Unmanned conveyance vehicle and conveyance system

Abstract

This unmanned conveyance vehicle in which a battery is charged by a non-contact power supply from a power supply device, comprises: a vehicle body part that is able to enter under a gate-type power supply device from between support columns of the power supply device; a contact part that can be brought into contact with the support columns or the power supply device in a predetermined direction substantially parallel to the forward / rearward direction of the vehicle body part while the vehicle body part has entered under a trolley; a positioning part that has pressing parts on the left and right sides that operate so as to be able to press the support columns on the left and right in a predetermined direction from opposite sides against the contact part, the positioning part pressing each pressing part against each of the support columns, and sandwiching and holding each support column in the predetermined direction with the contact part, thereby performing positioning with the power supply device; and a control part that controls the vehicle body part and the positioning part so as to perform positioning with respect to the power supply device after entering under the power supply device.

Description

Automated guided vehicles and transport systems

[0001] This specification discloses an automated guided vehicle and a transport system.

[0002] In a conventional transport system in which power is supplied to an automated guided vehicle using a non-contact power supply device, a configuration for aligning the position of the power receiving coil of the automated guided vehicle with the position of the power transmitting coil of the power supply device has been proposed. For example, Patent Document 1 describes a system in which an abutted member is provided on the automated guided vehicle and an abutting member is provided on the power supply device, and the abutment between the abutted member and the abutting member causes the automated guided vehicle to stop at a fixed position relative to the power supply device.

[0003] JP 2010-259136 A

[0004] In the above-described conveyance system, the positioning between the automated guided vehicle and the power supply device is determined merely by the contact between the contacted member and the contacting member, and the positioning accuracy may be insufficient, which may result in a misalignment between the power receiving coil and the power transmitting coil, resulting in a decrease in power supply efficiency.

[0005] The present disclosure has a primary object to prevent a decrease in power supply efficiency by suppressing positional deviation during power supply in a non-contact manner to supply power to an automated guided vehicle.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The gist of the presently disclosed automated guided vehicle is an automated guided vehicle whose battery is charged by contactless power supply from a power supply device, and comprises: a body section that can enter under the power supply device between the support pillars of the gate-shaped power supply device; abutting sections that can abut against the support pillars or the power supply device along a predetermined direction that is approximately parallel to the forward and backward movement direction of the body section when the body section has entered under the carriage; a positioning section that has pressing sections on both the left and right sides that operate to press the support pillars on both the left and right sides from the opposite side to the abutting sections along the predetermined direction, and that positions the body section with respect to the power supply device by pressing each pressing section against each pillar, respectively, and holding each pillar between the pressing sections and the abutting sections in the predetermined direction; and a control section that controls the body section and the positioning section so that the body section enters under the power supply device and then positions the body section with respect to the power supply device.

[0008] The automated guided vehicle disclosed herein includes a pressing portion on each of the left and right sides of the vehicle body that operates to press the support columns on both the left and right sides of the power supply device from the opposite side of the abutment portion along a predetermined direction substantially parallel to the forward / rearward movement direction of the vehicle body, and a positioning portion that positions the vehicle relative to the power supply device by pressing each pressing portion against each support column and holding each support column in the predetermined direction between the pressing portion and the abutment portion. This allows the support columns to be sandwiched in the predetermined direction substantially parallel to the forward / rearward movement direction of the vehicle body during positioning, thereby improving the accuracy of positioning in the predetermined direction. Therefore, in a vehicle that supplies power to the automated guided vehicle in a non-contact manner, misalignment during power supply can be suppressed, preventing a decrease in power supply efficiency.

[0009] 1 is a schematic configuration diagram of a conveying system 1. An external perspective view of an automated guided vehicle 10. An external perspective view of an automated guided vehicle 10. An external perspective view of a cart truck 100. An external perspective view of the cart truck 100. An external perspective view of a power supply device 80. A block diagram of the conveying system 1. An external perspective view of a coupling device 30. An external perspective view of the coupling device 30. An external perspective view of the coupling device 30. An underside view of the coupling device 30. An underside view of the coupling device 30. An explanatory diagram showing how the automated guided vehicle 10 and the cart truck 100 are coupled together. A flowchart showing an example of positioning processing during power supply. An explanatory diagram showing how the automated guided vehicle 10 and the power supply device 80 are positioned. An explanatory diagram showing how positioning is performed by sandwiching a support 82.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of a conveying system 1. Figs. 2 and 3 are external perspective views of an automated guided vehicle 10. Figs. 4 and 5 are external perspective views of a cart 100. Fig. 6 is an external perspective view of a power supply device 80. Fig. 7 is a block diagram of the conveying system 1.

[0011] As shown in FIG. 1 , the transport system 1 of this embodiment is used in a facility having a shelf area A in which multiple shelves R are arranged and a storage area B in which multiple basket carts 100 are stored and multiple items before being stored on the basket carts 100 or the shelves R. The shelf area A and the storage area B are separated, for example, by a wall, but they do not necessarily have to be clearly separated. The facility may be, for example, a logistics center, a warehouse, a store, or the like, and may be indoors or outdoors. The transport system 1 includes one or more automated guided vehicles 10 (two are illustrated in FIG. 1 ), a management device 70 (see FIG. 7 ) that manages the operation of the automated guided vehicles 10, and a power supply device 80 that supplies power to the automated guided vehicles 10. The automated guided vehicles 10 are autonomous mobile robots (AMRs) that transport the connected basket carts 100 to designated shelves R. The power supply device 80 is arranged in the storage area B and is configured to supply power to the automatic guided vehicle 10 in a non-contact manner, and is also called a power supply station.

