehicle (1a) includes a carriage body (11) and a transfer device (12a). The carriage body (11) is rotatable independently of the transfer device (12a), and can change its traveling direction without changing the orientation of the article (9) supported by the transfer device (12a). The transfer device (12a) is formed with a support surface that supports the article (9) from below. The transfer device (12a) is configured to be able to change the height of the support surface. The transport vehicle (11a) is configured to transfer the article (9) between the support surface of the transfer device (12a) and the conveyor (C1) by raising and lowering the transfer device (12a) while the transport vehicle (11a) is under a transfer target location (e.g., a conveyor C1).

[0004] Patent No. 6571916

[0005] Incidentally, Patent Document 1 does not specifically disclose the relationship between the traveling state of the transport vehicle and the height of the support surface (the surface on which the transfer device supports the article). The height of the support surface affects the stability of the supported article. The stability of the article affects the traveling speed of the transport vehicle. In turn, the traveling speed of the transport vehicle affects the transport time of the article. In other words, the relationship between the traveling state of the transport vehicle and the height of the support surface can affect the transport time of the article.

[0006] In view of the above circumstances, it is desirable to realize a conveying facility that can easily shorten the time required to convey an article.

[0007] a transfer facility comprising: a transfer target location having a placement surface on which an item is placed; a transfer device for transferring the item between the transfer target location and the transfer target location; and a transport vehicle having a carriage body that travels while supporting the transfer device, wherein the transport vehicle travels along a floor surface and is configured to perform a turning operation to change its direction of travel at a direction change position determined according to a destination; the transfer device comprises a support section having a support surface that supports the item from below, a lifting section that raises and lowers the support section, and a turning section that turns the support section around a turning axis that extends in a vertical direction relative to the carriage body; the lifting section is configured to be able to change the height of the support surface to a first height that is higher than the placement surface, a second height that is lower than the placement surface, and a third height that is lower than the second height; and the transfer device transfers the item between the transfer target location and the transfer target location by raising and lowering the support surface between the first height and the second height or the third height; When the transport vehicle changes the direction of the trolley body without changing the posture of the item supported on the support surface in a planar view by rotating the support part relative to the trolley body using the swivel part, the transport vehicle performs the swivel operation with the support surface positioned at the second height, and when the straight-line distance from the start point where the transport vehicle starts traveling while supporting the item to the direction change position where the swivel operation without changing the posture of the item should be performed is within a specified distance, the transport vehicle runs with the support surface positioned at the second height, and when the straight-line distance is longer than the specified distance, the transport vehicle runs with the support surface positioned at the third height.

[0008] According to this configuration, when the straight-line distance is within a specified distance, the travel speed of the transport vehicle is unlikely to increase. Therefore, by positioning the support surface at the second height, the transport vehicle can travel without destabilizing the posture of the article, even if the article supported on the support surface is maintained at a relatively high position. Furthermore, since the transport vehicle can reach the direction change position where the turning operation is required while maintaining the height of the support surface at the second height, the transport vehicle can transition to the turning operation at the direction change position without changing the height of the support surface. This reduces the transport time for the article. Furthermore, according to this configuration, when the straight-line distance is longer than the specified distance, the support surface can be positioned at the third height to lower the center of gravity of the transport vehicle, thereby enabling high-speed travel while stabilizing the posture of the article. This also reduces the transport time for the article.

[0009] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings.

[0010] A plan view of the conveying equipment. A diagram showing the relationship in height between the placement surface of the transfer target location and the support surface of the support unit. An explanatory diagram of a turning operation. A control block diagram. An explanatory diagram of a case where the straight-line distance to the direction change position where the relative turning operation is to be performed is within a specified distance and the posture of the article is not changed between the origin and destination. A diagram showing the behavior of the conveying vehicle at each point in the case of Figure 5. An explanatory diagram of a case where the posture of the article is changed between the origin and destination by an integrated turning operation. A diagram showing the behavior of the conveying vehicle at each point in the case of Figure 7. An explanatory diagram of a case where the straight-line distance to the direction change position where the relative turning operation is to be performed is longer than a specified distance and the posture of the article is not changed between the origin and destination. A diagram showing the behavior of the conveying vehicle at each point in the case of Figure 9. A plan view showing a conveying vehicle in other embodiments.

[0011] Hereinafter, an embodiment of the conveying equipment will be described with reference to the drawings.

[0012] 1 and 2, the transport facility 100 includes a transfer target location 7 having a placement surface 7f on which an item 9 is placed, a transfer device 20 that transfers the item 9 between the transfer target location 7, and a transport vehicle 1 that includes a carriage body 10 that runs while supporting the transfer device 20. In this embodiment, the transport facility 100 includes a control device C (see FIG. 4). The control device C is configured to manage the transport schedule for the entire facility and issue transport commands to the transport vehicle 1.

[0013] In this embodiment, the article 9 includes a pallet 90 and one or more loads 91 placed on the pallet 90. The transport vehicle 1 is configured to transport a pallet 90 on which one or more loads 91 are placed, or an empty pallet 90 on which no loads 91 are placed. The transfer target location 7 is configured to directly place the pallet 90 thereon.

[0014] In this embodiment, the transport facility 100 includes a travel area RA in which the transport vehicle 1 travels, and a work area WA in which work is performed on the items 9 .

[0015] In this embodiment, multiple transfer target locations 7 are located adjacent to the travel area RA. Therefore, the transport vehicle 1 can transport the item 9 to each of the multiple transfer target locations 7 by traveling through the travel area RA while supporting the item 9.

[0016] In this embodiment, some of the multiple transfer target locations 7 are located adjacent to the work area WA. The items 9 transported to the transfer target locations 7 adjacent to the work area WA are processed by workers or robots. In the illustrated example, a worker W is located in the work area WA. For example, in the work area WA, the worker W performs work such as picking items 91. For example, this picking work involves removing the required items 91 from the multiple items 91 placed on a pallet 90. Note that the work performed in the work area WA is not limited to the above, and work such as loading the items 91 onto the pallet 90 or other work may also be performed.

[0017] As shown in Figure 1, in this embodiment, the conveying equipment 100 includes an input section 61 for inputting items 9 from outside the equipment, an output section 62 for outputting items 9 to outside the equipment, an automated warehouse (not shown) for storing items 9, an input section 51 for inputting items 9 into the automated warehouse, and an output section 52 for outputting items 9 from the automated warehouse.

