Conveyance system and conveyance method

Abstract

This conveyance system and conveyance method use a conveyor, an automated guided vehicle, and a controller. The controller instructs the automated guided vehicle to travel on a route for moving to a transfer area via a stay area set directly below the conveyor, and executes hand-over of an article between the conveyor and the automated guided vehicle in the transfer area.

Description

Transport system and transport method

[0001] The present disclosure relates to a transport system and a transport method.

[0002] Patent Document 1 discloses a transport system including an automated guided vehicle and a conveyor. The automated guided vehicle tows a platform on which cargo is loaded and transports it to a transport destination. The conveyor transports the cargo on the platform from the transport destination of the platform on which the cargo is loaded to a destination of the cargo. Here, the transport destination is set to an area where the platform can be parked next to the leading end of the conveyor with a predetermined clearance.

[0003] JP 2023-65022 A

[0004] According to the transport system described in Patent Document 1, a transfer device is required to transfer articles between the automated guided vehicle and the conveyor, and the automated guided vehicle needs to be placed on standby near the transfer device. If the automated guided vehicle is placed on standby near the transfer device, the area in which the automated guided vehicle can travel freely is limited, which may have a negative impact on the creation of the driving route for the automated guided vehicle.

[0005] The present disclosure has been made in view of the above-mentioned problems, and has an object to provide a transport system and a transport method that can prevent restrictions on the area in which an automated guided vehicle can travel freely and enable flexible creation of travel routes for the automated guided vehicle.

[0006] The transportation system and transportation method according to the present disclosure use a conveyor, an automated guided vehicle, and a controller. The controller instructs the automated guided vehicle to travel along a route that passes through a stay area set directly below the conveyor and moves to a transfer area, and executes the delivery of articles between the conveyor and the automated guided vehicle in the transfer area.

[0007] The stay area may be arranged in the direction in which the conveyor extends, and the automated guided vehicle may move through the stay area along the conveyor.

[0008] The height from the road surface on which the automated guided vehicle travels to the conveyor may be higher than the height of the automated guided vehicle.

[0009] The automated guided vehicle may determine its own position on the road surface on which it travels, and move to the staying area based on its own position.

[0010] The automated guided vehicle may read codes arranged in a grid pattern on the road surface on which the automated guided vehicle travels, and determine its own position based on the codes.

[0011] The spacing between the codes may be set based on the accuracy required for determining the self-position.

[0012] The conveyor may further include a transfer device that performs the transfer, and the transfer device may be installed adjacent to the conveyor, attached to the automatic guided vehicle, or constitute part of the conveyor.

[0013] The automated guided vehicle may further include a transfer device that performs the transfer, the automated guided vehicle may include a platform on which the item is placed, and the transfer device may include a lifting mechanism that raises and lowers the item without interfering with the platform.

[0014] The controller may determine the number of automated guided vehicles to stay in the stay area based on the number of articles transported by the conveyor.

[0015] The controller may determine whether there is available space in the stay area where an automated guided vehicle can stay, and if it is determined that there is available space, move an automated guided vehicle that is not assigned to transporting goods to the available space.

[0016] According to the present disclosure, it is possible to provide a conveying system and a conveying method that can prevent the area in which an unmanned guided vehicle can travel freely from being restricted and that can flexibly create driving routes for the unmanned guided vehicle.

[0017] FIG. 1 is a schematic diagram of a transport system according to an embodiment of the present disclosure; FIG. 2 is a top view showing a stay area and a transfer area; FIG. 3 is a diagram showing a first example of an automated guided vehicle and a transfer device; FIG. 4 is a diagram showing a second example of an automated guided vehicle and a transfer device; FIG. 5 is a diagram showing a third example of an automated guided vehicle and a transfer device; FIG. 6 is a diagram showing an example of an arrangement of markers on a road surface; FIG. 7 is a block diagram showing a configuration of a controller related to control of the transport system according to an embodiment of the present disclosure; FIG. 8 is a flowchart showing a processing procedure of the transport system according to an embodiment of the present disclosure.