[0012] As shown in FIGS. 4 and 5 , the cart 100 includes a lower frame 101, a loading platform 102, a rear panel 103, left and right side panels 104, a front panel 105, and a plurality of (e.g., four) casters (107, 108). For example, as shown in FIG. 5 , the lower frame 101 is formed in a Z-shape when viewed from above. Casters are attached to the lower surface of the lower frame 101. The loading platform 102 is a rectangular member that can carry luggage on its upper surface when supported by the lower frame 101 (see FIG. 4 ). The loading platform 102 may be formed, for example, in a plate-like shape, a mesh-like shape, or a shape with a flat upper surface and a lattice-like lower surface. The loading platform 102 is supported without being fixed to the lower frame 101, and can be raised to a storage position (see FIG. 5 ) where the loading surface is aligned with the side panels 104. Furthermore, the loading platform 102 is provided with a marker M (such as an AR marker, a two-dimensional code, or a barcode) for identifying the basket cart 100. By reading the marker M, the automated guided vehicle 10 recognizes the basket cart 100 to be transported (transportation target cart) and the type of cargo loaded on the loading platform 102. Note that the marker M may be attached to the cargo loaded on the loading platform 102.

[0013] The left and right side panels 104 of the cart 100 are attached to the upper surface of the lower frame 101 in an upright position. The rear panel 103 is rotatably supported, for example, on the rear end of the right side panel 104 via a hinge 106, and rotates between a position for transporting items (see FIG. 4) and a storage position where it mates with the right side panel 104 (see FIG. 5). The front panel 105 is rotatably supported, for example, on the front end of the left side panel 104 via a hinge 106, and, like the rear panel 103, rotates between a position for transporting items (see FIG. 4) and a storage position where it mates with the left side panel 104. The cart 100 is also provided with hooks for securing the rear panel 103 and the front panel 105 to the side panels 104 in the transport position and the storage position. An operator can rotate the rear panel 103 and the front panel 105 to each position and secure them with the hooks. Although not shown, when the basket cart 100 is in a stored state with the loading platform 102 flipped up and the back panel 103 and front panel 105 fixed in their stored positions, another basket cart 100 in the same stored state can be stored on top of it, with the positions slightly shifted left and right and front and back. In storage area B, by storing basket carts 100 that will not be used for long periods of time in such a stored state, the storage space for the basket carts 100 can be reduced.

[0014] The cart 100 also has two fixed casters 107 at the front and two swivel casters 108 at the rear. Each fixed caster 107 has a wheel 107a, a support portion 107c that supports an axle 107b of the wheel 107a, and an attachment portion 107d that non-rotatably attaches the support portion 107c to the lower frame 101 of the cart 100. The support portion 107c is also called a fork and may be formed integrally with the attachment portion 107d. As shown in FIG. 4 , for example, at a predetermined height position above the wheel 107a, the length L1 in the front-to-rear direction is from the rear end of the support portion 107c to the front end of the lower frame 101. Although not shown in detail, the swivel caster 108 has a wheel, a support portion that supports the axle of the wheel, and an attachment portion that swivels the support portion to the lower frame 101 of the cart 100.

[0015] As shown in Figures 2 and 3, the automated guided vehicle 10 includes a flat body 11 that is tall enough to fit under the cart 100, and a box-shaped housing 12 that is mounted on the front side of the body 11 and houses a control unit 50 and other components. The front-to-rear direction in Figures 2 and 3 is parallel to the forward and backward movement of the body 11. The automated guided vehicle 10 also includes a plurality of (e.g., four) wheels 21 attached to the underside of the body 11, a plurality of (e.g., four) drive motors (servomotors) 22 that rotate the corresponding wheels 21, and a coupling device 30 that can protrude from the side of the body 11 and couples to the cart 100. In this embodiment, the wheels 21 are configured as Mecanum wheels that have a plurality of rollers on the outer periphery of the wheels that can rotate around an axis inclined at 45 degrees relative to the rotation axis of the wheel. The automated guided vehicle 10 can move and turn the vehicle body 11 in all directions (such as pivot turns, slow turns, etc.) by independently controlling the rotation direction and rotation speed of the corresponding wheels 21 using the multiple drive motors 22. The multiple wheels 21 may be configured as omniwheels having multiple rollers that can rotate around axes that intersect with the rotation axis of the wheels. In other words, the multiple wheels 21 may be any type of wheel that can move and turn the vehicle body 11 in multiple directions.

[0016] The automated guided vehicle 10 also includes two abutment members 24 on both the left and right sides of the rear surface (rear side surface) of the housing unit 12, and two mounting plates 25 for mounting the abutment members 24 to the rear surface of the housing unit 12. The abutment members 24 are rectangular parallelepiped members attached to the lower side of the rear surface of the housing unit 12, and are replaceably attached to the mounting plates 25 by fastening members such as bolts.

[0017] As shown in FIG. 7 , the automated guided vehicle 10 further includes a control unit 50 for overall control, a memory unit 51 for storing various information, a communication unit 52 for communicating (wirelessly communicating) with a management device 70 and the like, a camera unit 61, a sensor unit 62, and a light-emitting unit 64. The camera unit 61 is installed on the front surface (not shown) or rear surface of the housing unit 12 to recognize the area in front of and behind the housing unit 12. The sensor unit 62 is installed on the top surface of the housing unit 12, on both the left and right sides of the front of the vehicle body 11 (the right side is not shown), and on the rear surface to detect surrounding obstructions. The sensor unit 62 detects surrounding objects and the distance to the objects. In this embodiment, the sensor unit 62 is a light detection and ranging (LiDAR) sensor that scans the surrounding area with a laser beam, receives each reflected beam, and measures the time until the reflected beam is received to measure distance data for each scan angle and obtain surrounding point cloud data. The light emitting unit 64 is installed on the front (not shown), side, or rear of the housing unit 12, and illuminates the front, sides, and rear, making it easier to recognize surrounding objects in dark places.

[0018] The automated guided vehicle 10 also includes a battery 67 that supplies power to each of the drive motors 22, the coupling device 30, the control unit 50, the memory unit 51, the communication unit 52, the camera unit 61, the sensor unit 62, the light-emitting unit 64, and other components. The automated guided vehicle 10 also includes a power receiving unit 68 that receives power contactlessly via a power receiving coil and supplies it to the battery 67, and a battery remaining capacity meter 69 that measures the remaining capacity of the battery 67. The battery 67 is a rechargeable secondary battery, such as a lithium-ion battery. The power receiving unit 68 is disposed on the rear side of the housing 12 (see FIGS. 2 and 3 ). The battery remaining capacity meter 69 includes a current sensor attached to the output terminal of the battery 67 and a voltage sensor attached between the output terminals of the battery 67. Based on the detected values ​​of each sensor, the battery remaining capacity is calculated as the ratio of the remaining capacity to the maximum capacity of the battery 67.