[0018] In this embodiment, the loading section 61, the unloading section 62, the storage section 51, and the unloading section 52 each include a conveyor that transports the items 9. The conveyor includes a pair of transport sections 710 that are spaced apart in a direction (width direction) perpendicular to the transport direction in which the items 9 are transported. Each of the pair of transport sections 710 transports the items 9 along the transport direction while supporting them from below. That is, the upper surface of each of the pair of transport sections 710 that make up the conveyor is the loading surface 7f on which the items 9 are placed. In this example, the conveyor is configured using a chain conveyor that transports the items 9 using a pair of chains (transport sections 710). Each conveyor is a target location to which the items 9 are transferred between the transfer device 20 of the transport vehicle 1. That is, in this embodiment, the conveyors included in the loading section 61, the unloading section 62, the storage section 51, and the unloading section 52 correspond to the transfer target location 7. In other words, the loading section 61, the unloading section 62, the storage section 51, and the unloading section 52 each correspond to the transfer target location 7.

[0019] In this embodiment, the transfer target location 7 includes at least a plurality of support columns 72 (see FIG. 2 ) spaced apart in the vehicle body width direction of the transport vehicle 1, and an item receiving section 720 provided on the upper part of each support column 72. In this example, of the plurality of transfer target locations 7 provided in the transport equipment 100, the transfer target location 7 adjacent to the work area WA includes a plurality of support columns 72 and an item receiving section 720 provided on the upper part of each support column 72. As described above, the carry-in section 61, the carry-out section 62, the storage section 51, and the delivery section 52, which are each a transfer target location 7, include a pair of conveying sections 710 (chains in this example) that can support the item 9 from below.

[0020] Each of the multiple item receiving sections 720 has a loading surface 7f on which the item 9 is placed. As shown in Figure 1, in this embodiment, the transfer target location 7 adjacent to the work area WA has four support columns 72 (four item receiving sections 720). The item 9 placed on the transfer target location 7 has its four corners supported from below by the four support columns 72 (four item receiving sections 720).

[0021] 1 and 2 , in this embodiment, each of the multiple item receiving sections 720 is formed to protrude upward from the placement surface 7 f and includes a regulating section 721 that regulates the horizontal position of the item 9 placed on the placement surface 7 f. The regulating section 721 of each of the multiple item receiving sections 720 is arranged to surround the outer edge of the item 9 from the outside in the horizontal direction when the item 9 is placed on the placement surface 7 f of each of the multiple item receiving sections 720. This makes it possible to regulate the horizontal position of the item 9 so that the item 9 placed on the transfer target location 7 does not move in the horizontal direction.

[0022] In this embodiment, the transport vehicle 1 is equipped with a detection unit 40 (see FIG. 4). Furthermore, detectable parts 8 that are detected by the detection unit 40 are provided at multiple locations on the floor surface. The detectable parts 8 are configured to store or display position information of the detected parts 8. The transport vehicle 1 is configured to be able to ascertain its own current position by detecting the detectable parts 8 with the detection unit 40.

[0023] In this embodiment, multiple detectable parts 8 are arranged in a regular pattern at intervals in the travel area RA. Furthermore, a detectable part 8 is also arranged at each of the multiple transfer target locations 7. In this example, a detectable part 8 is arranged at a location on the floor corresponding to each of the multiple transfer target locations 7. The transport vehicle 1 is configured to travel on the floor while correcting its current position (current estimated position) based on the detection result of the detectable parts 8 by the detection unit 40. In this example, the detectable parts 8 are configured using an identification code such as a one-dimensional code or a two-dimensional code. The detection unit 40 of the transport vehicle 1 is configured using a code reader that reads the identification code. However, this configuration is not limited to this. For example, the detectable parts 8 may be configured using an IC tag, and the detection unit 40 may be configured using an IC tag reader. Alternatively, the detectable parts 8 may be configured using a mark, and the detection unit 40 may be configured using an imaging device that captures the mark.

[0024] As shown in FIG. 5 and other figures, in this embodiment, the control device C (see FIG. 4) is configured to set a transport route R from the source Pd of the article 9 to the destination Pa. The transport route R is set to connect multiple detectable parts 8. In this embodiment, the source Pd is determined based on the position of the detectable parts 8 arranged at the transfer target location 7 that will be the source Pd. The destination Pa is determined based on the position of the detectable parts 8 arranged at the transfer target location 7 that will be the destination Pa. The transport route R is set to connect multiple detectable parts 8 that exist between the detectable parts 8 corresponding to the source Pd and the detectable parts 8 corresponding to the destination Pa. Two directions (here, two horizontal directions) that are orthogonal to each other in a plan view are defined as a first direction D1 and a second direction D2. In this example, the transport route R is set to connect adjacent detectable parts 8 in the first direction D1 or adjacent detectable parts 8 in the second direction D2. Therefore, in this example, the transport route R is a route that combines a straight route along the first direction D1 and a straight route along the second direction D2. The transport vehicle 1 traveling on the transport route R moves straight along the first direction D1 or the second direction D2.

[0025] 1 and 2, the transport vehicle 1 is configured to travel along the floor surface and to turn to change its direction of travel at a direction change position 80 (see FIG. 5, etc.) that is determined depending on the destination. Here, as shown in FIG. 5, etc., the "destination" is the transfer target location 7 that will be the transport destination Pa. The direction change position 80 is determined based on the positions of a plurality of detectable parts 8. In detail, the position of a detectable part 8 that is located at a portion where the transport route R bends (a portion where the transport route R bends at a right angle in this example) among the plurality of detectable parts 8 that make up the transport route R is determined as the direction change position 80.

[0026] As described above, the transport vehicle 1 includes the carriage body 10 and the transfer device 20 supported by the carriage body 10 .

[0027] The bogie body 10 includes a running unit 11. In this embodiment, the running unit 11 includes a plurality of wheels 11 a arranged at least in the width direction of the vehicle body at a distance from one another, and a running drive unit (not shown) that drives and rotates the plurality of wheels 11 a. The running drive unit is configured using, for example, an electric motor or the like.

[0028] The transfer device 20 is configured to transfer the item 9 between the transfer target location 7. When the transport vehicle 1 is at the transfer target location 7, the transfer device 20 is configured to deliver the item 9 to the transfer target location 7 or receive the item 9 from the transfer target location 7.

[0029] As shown in Figure 2, the transfer device 20 includes a support section 21 having a support surface 21f that supports the item 9 from below, a lifting section 22 that raises and lowers the support section 21, and a rotating section 23 (see Figure 4) that rotates the support section 21 around a rotation axis Ax that extends in the vertical direction relative to the cart body 10.

[0030] In this embodiment, the support portion 21 is formed in a rectangular shape in a plan view (see FIG. 3 ). More specifically, the support portion 21 is formed in a square shape in a plan view. The support portion 21 is sized to be able to pass between the multiple placement surfaces 7 f in the transfer target location 7 in the vertical direction, and is smaller than the spacing between the multiple placement surfaces 7 f in the transfer target location 7 in a plan view.

[0031] The swivel unit 23 drives the support unit 21 to rotate about a rotation axis Ax along the vertical direction. The swivel unit 23 is configured using, for example, an electric motor.