[0018] Hereinafter, several exemplary embodiments will be described with reference to the drawings. Note that common parts in the drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0019] [Configuration of Conveying System] Fig. 1 is a schematic diagram of a conveying system according to an embodiment of the present disclosure. The conveying system 1 includes a conveyor CV, automated guided vehicles AM1 to AM3, and a controller 10. The controller 10 is not shown in Fig. 1. In particular, Fig. 1 shows the conveyor CV and automated guided vehicles AM1 to AM3 included in the conveying system 1 as viewed from the side.

[0020] For example, the controller 10 is connected to the conveyor CV so as to be able to communicate wirelessly or by wire, and the controller 10 is also connected to the automatic guided vehicles AM1 to AM3 so as to be able to communicate wirelessly.

[0021] The transport system 1 may include one or more conveyors CV, or one or more automated guided vehicles. In Fig. 1, the transport system 1 is shown to include one conveyor CV and three automated guided vehicles AM1 to AM3, but is not limited to this.

[0022] The conveyor CV transports one or more items. The conveyor CV may transport items received from another process (not shown) to a transfer area RT (described later), or may transport items received from the transfer area RT to a location where they are handed over to another process. Figure 2 shows the conveyor CV transporting items LD1 and LD2 in a transport direction AR1.

[0023] The conveyor CV is provided at a height distance from the road surface FL on which the automated guided vehicles AM1 to AM3 travel. In Fig. 1, the bottom surface of the conveyor CV is shown positioned at a height H2 relative to the road surface FL.

[0024] The automated guided vehicles AM1 to AM3 can travel directly below the conveyor CV. For example, if the height of the automated guided vehicles AM1 to AM3 is height H1 relative to the road surface FL, height H2 is set higher than height H1.

[0025] Here, when the automated guided vehicles AM1 to AM3 are not transporting an article LD, the height of the automated guided vehicles AM1 to AM3 is the distance from the road surface FL to the platform ST of the automated guided vehicles. The platform ST is the location on which the article is placed. Furthermore, when the automated guided vehicles AM1 to AM3 are transporting an article LD, the height of the automated guided vehicles AM1 to AM3 is the distance from the road surface FL to the highest point of the article placed on the platform ST of the automated guided vehicles.

[0026] In this way, the height of the conveyor CV is set so that either an unmanned guided vehicle AM1 to AM3 that is not transporting an item or an unmanned guided vehicle AM1 to AM3 that is transporting an item can travel directly below the conveyor CV.

[0027] The automated guided vehicles AM1 to AM3 travel directly below the conveyor CV and are capable of moving in the movement direction MR. For example, the movement direction MR is the direction in which the conveyor CV extends. The automated guided vehicles AM1 to AM3 move in the movement direction MR along the conveyor CV.

[0028] The conveyor CV is configured to be able to transfer articles between it and an automated guided vehicle AM1 located in a transfer area RT. For example, articles may be transferred from the conveyor CV to the automated guided vehicle AM1 via a transfer device TF in the transfer area RT. Conversely, articles may be transferred from the automated guided vehicle AM1 to the conveyor CV via the transfer device TF in the transfer area RT. The transfer device TF executes the transfer of articles between the conveyor CV and the automated guided vehicle AM1.

[0029] 1 shows a case where an article is transferred from a conveyor CV to an automated guided vehicle AM1 via a transfer device TF. The article LD1 is transported by the conveyor CV in a transport direction AR1 and then moves from the conveyor CV to the loading surface of the transfer device TF. The loading surface of the transfer device TF then moves in an elevation direction AR2, causing the article LD1 to be placed on a stand ST.