[0019] The control unit 50 is configured as a microprocessor centered around a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, a timer, etc. As shown in Fig. 7, the control unit 50 receives inputs such as an image signal from a camera unit 61, a detection signal from a sensor unit 62, and a detection signal from a battery remaining capacity meter 69. The control unit 50 outputs control signals to the drive motor 22, the coupling device 30, the camera unit 61, and the light-emitting unit 64.

[0020] As shown in Fig. 6, the power supply device 80 includes a rectangular parallelepiped main body 81, a pair of cylindrical support pillars 82 on the left and right that support the main body 81, a flat base plate 83 on which the support pillars 82 are erected, and a power supply unit 84 (see Fig. 7), and is configured in a gate shape by the main body 81 and the two support pillars 82. The power supply unit 84 has a power supply coil that supplies power to the power receiving unit 68 of the automatic guided vehicle 10 in a contactless manner, and is disposed at the front of the main body 81. In the power supply device 80, the vehicle body 11 of the automatic guided vehicle 10 can enter between the pair of support pillars 82 so as to slip under the main body 81. Furthermore, when the entering AGV 10 stops at a predetermined position, the power supply unit 84 of the main body 81 and the power receiving unit 68 of the AGV 10 are positioned opposite each other in the front-to-rear direction, allowing the power supply device 80 to supply power to the AGV 10 in a contactless manner and charge the battery 67. Note that the power supply unit 84 and the power receiving unit 68 are not limited to being opposed to each other in the front-to-rear direction, and the power receiving unit 68 may be provided on the vehicle body 11, and the power supply unit 84 and the power receiving unit 68 may be opposed to each other in the up-down direction. Furthermore, the width in the front-to-rear direction of the support pillar 82 (diameter of the cylinder) is length L1, which is equal to the length L1 of the above-described cart 100. Note that the shape of the support pillar 82 is not limited to being cylindrical, and it may be rectangular, for example, as long as the width in the front-to-rear direction is length L1, and there may be three or more support pillars 82.

[0021] 7, the management device 70 includes a processing unit 71, a storage unit 72, and a communication unit 73 for communicating (wirelessly communicating) with the automated guided vehicle 10. Input devices such as a mouse and a keyboard, a display, and the like are also connected to the management device 70. The processing unit 71 is configured as a microprocessor centered around a CPU, and includes, in addition to the CPU, a ROM for storing processing programs, a RAM for temporarily storing data, and the like. The storage unit 72 is a storage device such as an HDD or SSD, and stores various types of information.

[0022] The coupling device 30 of the automated guided vehicle 10 will now be described. FIGS. 8 to 10 are external perspective views of the coupling device 30. FIGS. 11 and 12 are bottom views of the coupling device 30. As shown in the figures, the coupling device 30 includes a flat base plate 31, a clamp unit 35 having a pair of left and right clamp levers 36, and a drive unit 40 that actuates the clamp levers 36. The clamp levers 36 have the same shape and are arranged symmetrically. FIGS. 8, 9, and 11 show the coupling device 30 in a non-coupled state in which it is not coupled to the automated guided vehicle 10. In the non-coupled state, the clamp levers 36 are in a stored state (initial state) in a stored position (initial position, standby position) within the vehicle body 11 (see FIG. 2). FIGS. 10 and 12 show the coupled state in which the coupling device 30 is coupled to the automated guided vehicle 10. In the coupled state, the clamp levers 36 are in a clamped state in a protruding position (clamped position, actuated position) protruding from the vehicle body 11 (see FIG. 3).

[0023] The base plate 31 is a flat plate member that is H-shaped in a plan view, and has openings 31a formed on both the left and right ends of the center in the front-to-rear direction. The base plate 31 also has guide rails 32 extending in the left-to-right direction and two cylindrical engagement pins 33 arranged on its upper surface. Two sets of guide rails 32 are arranged on both the left and right sides of the base plate 31, with a predetermined distance between them in the front-to-rear direction, sandwiching the opening 31a. The two engagement pins 33 are arranged near both the left and right ends of the front side of the base plate 31.

[0024] Each clamp lever 36 of the clamp unit 35 has a base end 36a, an intermediate portion 36b, and a tip end 36c, although the boundaries between the respective portions are not strictly defined. The base end 36a extends in the front-to-rear direction when the clamp lever 36 is in the retracted state. An engagement hole (long hole) 37 penetrating the base end 36a in an oval shape in the up-down direction is formed in the base end 36a, with the longitudinal direction of the base end 36a aligned with the extension direction of the base end 36a. The engagement pin 33 of the base plate 31 engages with the engagement hole 37. The engagement pin 33 is relatively movable within the engagement hole 37. The clamp lever 36 operates to rotate around the engagement position where the engagement pin 33 engages with the engagement hole 37 as a fulcrum.

[0025] When the clamp lever 36 is in the retracted state, the intermediate portion 36b extends inward (toward the center of the base plate 31) from the rear end of the base end 36a, bending at an angle of approximately 45 degrees. A rectangular parallelepiped second pressing member 39 is attached to the upper surface of the intermediate portion 36b. The second pressing member 39 is attached so that its longitudinal direction is aligned with the extension direction of the intermediate portion 36b and slightly extends outward beyond the edge of the upper surface of the intermediate portion 36b. The second pressing member 39 also has fastening holes 39a that penetrate vertically. The second pressing member 39 is replaceably attached to the intermediate portion 36b by fastening members 39b, such as bolts, inserted into the fastening holes 39a. In this embodiment, the second pressing member 39 has multiple sets (e.g., three sets) of fastening holes 39a that are slightly offset in the short-side direction (width direction) and longitudinal direction of the second pressing member 39. Therefore, when attaching the second pressing member 39, the amount of protrusion of the second pressing member 39 can be adjusted by changing the set of fastening holes 39a into which the fastening members 39b are inserted.