[0032] In this embodiment, the lifting unit 22 includes a shaft member 22a and a lifting drive unit (not shown) that moves the shaft member 22a forward and backward in the up-down direction. In this example, the support unit 21 is connected to the upper end of the shaft member 22a. The shaft member 22a is driven by the lifting drive unit to move forward and backward in the up-down direction, causing the support unit 21 to move up and down. The lifting drive unit is configured using, for example, an electric motor or the like.

[0033] The lifting unit 22 is configured to be able to change the height of the support surface 21f among a first height H1 that is higher than the placement surface 7f, a second height H2 that is lower than the placement surface 7f, and a third height H3 that is lower than the second height H2. In other words, the lifting unit 22 is configured to be able to change the height of the support surface 21f in at least three stages.

[0034] In this embodiment, the height of the placement surface 7f (hereinafter, sometimes simply referred to as the "placement surface height H7") is fixed. The first height H1 is higher than the placement surface height H7. The second height H2 and the third height H3 are lower than the placement surface height H7. That is, the placement surface height H7 is set between the first height H1 and the second height H2 and the third height H3. The transfer device 20 is configured to transfer the item 9 to and from the transfer target location 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3. Specifically, the transfer device 20 changes the support surface 21f, which is supporting the item 9, from the first height H1 to the second height H2 or the third height H3, thereby delivering the item 9 to the placement surface 7f. In addition, the transfer device 20 receives the item 9 supported on the placement surface 7f by changing the support surface 21f from the second height H2 or the third height H3 to the first height H1.

[0035] In this embodiment, the placement surface height H7 is common to each of the multiple transfer target locations 7 provided in the conveying equipment 100. Therefore, the transfer device 20 can transfer (deliver or receive) the items 9 at all of the multiple transfer target locations 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3.

[0036] Specifically, among the multiple transfer target locations 7, at a transfer target location 7 adjacent to the work area WA, the transfer of the item 9 is performed as follows. That is, the transport vehicle 1 transfers the item 9 to and from the transfer target location 7 by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3, with the support portion 21 positioned between the multiple item receiving portions 720 in a planar view. In this embodiment, the first height H1 is set to a position higher than the upper end of the regulating portion 721. Specifically, the first height H1 is set to a position higher than the upper end of the regulating portion 721 by at least the vertical thickness of the support portion 21. When delivering the item 9 to the transfer target location 7, the transport vehicle 1 enters between the multiple item receiving portions 720 in a planar view, with the support surface 21f supporting the item 9 positioned at the first height H1. As described above, the first height H1 is set to a position higher than the upper end of the regulating portion 721 provided on the article receiving portion 720, so that the support portion 21 and the article 9 supported thereon do not interfere with the regulating portion 721 when the transport vehicle 1 enters. Furthermore, when the transport vehicle 1 receives the article 9 from the transfer target location 7, the transport vehicle 1 enters between the multiple article receiving portions 720 in a plan view, raises the support surface 21f from the second height H2 or the third height H3 to the first height H1 to receive the article 9, and then exits between the multiple article receiving portions 720 while maintaining the height of the support surface 21f at the first height H1. This prevents the support portion 21 and the article 9 supported thereon from interfering with the regulating portion 721 when the transport vehicle 1 exits.

[0037] Furthermore, among the multiple transfer target locations 7, the transfer of the item 9 is performed in the carry-in section 61, the carry-out section 62, the storage section 51, or the delivery section 52 as follows. That is, the transport vehicle 1 transfers the item 9 between the transfer target location 7 (the carry-in section 61, the carry-out section 62, the storage section 51, or the delivery section 52) by raising and lowering the support surface 21f between the first height H1 and the second height H2 or the third height H3, with the support section 21 disposed between the pair of transport sections 710 in a plan view. When the transport vehicle 1 delivers the item 9 to the transfer target location 7, the transport vehicle 1 enters between the pair of transport sections 710 in a plan view, with the support surface 21f supporting the item 9 disposed at the first height H1. In addition, when the transport vehicle 1 receives the item 9 from the transfer target location 7, it enters between the pair of conveying sections 710 in a planar view, raises the support surface 21f from the second height H2 or the third height H3 to the first height H1 to receive the item 9, and then exits between the pair of conveying sections 710 while maintaining the height of the support surface 21f at the first height H1.

[0038] In this embodiment, the transport vehicle 1 is provided with an auxiliary support part 30 that assists the support part 21 in supporting the article 9. The auxiliary support part 30 has an auxiliary support surface 30f with a fixed height. The auxiliary support part 30 is fixed to the upper surface of the cart body 10, and its position relative to the cart body 10 is fixed.

[0039] 3, in this embodiment, the auxiliary support parts 30 are arranged separately in a plan view so as to sandwich the support part 21 therebetween. In this example, a plurality of auxiliary support parts 30 (four in the illustrated example) are arranged separately around the support part 21 in a plan view.

[0040] 2 , the first height H1 and the second height H2 are higher than the height of the auxiliary support surface 30f. Meanwhile, the third height H3 is the same as or lower than the height of the auxiliary support surface 30f. In this embodiment, the third height H3 is lower than the height of the auxiliary support surface 30f. As a result, when the support surface 21f supporting the article 9 is moved from the first height H1 or the second height H2 to the third height H3, the support of the article 9 by the support surface 21f is released, and the article 9 is supported by the auxiliary support surface 30f of the auxiliary support part 30.

[0041] Here, the appropriate posture of the item 9 (appropriate posture in a plan view) differs depending on each of the multiple transfer target locations 7. For example, at the transfer target location 7 adjacent to the work area WA, the posture of the item 9 is required to be appropriate for performing work on the item 9. At each of the other transfer target locations 7, namely the loading section 61, the unloading section 62, the storage section 51, and the unloading section 52, the posture of the item 9 is required to be appropriate for transporting the item 9.

[0042] When it is necessary to change the posture of the item 9 in a planar view between the transfer target location 7 at the source Pd and the transfer target location 7 at the destination Pa (for example, as shown in Figure 7), the transport vehicle 1 changes the posture of the item 9 to an appropriate posture according to the transfer target location 7 at the destination Pa while transporting the item 9 between the transfer target location 7 at the source Pd and the transfer target location 7 at the destination Pa.

[0043] As described above, the transport vehicle 1 is configured to turn on the spot to change its traveling direction (see FIG. 3). In the transport equipment 100 according to the present disclosure, the turning motion of the transport vehicle 1 is used to change the orientation of the article 9 in a planar view. Alternatively, in the transport equipment 100, the turning motion of the transport vehicle 1 does not change the orientation of the article 9 in a planar view. This will be described in detail below.