[0030] The transfer device TF may include a lifting mechanism that raises and lowers the placement surface in the lifting direction AR2. More specifically, the lifting mechanism may be a motor, a robot arm, or the like (not shown) that moves the placement surface of the transfer device TF up and down in the height direction.

[0031] FIG. 2 is a top view showing the stay area and transfer area. The stay area RS is set directly below the conveyor CV. The transfer area RT is set adjacent to the stay area RS. To make the drawing easier to read, FIG. 2 does not show the conveyor CV directly above the stay area RS. The positional relationship of the automated guided vehicles AM1 to AM3 in FIG. 2 corresponds to the positional relationship of the automated guided vehicles AM1 to AM3 in FIG. 1.

[0032] The stay area RS is set directly below the conveyor CV and is disposed, for example, in the direction in which the conveyor CV extends. More specifically, the stay area RS extends along the conveying direction AR1 of the conveyor CV. The stay area RS is a place where an automated guided vehicle stays, and in the stay area RS, the automated guided vehicle can wait to enter the transfer area RT, which will be described later. The automated guided vehicles AM1 to AM3 move through the stay area RS along the conveyor CV. For example, the stay area RS may be set to a size that allows only one automated guided vehicle to stay there. Furthermore, the stay area RS may be set to a size that allows multiple automated guided vehicles to stay side by side in a direction perpendicular to the direction in which the conveyor CV extends (the width direction of the conveyor CV). The stay area RS may be set to a size that allows multiple automated guided vehicles to stay side by side in the direction in which the conveyor CV extends.

[0033] When an automated guided vehicle moves through the stay area RS, multiple automated guided vehicles may be lined up, as shown in Figure 2. For example, the following automated guided vehicle AM2 may be stopped until the automated guided vehicle AM1 starts moving and departs from the transfer area RT. Alternatively, the following automated guided vehicle AM2 may move through the stay area RS at a speed equal to or less than a predetermined speed and wait for the transfer area RT to become available until the automated guided vehicle AM1 departs from the transfer area RT. The automated guided vehicle AM2 may wait while maintaining a certain distance from the automated guided vehicle AM1.

[0034] Similarly, the following automated guided vehicle AM3 may be stopped until the automated guided vehicle AM2 starts moving within the stay area RS. Furthermore, the following automated guided vehicle AM3 may move within the stay area RS at a speed equal to or less than a predetermined speed, and wait while maintaining a distance from the automated guided vehicle AM2, until the automated guided vehicle AM2 starts moving. Similarly, when there are two or more automated guided vehicles within the stay area RS, the movements of the automated guided vehicles may be controlled so as to maintain a distance between the automated guided vehicles.

[0035] The transfer area RT is a location where goods are handed over between the conveyor CV and the automated guided vehicle AM1. For example, the automated guided vehicle AM1 stays in the stay area RS, and then moves from the stay area RS to the transfer area RT. After moving to the transfer area RT, the automated guided vehicle AM1 receives goods from the conveyor CV. Then, the automated guided vehicle AM1 departs from the transfer area RT with the goods loaded on the platform ST, and travels along a separately designated route.

[0036] Alternatively, the automated guided vehicle AM1 carrying an article stays in the stay area RS, and then moves from the stay area RS to the transfer area RT. After moving to the transfer area RT, the automated guided vehicle AM1 hands over the article to the conveyor CV. The automated guided vehicle AM1 then departs from the transfer area RT and travels along a separately designated route.

[0037] 3A is a diagram showing a first example of an automated guided vehicle and a transfer device. Fig. 3A shows a front view of the automated guided vehicle AM1 and the transfer device TF as seen from the movement direction MR. As shown in Fig. 1, the transfer device TF may be installed adjacent to the conveyor CV.

[0038] 3A, the transfer device TF may raise and lower the article LD without interfering with the platform ST. For example, the platform ST may be made up of a plurality of plate members parallel to the height direction (direction substantially perpendicular to the road surface FL) and the movement direction MR of the automatic guided vehicle AM1, and the transfer device TF may be able to enter between the gaps between the plurality of plate members.