[0026] When the clamp lever 36 is in the retracted state, the tip portion 36c extends outward from the rear end of the intermediate portion 36b in a direction bent at a substantially right angle. A rectangular parallelepiped first pressing member 38 is attached to the upper surface of the tip portion 36c. The first pressing member 38 is attached so that its longitudinal direction is aligned with the extension direction of the tip portion 36c and protrudes outward beyond the edge of the upper surface of the tip portion 36c. The first pressing member 38 is also formed with fastening holes 38a that penetrate vertically. The first pressing member 38 is replaceably attached to the tip portion 36c by fastening members (not shown) such as bolts inserted into the fastening holes 38a. Similar to the second pressing member 39, the first pressing member 38 may be formed with multiple sets of fastening holes 38a that are offset from each other, making the protrusion amount adjustable.

[0027] The drive unit 40 includes a drive motor (servo motor) 41, a support plate 42, a rotating arm 43, a link arm 44, a connecting plate 45, a slider 46, a connecting block 47, and a connecting bolt 48. In order to operate each clamp lever 36, the drive unit 40 includes two of each of the link arms 44, connecting plate 45, slider 46, connecting block 47, and connecting bolt 48.

[0028] The drive motor 41 is attached to the approximate center of the upper surface of the base plate 31, facing downward, with its rotation shaft penetrating the base plate 31 in the vertical direction. The support plate 42 is a rectangular member attached to the lower surface of the base plate 31 to support the rotation shaft of the drive motor 41. The pivot arm 43 is an oval or rectangular member. The longitudinal center of the pivot arm 43 is connected to the rotation shaft of the drive motor 41 between the base plate 31 and the support plate 42. One longitudinal end of each of left and right link arms 44 is rotatably connected to both longitudinal ends of the pivot arm 43. The link arms 44 are oval or rectangular members. The other longitudinal ends of the left and right link arms 44 are rotatably connected to a connecting plate 45. The slider 46 is a flat member arranged slidably in the left-right direction along the guide rail 32 on the upper surface of the base plate 31. A portion of the lower surface of the slider 46 is exposed within the opening 31a of the base plate 31. The connecting plate 45 is attached to the underside of the slider 46 exposed in the opening 31 a. That is, one end of the link arm 44 is connected to the pivot arm 43, and the other end is connected to the slider 46 via the connecting plate 45.

[0029] The connecting block 47 is a rectangular parallelepiped member attached to the upper surface of the slider 46 and moves left and right together with the slider 46 (connecting plate 45). The connecting block 47 is disposed so that its longitudinal direction is the left and right direction. A recess 47a, which is recessed in a side view, is provided at the outer end of the connecting block 47 in the longitudinal direction. The clamp lever 36 is operably attached to the recess 47a. Although not shown, the connecting block 47 has a through-hole that passes through the recess 47a in the vertical direction. The clamp lever 36 has a through-hole formed in a position corresponding to the through-hole in the connecting block 47 near the boundary between the base end 36a and the middle portion 36b. A connecting bolt 48 is inserted into each of the through-holes in the connecting block 47 and the clamp lever 36 and fastened to a nut, thereby operably connecting the clamp lever 36 to the connecting block 47.

[0030] In the coupling device 30 configured as described above, when the clamp lever 36 is in the retracted state, the drive motor 41 of the drive unit 40 drives the pivot arm 43 to pivot counterclockwise in FIG. 11 so that the longitudinal direction of the pivot arm 43 approaches the left-right direction. As a result, the left and right link arms 44 move outward so that their longitudinal directions approach the left-right direction, and the left and right sliders 46 move outward in the left-right direction along the guide rails 32 via the left and right connecting plates 45. In other words, the rotational motion of the drive motor 41 is converted into linear motion in the left-right direction by the pivot arm 43 and the link arm 44, moving the slider 46 (connecting plate 45) outward in the left-right direction. When the left and right connecting blocks 47 move outward in the left-right direction as the slider 46 moves, the connecting portion of the clamp lever 36 with the connecting block 47 moves as if being pushed outward. As a result, the clamp lever 36 is actuated to rotate around the position where the engagement pin 33 is engaged with the engagement hole 37 as a fulcrum, and the tip portion 36c and the middle portion 36b protrude outward from an opening formed in the side surface of the vehicle body 11, thereby entering a clamped state (activated state) (see FIG. 12). Note that a cover 11a (see FIGS. 2 and 3) made of an elastic sheet material such as rubber or resin with a slit is attached to the opening in the side surface of the vehicle body 11, and the clamp lever 36 protrudes outward from the slit in the cover 11a.

[0031] In the clamped state, the base end 36a of the clamp lever 36 is oriented outward at an angle of approximately 45 degrees, the middle portion 36b is oriented approximately along the front-to-rear direction, and the tip end 36c is oriented approximately along the left-to-right direction. Therefore, the second pressing members 39 attached to the middle portions 36b of the clamp levers 36 on both the left and right sides have their longitudinal directions oriented approximately along the front-to-rear direction and protrude outward in the left-to-right direction from the middle portions 36b. In addition, the first pressing members 38 attached to the tip end portions 36c of the clamp levers 36 on both the left and right sides have their longitudinal directions oriented approximately along the left-to-right direction and protrude forward from the tip end portions 36c.

[0032] Next, the operation of the transport system 1 of this embodiment configured as described above will be described. First, the coupling operation during transport when the automated guided vehicle 10 automatically transports the cart 100 will be described. The control unit 50 first moves the car body 11 from the front side (front panel 105) of the cart 100 so that it slips under the cart 100 and stops it at a predetermined position. For example, the control unit 50 recognizes the two fixed casters 107 of the cart 100 using the rear sensor unit 62, and controls the drive motor 22 so that the car body 11 slips under the cart 100 (bed 102) from between the recognized fixed casters 107. The predetermined position is, for example, a position where the center of the car body 11 is approximately centered between the fixed casters 107 in the left-right direction and where the housing 12 and the cart 100 are close to each other in the front-rear direction. The predetermined position may be a position where the abutment member 24 of the housing 12 and the lower frame 101 of the cart 100 are close to or in contact with each other in the fore-and-aft direction (the direction in which the body 11 moves forward and backward).