[0044] The transport vehicle 1 is configured to perform at least two types of turning operations: a relative turning operation that does not involve a change in the position of the article 9 in a planar view, and an integral turning operation that involves a change in the position of the article 9 in a planar view. FIG. 3( a) shows the transport vehicle 1 performing a relative turning operation. FIG. 3( b) shows the transport vehicle 1 performing an integral turning operation. In the relative turning operation, the support portion 21 is turned by the turning portion 23 in a direction opposite to the turning direction of the carriage body 10, independently of the turning of the carriage body 10 (see FIG. 3( a)). In the integral turning operation, the support portion 21 is not turned by the turning portion 23, but is turned in the same direction as the turning direction of the carriage body 10 (see FIG. 3( b)). Note that in FIG. 3, half of the support portion 21 is hatched to make it easier to understand the position of the support portion 21.

[0045] As shown in FIGS. 2 and 3 , when the transport vehicle 1 changes the direction of the transport vehicle body 10 without changing the posture of the article 9 supported on the support surface 21f in a planar view by rotating the support portion 21 relative to the transport vehicle body 10 using the swivel 23, the transport vehicle 1 performs a swivel operation (relative swivel operation) with the support surface 21f positioned at the second height H2. When the transport vehicle 1 supports the article 9, the article 9 is supported by the support portion 21 or the auxiliary support portion 30 (the transport vehicle body 10). When the support surface 21f is positioned at the second height H2 as described above, the article 9 is supported only by the support portion 21. At this time, the transport vehicle body 10 (auxiliary support portion 30) is not involved in supporting the article 9. Therefore, by positioning the support surface 21f at the second height H2, it is possible to prevent the posture of the article 9 from being affected by the swivel (swivel) of the transport vehicle body 10. Therefore, a relative swivel operation can be appropriately performed without changing the posture of the article 9 in a planar view.

[0046] In this embodiment, when the transport vehicle 1 performs a relative rotation operation without changing the posture of the article 9 in a planar view, the transport vehicle 1 rotates the support unit 21 in the opposite direction to the rotation direction of the carriage body 10 by the same rotation angle as the rotation angle of the carriage body 10. In this embodiment, the support unit 21 is formed in a regular N-sided polygonal shape (N is an integer greater than or equal to 3) in a planar view, and the rotation unit 23 is configured to rotate the support unit 21 in 360 / N degree increments relative to the carriage body 10. This allows the relationship between the outer shape of the support unit 21 and the carriage body 10 in a planar view to be the same even when the transport vehicle 1 performs a rotation operation without changing the posture of the support unit 21 in a planar view. As described above, in this example, the support unit 21 is formed in a square shape (N = 4) in a planar view. Therefore, the rotation unit 23 rotates the support unit 21 in 360 / 4 degree (90 degree) increments relative to the carriage body 10. 3A, in a plan view, the transport vehicle 1 rotates the carriage body 10 by 90 degrees clockwise and rotates the support part 21 by 90 degrees counterclockwise. As shown in the figure, the posture of the carriage body 10 changes due to the relative rotation, but the posture of the support part 21 does not change.

[0047] 2 and 3 , when the transport vehicle 1 changes the direction of the transport vehicle body 10 by rotating the support part 21 integrally with the transport vehicle body 10, thereby changing the posture of the article 9 supported on the support surface 21f in a plan view, the transport vehicle 1 performs a rotating operation (integral rotating operation) with the support surface 21f positioned at the third height H3. In other words, when the transport vehicle 1 changes the posture of the article 9 supported on the support surface 21f in a plan view in conjunction with the rotating operation, the transport vehicle 1 performs a rotating operation (integral rotating operation) with the support surface 21f positioned at the third height H3. As described above, when the transport vehicle 1 supports the article 9, the article 9 is supported by the support part 21 or the auxiliary support part 30 (the transport vehicle body 10). When the support surface 21f is positioned at the second height H2, the article 9 is supported only by the support portion 21, but when the support surface 21f is positioned at the third height H3, the article 9 supported on the support surface 21f is supported by the auxiliary support surface 30f positioned at a position higher than the third height H3. At this time, the support portion 21 is not involved in supporting the article 9. Therefore, by positioning the support surface 21f at the third height H3, the posture of the article 9 depends on the change in direction (turning) of the cart body 10. Therefore, it is possible to appropriately perform an integrated turning operation that involves a change in the posture of the article 9 in a planar view.

[0048] 3(b), the transport vehicle 1 rotates the carriage body 10 by 90 degrees clockwise in a plan view. As a result, the support unit 21, which is not driven by the rotating unit 23, rotates by 90 degrees clockwise together with the carriage body 10. As shown in the figure, the posture of the carriage body 10 and the posture of the support unit 21 change due to the integral rotating operation.

[0049] As shown in FIG. 1 , in this embodiment, the bogie body 10 is configured to be able to travel at a predetermined reference speed Vs (see FIG. 8 ). In this example, the reference speed Vs is the maximum speed of the bogie body 10. The reference speed Vs (maximum speed in this example) is determined as appropriate depending on the operation of the equipment, etc. In this example, the control device C (see FIG. 4 ) is configured to be able to set the traveling speed V of the bogie body 10 to the reference speed Vs. "V" shown in FIG. 1 is the actual traveling speed V of the bogie body 10. When the control device C sets the traveling speed V of the bogie body 10 to the reference speed Vs, for example, the control device C feedback-controls the traveling speed V of the bogie body 10 using the reference speed Vs as a target value.

[0050] As shown in FIG. 4 , in this embodiment, the control device C includes a host control device Ct that manages the entire facility and a transport control device C1 that is mounted on each transport vehicle 1 and controls the functional units of each transport vehicle 1. The host control device Ct and the transport control device C1 are configured to communicate with each other. The host control device Ct specifies the source Pd and destination Pa of the item 9, and outputs a transport command to the transport control device C1 (transport vehicle 1) that specifies the transport route R from the source Pd to the destination Pa. Upon receiving the transport command, the transport control device C1 controls each functional unit of the transport vehicle 1 in accordance with the transport command. The host control device Ct and the transport control device C1 each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each process or function is realized through cooperation between this hardware and a program executed on a processor such as a computer. Hereinafter, the host control device Ct and the transport control device C1 may be collectively referred to simply as the “control device C.”

[0051] 5 and 6, an example of a case where a transport vehicle 1 transports an article 9 from a source Pd to a destination Pa will be described. Note that for the sake of convenience, the transport vehicle 1, the article 9, etc. are omitted from Figs. 5 and 6.

[0052] Fig. 5 shows the transport route R of the transport vehicle 1 when the posture of the item 9 at the transfer target location 7, which is the source of transport Pd, is the same as the posture of the item 9 at the transfer target location 7, which is the destination of transport Pa. Fig. 6 shows the height of the support surface 21f at each point of the transport route R, the set speed of the cart body 10, and the operation of the transport vehicle 1 in this case.

[0053] 5, a transport route R is set so as to connect the detectable portion 8 at the source Pd, the detectable portion 8 at point A, the detectable portion 8 at point B, the detectable portion 8 at point C, and the detectable portion 8 at the destination Pa. The transport vehicle 1 travels on the transport route R in the order of source Pd → point A → point B → point C → destination Pa.