[0033] Next, the control unit 50 stops the supply of electricity to the drive motor 22 to de-energize it, thereby turning off the torque retention of the wheels 21 of the vehicle body 11, and then controls the drive motor 41 of the coupling device 30 so that each clamp lever 36 operates in a clamped state. This couples the automated guided vehicle 10 and the cart 100. FIG. 13 is an explanatory diagram showing how the automated guided vehicle 10 and the cart 100 are coupled. Note that the right clamp lever 36 is not shown in FIG. 13 , but it is in the same state as the left clamp lever 36. As shown in the figure, each first pressing member 38 of each clamp lever 36 of the coupling device 30 presses forward each support portion 107c that is fixed to the cart 100 at the base side (upper side) of the left and right fixed casters 107. Furthermore, the pressing force acting on the lower frame 101 of the cart 100 via the support portions 107c and mounting portions 107d of the fixed casters 107 is received by the contact members 24 of the housing portion 12. In this manner, the first pressing members 38 of the clamp levers 36 and the contact members 24 hold the support portions 107c of the left and right fixed casters 107 in the front-to-rear direction, respectively.

[0034] Although not shown, the second pressing members 39 of the clamp levers 36 press the support portions 107c of the left and right fixed casters 107 outward in the left-right direction, thereby pushing the left and right support portions 107c outward. That is, the second pressing members 39 of the clamp levers 36 hold the left and right support portions 107c so that they are stretched between them. Note that if the cart 100 is loaded with cargo and is therefore heavier than the automated guided vehicle 10, the cart 100 will not move even if the second pressing members 39 push the support portions 107c outward, and a reaction force from the support portions 107c will act on the vehicle body 11. In this embodiment, the clamping operation is performed with the torque retention of the wheels 21 turned off. Therefore, the reaction force acting on the vehicle body 11 causes the vehicle body 11 to move in the left-right direction so as to follow the center position of the support parts 107c, and also moves in the front-rear direction to a position where the support parts 107c are securely sandwiched and held. As a result, the automated guided vehicle 10 can be securely coupled to the cart 100.

[0035] Next, a description will be given of the positioning operation when the automated guided vehicle 10 is supplied with power from the power supply device 80. Fig. 14 is a flowchart showing an example of the positioning process during power supply. This process is executed by the control unit 50 when the automated guided vehicle 10 (vehicle body 11) moves from in front of the power supply device 80 to a position where it can enter under the power supply device 80.

[0036] In the power supply positioning process, the control unit 50 first controls the vehicle body 11 so that the vehicle body 11 moves under the power supply device 80 and stops at a predetermined position (S100). In S100, the control unit 50 recognizes the two support pillars 82 of the power supply device 80 using the rear sensor unit 62 and controls the drive motor 22 so that the vehicle body 11 moves between the recognized support pillars 82 and under the main body 81. The predetermined position is, for example, a position where the center of the vehicle body 11 is approximately the center between the support pillars 82 in the left-right direction and where the housing 12 and the main body 81 are close to each other in the front-rear direction. Note that the predetermined position may be a position where the abutment member 24 of the housing 12 and the support pillars 82 are close to each other or abut against each other in the front-rear direction. As described above, since the support pillar 82 of the power supply device 80 is erected on the base plate 83, the unmanned guided vehicle 10 (body 11) that has stopped at a predetermined position will be placed on the base plate 83.

[0037] Next, the control unit 50 stops the supply of electricity to the drive motor 22 to de-energize it, thereby turning off the torque retention of the wheels 21 of the vehicle body unit 11 (S110), and then controls the drive motor 41 of the coupling device 30 so that each clamp lever 36 operates to the clamped state (S120), and waits for the clamped state to be achieved (S130). Note that if the clamped state is not achieved in S130, the control unit 50 re-executes S120. Furthermore, the control unit 50 determines that the clamped state has been achieved, for example, based on the detection value of a torque sensor (not shown) of the drive motor 41 reaching a predetermined value.

[0038] FIG. 15 is an explanatory diagram showing the positioning of the automated guided vehicle 10 and the power supply device 80. FIG. 16 is an explanatory diagram showing the positioning by sandwiching a support pillar 82. As shown in the figure, the first pressing members 38 of the clamp levers 36 of the coupling device 30 press the left and right support pillars 82 forward, respectively (arrow (1) in FIG. 16 ). Meanwhile, the pressing force acting on each support pillar 82 is received by the contact members 24 of the housing 12. That is, each contact member 24 applies a reaction force to the pressing force to each support pillar 82 (arrow (2) in FIG. 16 ). In this way, the first pressing members 38 of each clamp lever 36 and the contact members 24 hold the left and right support pillars 82 by sandwiching them in the front-to-rear direction.

[0039] Furthermore, the second pressing members 39 of the clamp levers 36 of the coupling device 30 press the left and right support columns 82 outward in the left-right direction (arrow (3) in FIG. 16 ), thereby pushing the left and right support columns 82 outward in the left-right direction. That is, the second pressing members 39 of the clamp levers 36 hold the left and right support columns 82 so that they are stretched between them. Note that, because the clamping operation is performed with the automated guided vehicle 10 riding on the base plate 83, the automated guided vehicle 10 acts as a weight on the base plate 83, and even if the left and right support columns 82 are pushed, the power supply device 80 (support columns 82) does not move, and the reaction force from the support columns 82 acts on the vehicle body 11. Furthermore, in this embodiment, the clamping operation is performed with the torque retention of the wheels 21 turned off. Therefore, the reaction force acting on the vehicle body 11 causes the vehicle body 11 to move in the left-right direction so as to follow the center position between the support columns 82, and in the front-rear direction so as to securely sandwich and hold the support columns 82. As a result, the AGV 10 can align its position in the front-rear and left-right directions relative to the power supply device 80 with the predetermined power supply position. That is, the AGV 10 can be reliably aligned with the predetermined power supply position. This prevents misalignment between the power supply unit 84 and the power receiving unit 68, ensuring appropriate power supply, thereby preventing a decrease in power supply efficiency. The base plate 83 does not need to be large enough to simultaneously accommodate all (e.g., four) wheels 21 of the AGV 10; it need only be large enough to accommodate the number of wheels 21 necessary for the AGV 10 to act as a weight and restrain the base plate 83.