[0054] In this case, as shown in Figure 6, the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd by changing the height of the support surface 21f from the third height H3 to the first height H1. At the source Pd, the travel speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the travel speed V when the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd is set to zero. In other words, the carriage body 10 is stopped.

[0055] After receiving the item 9, the transport vehicle 1 starts traveling toward the next point (the position of the detection target 8) while supporting the item 9. In the illustrated example, the transport vehicle 1 starts traveling from the transport origin Pd toward point A.

[0056] Here, when the straight-line distance L from the travel start point (here, the origin Pd) where the transport vehicle 1 starts traveling while supporting the article 9 to the direction change position 80 (here, point B) where a turning operation (relative turning operation) without changing the posture of the article 9 should be performed is within a specified distance Ls, the transport vehicle 1 travels with the support surface 21f positioned at the second height H2. If the straight-line distance L is within the specified distance Ls and the support surface 21f is not positioned at the second height H2 at the travel start point, the height of the support surface 21f may be changed to the second height H2 before the transport vehicle 1 starts traveling or may be changed during the transport vehicle 1's traveling after the transport vehicle 1 starts traveling. In the latter case, the change of the height of the support surface 21f to the second height H2 is completed before the transport vehicle 1 reaches the direction change position 80. In this embodiment, the control device C sets a transport route R from the origin Pd of the article 9 to the destination Pa, and determines whether the straight-line distance L is within the specified distance Ls based on the transport route R. As described above, in this example, the conveying route R is a route that combines a straight route along the first direction D1 and a straight route along the second direction D2. The control device C calculates the straight distance L based on these straight routes that make up the conveying route R, and determines whether the straight distance L is within the specified distance Ls. The specified distance Ls is determined as appropriate based on the operation of the equipment, etc.

[0057] In the example shown in FIG. 5 , the direction change position 80 that the transport vehicle 1 first reaches is point B. The straight-line distance L from the origin Pd, which is the travel start point, to point B is within a specified distance Ls (L≦Ls). Therefore, the transport vehicle 1 travels from the origin Pd to point B while positioning the support surface 21f at the second height H2. While the support surface 21f needs to be positioned at the second height H2 when performing a relative turning operation, the transport vehicle 1 can position the support surface 21f at the second height H2 before reaching the direction change position 80 (point B) where the relative turning operation is to be performed. Therefore, the transport vehicle 1 can transition to a relative turning operation at the direction change position 80 (point B here) without changing the height of the support surface 21f. As a result, the transport time for the item 9 can be shortened.

[0058] 5 and 6, the transport vehicle 1 changes the height of the support surface 21f from a first height H1 to a second height H2 while traveling from the transport origin Pd to point A. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs).

[0059] At point A, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V<Vs). The transport vehicle 1 travels from point A to point B in this state.

[0060] At point B, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V at point B is set to zero. The transport vehicle 1, while stopped, performs a relative turning operation at point B, which is the direction change position 80. This causes the traveling direction of the carriage body 10 to face the next point C without changing the posture of the article 9 in a planar view. The transport vehicle 1 then starts traveling from point B toward point C.

[0061] 5 and 6, the straight-line distance L from the travel start point (point B in this case) of the transport vehicle 1 to the direction change position 80 (point C in this case) where a turning operation (relative turning operation) without changing the posture of the article 9 should be performed is within the specified distance Ls (L≦Ls). Therefore, the transport vehicle 1 travels with the support surface 21f positioned at the second height H2 between points B and C. In this way, the travel start point of the transport vehicle 1 is not limited to the start point (transport origin Pd) of the transport route R, and when the transport vehicle 1 performs a turning operation, the straight-line distance L is determined using the point where the turning operation was performed (point B in this example) as the travel start point.

[0062] At point C, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V at point C is set to zero. The transport vehicle 1, while stopped, performs a relative turning operation at point C, which is the direction change position 80. This causes the traveling direction of the carriage body 10 to face the destination Pa without changing the posture of the article 9 in a planar view. The transport vehicle 1 then starts traveling from point C toward the destination Pa.

[0063] The transport vehicle 1 changes the height of the support surface 21f from the second height H2 to the first height H1 while traveling from the point C to the destination Pa. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs).

[0064] At the destination Pa, the transport vehicle 1 changes the height of the support surface 21f from the first height H1 to the third height H3, thereby delivering the item 9 to the transfer target location 7 at the destination Pa. At the destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V when the transport vehicle 1 delivers the item 9 to the transfer target location 7 at the destination Pa is set to zero. In other words, the carriage body 10 is stopped.

[0065] 7 and 8, an example of a case where a transport vehicle 1 transports an item 9 from a source Pd to a destination Pa will be described. Note that for the sake of convenience, the transport vehicle 1, the item 9, etc. are omitted from Figs. 7 and 8.

[0066] 7 shows the transport route R of the transport vehicle 1 when the posture of the item 9 at the transfer target location 7, which is the source of transport Pd, is different from the posture of the item 9 at the transfer target location 7, which is the destination of transport Pa. FIG. 8 shows the height of the support surface 21f at each point of the transport route R, the set speed of the cart body 10, and the operation of the transport vehicle 1 in this case.

[0067] 7, a transport route R is set to connect the detectable portion 8 at the source Pd, the detectable portion 8 at point A, the detectable portion 8 at point B, the detectable portion 8 at point C, the detectable portion 8 at point D, and the detectable portion 8 at the destination Pa. The transport vehicle 1 travels on the transport route R in the order of source Pd → point A → point B → point C → point D → destination Pa.

[0068] In this case, as shown in Figure 8, the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd by changing the height of the support surface 21f from the third height H3 to the first height H1. At the source Pd, the travel speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the travel speed V when the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd is set to zero. In other words, the carriage body 10 is stopped.

[0069] After receiving the item 9, the transport vehicle 1 starts traveling toward the next point (the position of the detection target 8) while supporting the item 9. In the illustrated example, the transport vehicle 1 starts traveling from the transport origin Pd toward point A.

[0070] Here, the transport vehicle 1 travels with the support surface 21f positioned at the third height H3, regardless of whether the straight-line distance from the travel start point (here, the origin Pd) where the transport vehicle 1 starts traveling while supporting the article 9 to the direction change position 80 (here, point B) where a turning operation (integral turning operation) involving a change in the posture of the article 9 is to be performed is within a specified distance. In the example shown in FIG. 7 , the direction change position 80 that the transport vehicle 1 first arrives at is point B, and the transport vehicle 1 plans to perform an integrated turning operation involving a change in the posture of the article 9 at point B. Therefore, the transport vehicle 1 travels with the support surface 21f positioned at the third height H3 from the origin Pd to point B. As a result, while the support surface 21f needs to be positioned at the third height H3 when performing an integrated turning operation, the transport vehicle 1 can position the support surface 21f at the third height H3 before arriving at the direction change position 80 (point B) where the integrated turning operation is to be performed. Therefore, the transport vehicle 1 can transition to an integral rotation operation at the direction change position 80 (here, point B) without changing the height of the support surface 21f. Furthermore, by positioning the support surface 21f at the third height H3, the center of gravity of the transport vehicle 1 can be lowered, allowing the transport vehicle 1 to travel at high speed while stabilizing the posture of the article 9. Therefore, it is possible to shorten the transport time of the article 9.