[0040] 14 , the control unit 50 continues to energize the drive motor 41 to keep it in an excited state while the battery 67 is being charged, thereby maintaining the clamped state (S140), and waits for charging of the battery 67 to be completed (S150). By maintaining the clamped state, it is possible to reliably prevent the automatic guided vehicle 10 from shifting position while power is being supplied from the power supply device 80 (while the battery 67 is being charged), and to ensure that power is supplied appropriately. The control unit 50 determines whether charging of the battery 67 is completed based on a detection signal from the battery remaining capacity meter 69.

[0041] When the control unit 50 determines in S150 that charging of the battery 67 is complete, it controls the drive motor 41 of the coupling device 30 so that each clamp lever 36 is released from the clamped state and operates to the storage state (S160), and waits for each clamp lever 36 to enter the storage state (S170). If the clamp levers 36 do not enter the storage state in S170, the control unit 50 executes S160 again. Furthermore, the control unit 50 determines that the storage state has been entered based on the detection value of the torque sensor (not shown) of the drive motor 41 reaching a predetermined value. When the control unit 50 determines that the storage state has been entered, it controls the vehicle body unit 11 to exit from under the power supply device 80 (S180), and ends this process. The automated guided vehicle 10 may wait at the power supply device 80 until it receives a movement instruction from the management device 70, or it may execute S180 after receiving the movement instruction.

[0042] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The vehicle body 11 of this embodiment corresponds to the vehicle body of the present disclosure, the abutment member 24 corresponds to the abutment portion, the coupling device 30 having the clamp lever 36 (pressing portion) corresponds to the positioning portion, and the control unit 50 corresponds to the control unit. The tip portion 36c to which the first pressing member 38 is attached corresponds to the first pressing portion, and the middle portion 36b to which the second pressing member 39 is attached corresponds to the second pressing portion. The drive motor 41 corresponds to the drive motor of the coupling portion, the slider 46 corresponds to the slider, and the rotating arm 43 and the link arm 44 correspond to the link mechanism. The drive motor 22 corresponds to the drive motor of the vehicle body. The automated guided vehicle 10 corresponds to the automated guided vehicle, and the power supply device 80 corresponds to the power supply device.

[0043] In the automated guided vehicle 10 according to the embodiment described above, the coupling device 30 has clamp levers 36 on both the left and right sides that are operable to press the support posts 82 on both the left and right sides of the power supply device 80 from the side opposite the abutment members 24 along the front-rear direction (predetermined direction) of the vehicle body 11. The automated guided vehicle 10 positions the power supply device 80 by pressing the clamp levers 36 against the support posts 82, respectively, to sandwich and hold the support posts 82 between the clamp levers 36 and the abutment members 24 in the front-rear direction. This ensures that the support posts 82 are sandwiched in the front-rear direction of the vehicle body 11 when positioned at the power supply position, thereby improving the accuracy of positioning in the front-rear direction. Therefore, in a system in which power is supplied to the automated guided vehicle 10 in a non-contact manner, misalignment during power supply can be suppressed, preventing a decrease in power supply efficiency.

[0044] Furthermore, the car body 11 can enter under the basket cart 100 between the fixed casters 107 (support portions 107c). The abutment members 24 can abut along the front-to-rear direction against support portions 107c (fixed portions) that are fixed to the basket cart at the base sides of the fixed casters 107 when the car body 11 has entered under the basket cart 100. Each clamp lever 36 operates to press each support portion 107c on both the left and right sides along the front-to-rear direction from the side opposite the abutment members 24. The coupling device 30 is used for coupling to the basket cart 100 by pressing each clamp lever 36 against each support portion 107c to sandwich and hold each support portion 107c between the clamp lever 36 and the abutment members 24 in the front-to-rear direction. Therefore, the coupling device 30 can be used both for positioning with the power supply device 80 and for coupling with the cart 100 to be transported, allowing the unmanned transport vehicle 10 to have a simpler configuration than one that requires separate configurations.

[0045] Each clamp lever 36 has a tip portion 36c (first pressing portion) that presses each support column 82 in the front-rear direction, and an intermediate portion 36b (second pressing portion) that presses each support column 82 outward in the left-right direction (a direction substantially perpendicular to the predetermined direction), which are integrally formed in an L-shape when viewed from above. Therefore, the automated guided vehicle 10 can be positioned relative to the power supply device 80 by the intermediate portions 36b of the clamp levers 36 pressing each support column 82 outward. That is, because the automated guided vehicle 10 is positioned relative to the power supply device 80 in two directions, rather than just the front-rear direction, misalignment during power supply can be further suppressed. Furthermore, because the clamp lever 36 has an L-shaped portion that can be pressed in two directions, a simpler configuration can be achieved compared to a configuration that requires separate members for pressing in two directions.

[0046] Furthermore, each clamp lever 36 operates to rotate about the engagement position (base end side) between the engagement hole 37 of the base end 36a and the engagement pin 33 as a fulcrum between a storage position stored in the vehicle body 11 and a pressing position in which the tip end 36c and the middle portion 36b (tip end side) protrude from the vehicle body 11 and press each support 82 in the front-to-rear direction. This prevents each clamp lever 36 from being exposed to the outside of the vehicle body 11 when positioning with the power supply device 80 is not required, thereby preventing each clamp lever 36 from interfering with surrounding objects while traveling.

[0047] The connecting device 30 also has a drive motor 41, and a pivot arm 43 and a link arm 44 (link mechanism) that convert the rotational motion of the drive motor 41 into the linear motion of a pair of sliders 46 connected to each of the clamp levers 36. Each clamp lever 36 is actuated to pivot by the linear motion of the slider 46. This allows the clamp levers 36 to be actuated in synchronization, so that the support columns 82 on both sides can be properly clamped and positioned without biasing toward one of the support columns 82.

[0048] Furthermore, the control unit 50 controls the vehicle body 11 (drive motor 41) to turn off the holding torque that holds the wheels 21 when positioning the vehicle body 11 with the power supply device 80. This makes it easier for the vehicle body 11 to move to follow the positions of the support posts 82 of the power supply device 80 when positioning the vehicle body 11, thereby enabling more reliable positioning.

[0049] Furthermore, power supply device 80 is configured such that each support pillar 82 is erected on base plate 83. Control unit 50 moves vehicle body 11 under power supply device 80, and with wheels 21 of vehicle body 11 positioned on base plate 83, actuates each clamp lever 36 to position power supply device 80. This prevents the support pillars 82 from shifting when positioning, thereby avoiding inconvenience caused by changes in the position of power supply device 80 due to repeated positioning.

[0050] Furthermore, even while the battery 67 is being charged after positioning with the power supply device 80, the control unit 50 controls the coupling device 30 to continue positioning with the power supply device 80 (clamping of the clamp lever 36) until charging of the battery 67 is complete. This prevents the positions of the power supply device 80 and the automatic guided vehicle 10 from shifting during charging, thereby more reliably preventing a decrease in power supply efficiency.

[0051] Furthermore, the pivot arm 43 and the link arm 44 are configured so that when the left and right sliders 46 reach a predetermined position just before the outer end of their linear motion (see FIG. 16 ), the clamp levers 36 are in the pressed position. That is, the clamp levers 36 are in the clamped state when the pivot arm 43 and the link arm 44 (link mechanism) approach a straight line (before they are aligned). The closer the link mechanism approaches a straight line (the closer the slider-link mechanism approaches top dead center), the smaller the torque (holding torque) required to output from the drive motor 41 to hold the clamp lever 36 in the clamped state, thereby reducing the motor load. However, for example, if the coupling device 30 becomes inoperable for some reason, an operator may need to push back the clamp lever 36 (slider 46) to release the clamp. In such a case, when the link mechanism is aligned (the slider-link mechanism is at top dead center), it becomes difficult for the operator to push back the clamp lever 36 to release the clamp. Therefore, in order to allow the operator to return the clamp lever 36 relatively smoothly, the clamp lever 36 is set to the clamped state when the link mechanism is close to being aligned (before being aligned).

[0052] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0053] For example, in the above-described embodiment, the positioning of the battery 67 relative to the power supply device 80 (clamping of the clamp lever 36) is continued even while the battery 67 is being charged, but this is not limited to this, and the positioning of the battery 67 relative to the power supply device 80 may be released while the battery 67 is being charged.

[0054] In the embodiment, in the power supply device 80, each support pillar 82 is erected on the base plate 83, but this is not limited thereto, and each support pillar 82 does not have to be erected on the base plate 83. In other words, the power supply device 80 does not have to include the base plate 83.

[0055] In the embodiment, the control unit 50 turns off the holding torque that holds the wheels 21 when positioning the power supply device 80, but this is not limited thereto, and positioning may be performed with the holding torque remaining on. Similarly, when connecting to the cart 100, the holding torque may remain on. Note that when positioning the power supply device 80, it is preferable to turn off the holding torque to prevent the power supply device 80 from shifting position.

[0056] In the embodiment, the drive unit 40 of the coupling device 30 converts the rotational motion of the drive motor 41 into the linear motion of the slider 46 to synchronously operate the clamp levers 36, but this is not limited to this. For example, the clamp levers 36 do not have to be operated synchronously, and the drive units for the clamp levers 36 may be configured separately, such as by providing individual drive motors 41 that operate the clamp levers 36. Furthermore, the drive unit 40 is not limited to converting rotational motion into linear motion to operate the clamp levers 36, and may operate each clamp lever 36 so as to press the support 82 from the opposite side of the abutment member 24.

[0057] In the embodiment, each clamp lever 36 has a tip portion 36c that presses each support column 82 in the front-rear direction and an intermediate portion 36b that presses each support column 82 outward in the left-right direction, which are integrally formed in an L-shape when viewed from above. However, this is not limited to this. A clamp lever that presses each support column 82 in the front-rear direction and a clamp lever that presses each support column 82 outward in the left-right direction may be provided separately. Alternatively, each clamp lever 36 may have a first pressing portion that presses each support column 82 in the front-rear direction, but may not have a second pressing portion that presses each support column 82 outward in the left-right direction. In other words, the automated guided vehicle 10 may be positioned at least in the front-rear direction by clamping and holding each support column 82 only in the front-rear direction. In the embodiment, the first pressing member 38 and the second pressing member 39 of each clamp lever 36 are replaceable, but this is not limiting, and one or both of the first pressing member 38 and the second pressing member 39 may be non-replaceable. In that case, it is sufficient that the tip portion 36 c or the middle portion 36 b of each clamp lever 36 is pressed directly against the support column 82.

[0058] In the embodiment, each clamp lever 36 operates between a stored position inside the vehicle body 11 and a pressing position, but this is not limited thereto. For example, each clamp lever 36 may not be stored inside the vehicle body 11 but may be always exposed outside the vehicle body 11, and may operate between a standby position outside the vehicle body 11 and a pressing position.

[0059] In the embodiment, the abutment member 24 abuts against each support pole 82 of the power supply device 80, but this is not limited thereto and the abutment member 24 may abut against the main body 81 of the power supply device 80. Furthermore, the abutment member 24 is attached to the housing 12 via the mounting plate 25, but this is not limited thereto and the abutment member 24 may be attached directly to the housing 12. The abutment member 24 is not limited to being attached replaceably, but may also be attached non-replaceably. Alternatively, the abutment member 24 is not limited to being separately provided, but the rear surface of the housing 12, for example, may be used as the abutment member. Furthermore, the abutment member 24 is not limited to being attached to both the left and right sides of the housing 12, but may be attached only once, for example, in the center of the housing 12. Furthermore, although the abutment member 24 is attached to the housing 12, it may also be attached to the vehicle body 11.

[0060] In the embodiment, when the cart 100 is connected, the clamp lever 36 presses the support portion 107c of the fixed caster 107, but this is not limited thereto, and the clamp lever 36 may press the mounting portion 107d as long as it has a height (thickness) that allows pressing. Furthermore, the clamp lever 36 is not limited to pressing the fixed caster 107, and may press the mounting portion of the swivel caster 108 so as not to hinder the rotation of the swivel caster 108.