[0071] In the example shown in FIGS. 7 and 8 , the transport vehicle 1 changes the height of the support surface 21f from the first height H1 to the third height H3 between the origin Pd and point A. The travel speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). When the support surface 21f is positioned at the first height H1, the position of the article 9 supported on the support surface 21f is higher than when the support surface 21f is positioned at the second height H2 or the third height H3, making it more difficult for the article 9 to maintain a stable posture. In this embodiment, when the lifting unit 22 raises or lowers the support surface 21f between the first height H1 and the second height H2 or the third height H3, the carriage body 10 travels at a speed slower than the reference speed Vs or stops. This allows for highly reliable height changes of the support surface 21f, including when the support surface 21f is at the first height H1.

[0072] At point A, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. As described above, when the support surface 21f is positioned at the third height H3, the transport vehicle 1 can stably support the article 9, allowing it to travel at high speed. Therefore, the travel speed V of the carriage body 10 at this time is set to the reference speed Vs (V = Vs). In this state, the transport vehicle 1 travels from point A to point B.

[0073] At point B, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V at point B is set to zero. The transport vehicle 1, while stopped, performs an integral turning operation at point B, which is the direction change position 80. This changes the traveling direction of the carriage body 10 toward point C and changes the posture of the article 9 to the appropriate posture at the destination Pa. The transport vehicle 1 then starts traveling from point B toward point C.

[0074] At point C, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transport vehicle 1 travels from point C to point D.

[0075] At point D, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transport vehicle 1 travels from point D to the destination Pa.

[0076] The transport vehicle 1 changes the height of the support surface 21f from the third height H3 to the first height H1 while traveling from the point D to the destination Pa. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs).

[0077] At the destination Pa, the transport vehicle 1 changes the height of the support surface 21f from the first height H1 to the third height H3, thereby delivering the item 9 to the transfer target location 7 at the destination Pa. At the destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V when the transport vehicle 1 delivers the item 9 to the transfer target location 7 at the destination Pa is set to zero. In other words, the carriage body 10 is stopped.

[0078] 9 and 10, an example of a case where a transport vehicle 1 transports an article 9 from a source Pd to a destination Pa will be described. For ease of explanation, the transport vehicle 1, the article 9, etc. are omitted in FIGS.

[0079] 9 shows the transport route R of the transport vehicle 1 when the posture of the item 9 at the transfer target location 7, which is the transport source Pd, is the same as the posture of the item 9 at the transfer target location 7, which is the transport destination Pa. FIG. 10 shows the height of the support surface 21f at each point on the transport route R, the set speed of the cart body 10, and the operation of the transport vehicle 1 in this case.

[0080] 9, a transport route R is set to connect the detectable portion 8 at the source Pd, the detectable portion 8 at point A, the detectable portion 8 at point B, the detectable portion 8 at point C, the detectable portion 8 at point D, the detectable portion 8 at point E, and the detectable portion 8 at the destination Pa. The transport vehicle 1 travels on the transport route R in the order of source Pd → point A → point B → point C → point D → point E → destination Pa.

[0081] In this case, as shown in Figure 10, the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd by changing the height of the support surface 21f from the third height H3 to the first height H1. At the source Pd, the travel speed V of the carriage body 10 is set lower than the reference speed Vs (V < Vs). In this example, the travel speed V when the transport vehicle 1 receives the item 9 from the transfer target location 7 at the source Pd is set to zero. In other words, the carriage body 10 is stopped.

[0082] After receiving the item 9, the transport vehicle 1 starts traveling toward the next point (the position of the detection target 8) while supporting the item 9. In the illustrated example, the transport vehicle 1 starts traveling from the transport origin Pd toward point A.

[0083] 9, the direction change position 80 that the transport vehicle 1 first reaches is point B. Also, the straight-line distance L from the transport origin Pd, which is the travel start point, to point B is within a specified distance Ls (L≦Ls). Therefore, the transport vehicle 1 travels from the transport origin Pd to point B while positioning the support surface 21f at the second height H2.

[0084] 9 and 10 , the transport vehicle 1 changes the height of the support surface 21f from a first height H1 to a second height H2 while traveling from the transport origin Pd to point A. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs).

[0085] At point A, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. At this time, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V<Vs). The transport vehicle 1 travels from point A to point B in this state.

[0086] At point B, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V at point B is set to zero. The transport vehicle 1, while stopped, performs a relative turning operation at point B, which is the direction change position 80. This causes the traveling direction of the carriage body 10 to face the next point C without changing the posture of the article 9 in a planar view. The transport vehicle 1 then starts traveling from point B toward point C.

[0087] Here, when the straight-line distance L from the travel start point (here, point B) where the transport vehicle 1 starts traveling while supporting the article 9 to the direction change position 80 (here, point E) where a turning operation (relative turning operation) without changing the posture of the article 9 should be performed is longer than the specified distance Ls, the transport vehicle 1 travels with the support surface 21f positioned at the third height H3. In this case, when the straight-line distance L is longer than the specified distance Ls and the support surface 21f is not positioned at the third height H3 at the travel start point, the height of the support surface 21f may be changed to the third height H3 before the transport vehicle 1 starts traveling, or may be changed while the transport vehicle 1 is traveling after starting traveling. In the latter case, the change of the height of the support surface 21f to the third height H3 is completed before the transport vehicle 1 reaches the direction change position 80. When the straight-line distance L is longer than the specified distance Ls, even if it is necessary to later position the support surface 21f at the second height H2 (i.e., when performing a relative rotation operation, the support surface 21f needs to be positioned at the second height H2), the transport vehicle 1 can contribute to shortening the transport time of the article 9 by setting the height of the support surface 21f to the third height H3, which is lower than the second height H2, and traveling at high speed. As described above, by positioning the support surface 21f at the third height H3, the center of gravity of the transport vehicle 1 can be lowered, allowing the transport vehicle 1 to travel at high speed while stabilizing the posture of the article 9. In this embodiment, when the straight-line distance L is longer than the specified distance Ls, the transport vehicle 1 travels at the reference speed Vs.

[0088] 9, the straight distance L from point B, which is the travel start point, to point E, which is the next direction change position 80, is longer than the specified distance Ls (L>Ls). Therefore, the transport vehicle 1 travels from point B to point E at the reference speed Vs while positioning the support surface 21f at the third height H3.

[0089] While traveling from point B to point C, the transport vehicle 1 changes the height of the support surface 21f from the second height H2 to the third height H3. That is, in this embodiment, the lifting unit 22 raises and lowers the support surface 21f between the second height H2 and the third height H3 while the carriage body 10 is traveling. The height change of the support surface 21f between the second height H2 and the third height H3 does not include a state in which the height of the support surface 21f is the first height H1, making it relatively easy to stabilize the posture of the article 9. As described above, raising and lowering the support surface 21f between the second height H2 and the third height H3 while the carriage body 10 is traveling can contribute to shortening the transport time of the article 9. The traveling speed V when the transport vehicle 1 raises and lowers the support surface 21f between the second height H2 and the third height H3 while traveling, i.e., in the illustrated example, the traveling speed V while the transport vehicle 1 travels from point B to point C, is set to the reference speed Vs. However, even in this case, the traveling speed V may be set lower than the reference speed Vs.

[0090] At point C, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transport vehicle 1 travels from point C to point D.

[0091] At point D, the transport vehicle 1 maintains the height of the support surface 21f at the third height H3. At this time, the traveling speed V of the carriage body 10 is set to the reference speed Vs (V = Vs). In this state, the transport vehicle 1 travels from point D to point E.

[0092] Point E is a direction change position 80 where a relative rotation operation without changing the posture of the article 9 should be performed, and at point E, the support surface 21f needs to be positioned at the second height H2. The transport vehicle 1 changes the height of the support surface 21f from the third height H3 to the second height H2 while traveling from point D to point E. As described above, changing the height of the support surface 21f between the second height H2 and the third height H3 makes it relatively easy to stabilize the posture of the article 9, so the transport vehicle 1 changes the height of the support surface 21f while traveling. Note that the traveling speed V of the carriage body 10 at this time is set to the reference speed Vs (V = Vs).

[0093] At point E, the transport vehicle 1 maintains the height of the support surface 21f at the second height H2. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V at point E is set to zero. The transport vehicle 1, while stopped, performs a relative turning operation at point E, which is the direction change position 80. This causes the traveling direction of the carriage body 10 to face the destination Pa without changing the posture of the article 9 in a planar view. Thereafter, the transport vehicle 1 starts traveling from point E toward the destination Pa.

[0094] The transport vehicle 1 changes the height of the support surface 21f from the second height H2 to the first height H1 between the point E and the destination Pa. The traveling speed V of the carriage body 10 at this time is set lower than the reference speed Vs (V<Vs).

[0095] At the destination Pa, the transport vehicle 1 changes the height of the support surface 21f from the first height H1 to the third height H3, thereby delivering the item 9 to the transfer target location 7 at the destination Pa. At the destination Pa, the traveling speed V of the carriage body 10 is set lower than the reference speed Vs (V<Vs). In this example, the traveling speed V when the transport vehicle 1 delivers the item 9 to the transfer target location 7 at the destination Pa is set to zero. In other words, the carriage body 10 is stopped.

[0096] According to the conveying equipment 100 described above, the time required to convey the items 9 can be reduced.

[0097] Other Embodiments Next, other embodiments of the conveying equipment will be described.

[0098] (1) In the above embodiment, an example has been described in which the support portion 21 is formed in a regular N-sided polygon (N is an integer greater than or equal to 3) in a plan view, and the swivel portion 23 is configured to swivel the support portion 21 in increments of 360 / N degrees relative to the carriage body 10. As one example, an example has been described in which the support portion 21 is formed in a square shape (N=4) in a plan view, and the swivel portion 23 swivels the support portion 21 in increments of 360 / 4 degrees (90 degrees) relative to the carriage body 10. However, the present invention is not limited to this example. For example, as shown in FIG. 11 , the support portion 21 may be formed in a regular octagon (N=8) in a plan view, and the swivel portion 23 may be configured to swivel the support portion 21 in increments of 360 / 8 degrees (45 degrees) relative to the carriage body 10. This allows the relationship between the outer shape of the support portion 21 and the carriage body 10 in a plan view to be the same even when the transport vehicle 1 performs a swivel operation without changing the orientation of the support portion 21 in a plan view. Although not shown in detail, the support section 21 may be formed in a perfect circular shape in a plan view, and the swivel section 23 may be configured to swivel the support section 21 at any angle relative to the carriage body 10. This also achieves the same effect as above. That is, even if the transport vehicle 1 performs a swivel operation without changing the posture of the support section 21 in a plan view, the relationship between the outer shape of the support section 21 and the carriage body 10 in a plan view can be made the same.

[0099] (2) In the above embodiment, an example has been described in which the lifting unit 22 lifts and lowers the support surface 21f between the second height H2 and the third height H3 while the bogie body 10 is traveling. However, without being limited to this example, the lifting unit 22 may lift and lower the support surface 21f between the second height H2 and the third height H3 while the bogie body 10 is stopped.

[0100] (3) In the above embodiment, the lifting unit 22 is configured to be able to change the height of the support surface 21f in at least three stages: the first height H1, the second height H2, and the third height H3. The lifting unit 22 may be configured to be able to change the height of the support surface 21f in four or more stages.

[0101] (4) In the above embodiment, an example has been described in which the transfer target location 7 includes at least a plurality of support columns 72 spaced apart in the vehicle body width direction of the transport vehicle 1, and an article receiving portion 720 provided on the upper portion of each support column 72. However, without being limited to such an example, the transfer target location 7 may include, for example, a pair of loading plates spaced apart in the vehicle body width direction.

[0102] (5) In the above embodiment, an example has been described in which the transport route R is set to connect a plurality of detectable portions 8. However, the present invention is not limited to such an example. The transport route R may be set, for example, based on a magnetic tape continuously provided on the floor surface. Furthermore, a configuration may be adopted in which the direction change position 80 is not determined based on the position of a detectable object (a detectable object for setting the transport route R, such as the detectable portion 8 or the magnetic tape) provided on the floor surface. For example, a configuration may be adopted in which the transport vehicle 1 recognizes its current position based on a detection signal from a GNSS (Global Navigation Satellite System) receiver, and performs a turning operation when the current position reaches the direction change position 80.

[0103] (6) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0104] [Outline of the above embodiment] The above-described transport facility will be described below.