[0061] In the embodiment, an automated guided vehicle 10 of a type including a vehicle body 11 and a housing 12 has been exemplified, but the present disclosure is not limited to this, and may be applied to a type including only a vehicle body 11 without a housing 12. Furthermore, the present disclosure may be in the form of a transport system or an automated guided vehicle.

[0062] In the embodiment, the coupling device 30 used for coupling to the cart 100 is also used for positioning the cart 100 with the power supply device 80. That is, the coupling device 30 is used both for positioning the cart 100 with the power supply device 80 and for coupling to the cart 100, but this is not limited thereto. For example, the coupling device 30 of the embodiment may be used for positioning (coupling) the cart 100 with the power supply device 80, and a separate coupling device may be used for coupling to the cart 100. Here, the cart 100 of the embodiment has a loading platform 102 that is not fixed to the lower frame 101 and is supported so as to be able to be lifted up. Therefore, even if a pin is protruded upward from the automated guided vehicle 10 and engaged with a mesh or lattice portion of the loading platform 102, coupling is not possible because the loading platform 102 is not fixed. Therefore, applying the present disclosure to couple to the cart 100 is highly significant. However, the object to be transported may be a cart 100 with the loading platform 102 fixed to the lower frame 101. In such a case, the automated guided vehicle 10 may be provided with a coupling device that couples the automated guided vehicle 10 by projecting a pin upward, and the coupling device 30 of the embodiment may be used for positioning the automated guided vehicle 10 with the power supply device 80.

[0063] This specification also discloses the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 4 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 3", the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 6 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 5", the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 7 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 6", the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 8 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 7", and the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 9 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 8".

[0064] The present disclosure is applicable to the manufacturing industry of automated guided vehicles and transport systems.

[0065] 1 Conveying system, 10 Automated guided vehicle (AMR), 11 Vehicle body, 11a Cover, 12 Housing, 21 Wheel, 22 Drive motor, 24 Contact member, 25 Mounting plate, 30 Coupling device, 31 Base plate, 32 Guide rail, 33 Engagement pin, 35 Clamp portion, 36 Clamp lever, 36a Base end, 36b Intermediate portion, 36c Tip portion, 37 Engagement hole, 38 First contact member, 39 Second contact member, 40 Drive portion, 41 Drive motor, 42 Support plate, 43 Rotating arm, 44 Link arm, 45 Connecting plate, 46 Slider, 47 Connecting block, 47a Recess, 48 ​​Connecting bolt, 50 Control portion, 51 Memory portion, 52 Communication portion, 61 Camera portion, 62 Sensor portion, 64 Light emitting portion, 67 Battery, 68 Power receiving unit, 69 battery remaining capacity meter, 70 management device, 71 processing unit, 72 memory unit, 73 communication unit, 80 power supply device, 81 main body unit, 82 support pillar, 83 base plate, 84 power supply unit, 100 basket cart, 101 lower frame, 102 loading platform unit, 103 rear panel, 104 side panel, 105 front panel, 106 hinge, 107 fixed caster, 107a wheels, 107b axle, 107c support unit, 107d mounting unit, 108 swivel caster, A shelf area, B storage area, M marker, R shelf.

Claims

1. An automated guided vehicle in which a battery is charged by non-contact power supply from a power supply device, comprising: a vehicle body portion that can enter below the power supply device between columns of the gantry-shaped power supply device; a contact portion provided on the column or the power supply device that can come into contact along a predetermined direction substantially parallel to the forward and backward movement direction of the vehicle body portion in a state where the vehicle body portion has entered below the carriage; pressing portions respectively provided on both left and right sides that can operate to press the columns on both left and right sides from the side opposite to the contact portion along the predetermined direction, and positioning the power supply device by pressing each pressing portion against each column and sandwiching and holding each column in the predetermined direction between the contact portion; and a control portion that controls the vehicle body portion and the positioning portion so as to perform positioning with the power supply device after entering below the power supply device.

2. The vehicle body portion can enter below the carriage between casters of the carriage to be transported, the contact portion can come into contact along the predetermined direction with a fixing portion fixed to the carriage on the base side of the caster or the carriage in a state where the vehicle body portion has entered below the carriage, the pressing portions can operate to press the fixing portions of the casters on both left and right sides from the side opposite to the contact portion along the predetermined direction, and the positioning portion is used for connection with the carriage by pressing each pressing portion against each fixing portion and sandwiching and holding each fixing portion in the predetermined direction between the contact portion. The automated guided vehicle according to claim 1.

3. Each of the pressing portions is integrally formed in an L shape in a top view, with a first pressing portion that presses the column in the predetermined direction and a second pressing portion that presses the column outward in a direction substantially orthogonal to the predetermined direction. The automated guided vehicle according to claim 1 or 2.

4. Each of the pressing portions is configured in a lever shape that operates to rotate about the base end side as a fulcrum between a storage position stored in the vehicle body portion and a protruding position where the tip side protrudes from the vehicle body portion so as to press the column in the predetermined direction. The automated guided vehicle according to claim 1 or 2.

5. The positioning portion has a drive motor and a link mechanism that converts the rotational motion of the drive motor into the linear motion of a pair of sliders respectively connected to each of the pressing portions, and each of the pressing portions operates to rotate by the linear motion of the slider. The automated guided vehicle according to claim 4.

6. The vehicle body unit runs by rotating wheels through the drive of a drive motor. When positioning with the power supply device, the control unit controls the vehicle body unit so as to turn off the holding torque for holding the wheels of the vehicle body unit. The unmanned carrier vehicle according to claim 1 or 2.

7. The power supply device is configured such that the support column stands upright on the base plate. The control unit controls the vehicle body unit and the positioning unit so that the vehicle body unit enters below the power supply device and the wheels of the vehicle body unit are positioned on the base plate, and then operates the pressing unit to perform positioning with the power supply device. The unmanned carrier vehicle according to claim 1 or 2.

8. The control unit controls the positioning unit so that, even during charging of the battery after positioning with the power supply device, the positioning with the power supply device is continued until the charging of the battery is completed. The unmanned carrier vehicle according to claim 1 or 2.

9. A conveying system comprising the unmanned carrier vehicle according to claim 1 or 2, and a power supply device for charging the battery of the unmanned carrier vehicle by non-contact power supply.

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