[0105] a transfer facility comprising: a transfer target location having a placement surface on which an item is placed; a transfer device for transferring the item between the transfer target location and the transfer target location; and a transport vehicle having a carriage body that travels while supporting the transfer device, wherein the transport vehicle travels along a floor surface and is configured to perform a turning operation to change its direction of travel at a direction change position determined according to a destination; the transfer device comprises a support section having a support surface that supports the item from below, a lifting section that raises and lowers the support section, and a turning section that turns the support section around a turning axis that extends in a vertical direction relative to the carriage body; the lifting section is configured to be able to change the height of the support surface to a first height that is higher than the placement surface, a second height that is lower than the placement surface, and a third height that is lower than the second height; and the transfer device transfers the item between the transfer target location and the transfer target location by raising and lowering the support surface between the first height and the second height or the third height; When the transport vehicle changes the direction of the trolley body without changing the posture of the item supported on the support surface in a planar view by rotating the support part relative to the trolley body using the swivel part, the transport vehicle performs the swivel operation with the support surface positioned at the second height, and when the straight-line distance from the start point where the transport vehicle starts traveling while supporting the item to the direction change position where the swivel operation without changing the posture of the item should be performed is within a specified distance, the transport vehicle runs with the support surface positioned at the second height, and when the straight-line distance is longer than the specified distance, the transport vehicle runs with the support surface positioned at the third height.

[0106] According to this configuration, when the straight-line distance is within a specified distance, the travel speed of the transport vehicle is unlikely to increase. Therefore, by positioning the support surface at the second height, the transport vehicle can travel without destabilizing the posture of the article, even if the article supported on the support surface is maintained at a relatively high position. Furthermore, since the transport vehicle can reach the direction change position where the turning operation is required while maintaining the height of the support surface at the second height, the transport vehicle can transition to the turning operation at the direction change position without changing the height of the support surface. This reduces the transport time for the article. Furthermore, according to this configuration, when the straight-line distance is longer than the specified distance, the support surface can be positioned at the third height to lower the center of gravity of the transport vehicle, thereby enabling high-speed travel while stabilizing the posture of the article. This also reduces the transport time for the article.

[0107] The bogie body is preferably configured to be able to travel at a predetermined reference speed, and the bogie body preferably travels at a speed slower than the reference speed or stops when the lifting section raises and lowers the support surface between the first height and the second height or the third height.

[0108] When the support surface is positioned at the first height, the position of the item supported on the support surface is higher than when the support surface is positioned at the second or third height, making it more difficult for the item to stabilize its position. According to this configuration, when changing the height of the support surface and the change includes a state in which the height of the support surface is at the first height, the cart body travels at a speed slower than the reference speed or stops. Therefore, the height of the support surface can be changed with high reliability when the change includes a state in which the height of the support surface is at the first height.

[0109] It is preferable that the lifting unit lifts and lowers the support surface between the second height and the third height while the carriage body is traveling.

[0110] Compared to a case where a height change of the support surface is performed that includes a state where the height of the support surface is at the first height, a height change of the support surface between the second height and the third height that does not include a state where the height of the support surface is at the first height makes it easier to stabilize the posture of the article. According to this configuration, in such a case, by performing a height change of the support surface while the cart body is traveling, the travel of the cart body and the height change of the support surface can be performed simultaneously, making it easier to shorten the transport time.

[0111] Preferably, the transport vehicle is provided with auxiliary support sections that assist the support section in supporting the item, the auxiliary support sections are arranged separately so as to sandwich the support section in a plan view, the auxiliary support sections have auxiliary support surfaces with fixed heights, and the third height is the same as or lower than the height of the auxiliary support surfaces.

[0112] According to this configuration, when the support surface is positioned at the third height, the auxiliary support surface can be used to support the item, thereby making it possible to support the item more stably.

[0113] When the transport vehicle changes the planar posture of the item supported on the support surface in conjunction with the turning operation, it is preferable that the transport vehicle performs the turning operation with the support surface positioned at the third height.

[0114] According to this configuration, by positioning the support surface at the third height and supporting the article on the auxiliary support surface, the transport vehicle can turn to change the orientation of the article in a plan view along with the orientation of the carriage body. As a result, the orientation of the article in a plan view can be changed to an orientation suitable for the transfer location by the turning of the transport vehicle.

[0115] It is preferable that the apparatus further includes a control device, which sets a transport route from the source of the article to the destination, and determines whether the straight-line distance is within the specified distance based on the transport route.

[0116] According to this configuration, the control device can appropriately determine whether the straight-ahead distance is within the specified distance.

[0117] Preferably, the transport vehicle is equipped with a detection unit, detectable parts that can be detected by the detection unit are provided at multiple locations on the floor surface, the transport path is set to connect the multiple detectable parts, and the direction change position is determined based on the positions of the multiple detectable parts.

[0118] This configuration makes it easy to control the travel position of the transport vehicle with high accuracy using a relatively simple configuration. Also, the transport path and direction change positions of the transport vehicle can be easily and flexibly changed depending on the operating conditions of the facility, etc.

[0119] Preferably, the support portion is formed in a regular N-sided polygon (N is an integer of 3 or more) in a plan view, and the swivel portion swivels the support portion in increments of 360 / N degrees relative to the carriage body.

[0120] With this configuration, even if the transport vehicle turns without changing the orientation of the support part in a plan view, the relationship between the outer shape of the support part and the carriage body in a plan view can be kept the same, which makes it easy to simplify the structure of the support part and the carriage body.

[0121] Preferably, the transfer target location comprises a plurality of support pillars arranged at least at a distance in the width direction of the transport vehicle body, and an item receiving section provided on the top of each support pillar, each of the plurality of item receiving sections having the above-mentioned placement surface, and the transport vehicle transfers the items to and from the transfer target location by raising and lowering the support surface between the first height and the second height or the third height, with the support section positioned between the plurality of item receiving sections in a planar view.

[0122] According to this configuration, it is possible to easily realize a configuration in which an article can be transferred between a transfer target location by raising and lowering the support surface.

[0123] Preferably, each of the multiple item receiving sections is formed to protrude upward from the loading surface and is provided with a regulating section that regulates the horizontal position of the item placed on the loading surface, and the first height is set to a position higher than the upper end of the regulating section.

[0124] According to this configuration, the horizontal position of the article placed at the transfer target location can be regulated by the regulating unit. Furthermore, even when the transport vehicle enters or leaves the transfer target location with the support surface positioned at the first height, interference between the support unit and the regulating unit can be prevented.

[0125] The technology disclosed herein can be used in a transport facility that includes a transfer target location having a loading surface on which an item is placed, a transfer device that transfers the item between the transfer target location and the transfer target location, and a transport vehicle that includes a cart body that runs while supporting the transfer device.

[0126] 100: Conveying equipment 1: Conveying vehicle 10: Cart body 20: Transfer device 21: Supporting section 21f: Supporting surface 22: Lifting section 23: Swiveling section 30: Auxiliary supporting section 30f: Auxiliary supporting surface 40: Detecting section 7: Transfer target location 7f: Placing surface 72: Support 720: Article receiving section 721: Regulating section 8: Detected section 80: Direction changing position 9: Article Ax: Rotating axis C: Control device Pa: Conveying destination Pd: Conveying origin R: Conveying route L: Straight distance Ls: Specified distance H1: First height H2: Second height H3: Third height Vs: Reference speed

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