[0039] The transfer device TF carrying the item LD may be lowered in the lifting direction AR2, with the upper ends of the multiple plate materials abutting the undersides of the item LD, and the item LD may be transferred from the transfer device TF to the platform ST. After that, with the item LD placed on the platform ST, the automated guided vehicle AM1 departs from the transfer area RT. At that time, the transfer device TF exits through the gaps between the multiple plate materials.

[0040] Alternatively, the stand ST may be formed with a plurality of protrusions extending in the height direction. Even when the stand ST is formed with a plurality of protrusions, the article LD can be transferred from the transfer device TF to the stand ST. The structure of the stand ST is not limited to the example given here.

[0041] 3B is a diagram showing a second example of an automated guided vehicle and a transfer device. Fig. 3B shows a front view of the automated guided vehicle AM1 and the transfer device TF as seen from the movement direction MR. As shown in Fig. 3B, the transfer device TF may be attached to the automated guided vehicle AM1.

[0042] The transfer device TF moves the stand ST up and down in the lifting direction AR2. For example, the transfer device TF may move the stand ST upward so that the height positions of the upper surfaces of the stand ST and the upper surfaces of the conveyor CV coincide with each other when transferring the article LD.

[0043] Furthermore, when transferring the article LD from the platform ST to the conveyor CV, the transfer device TF may tilt the platform ST so that the article LD moves from the platform ST to the conveyor CV. For example, the transfer device TF may be composed of multiple lifting mechanisms, and the amount of vertical movement by the lifting mechanisms may be changed depending on the position at which the transfer device TF is attached to the platform ST. The structure of the transfer device TF attached to the automatic guided vehicle AM1 is not limited to the example given here.

[0044] 3C is a diagram showing a third example of an automated guided vehicle and a transfer device TF, in which the transfer device TF constitutes a part of a conveyor CV.

[0045] For example, the transfer device TF may be a part of the conveyor CV and may be an inclined slope. The transfer device TF may also be provided with wheels to assist the movement of the article LD1 on the slope. Figure 3C shows a configuration in which multiple wheels are provided on the slope to reduce friction when moving along the slope.

[0046] The article LD1 transported by the conveyor CV may be moved down a slope of the transfer device TF and placed on a platform ST of the automatic guided vehicle AM1. The structure of the transfer device TF constituting a part of the conveyor CV is not limited to the example given here.

[0047] 4 is a diagram showing an example of the arrangement of markers on a road surface. For example, markers MK may be arranged in a grid pattern on a road surface FL on which an automated guided vehicle travels.

[0048] 4 shows a state in which the markers MK are arranged at intervals D1 in a direction perpendicular to the extension direction of the stay area RS, and the markers MK are arranged at intervals D2 in the extension direction of the stay area RS. The intervals D1 and D2 may be the same or different.

[0049] The markers MK may also be arranged in a direction independent of the extension direction of the stay area RS. The markers MK may also be arranged on the road surface FL in a square lattice pattern, or in a triangular lattice pattern or a hexagonal lattice pattern. Various arrangements of the markers MK can be mentioned, and are not limited to the arrangement shown in FIG. 4 .

[0050] Here, each marker MK may be provided with a code representing information about the position of the marker MK. For example, the code may be data representing information about the position of the marker MK in binary code, expressed as a one-dimensional or two-dimensional array pattern. Alternatively, the code may be affixed to the road surface FL so as to be read by an optical reader, or may be provided by an RFID (Radio Frequency Identification) tag.

[0051] When an automated guided vehicle passes above a marker MK, for example, a sensor provided on the bottom of the automated guided vehicle and facing the road surface may read the code attached to the marker MK, and the automated guided vehicle may determine its own position on the road surface FL based on the code. Note that the position at which the sensor is attached to the automated guided vehicle is arbitrary.

[0052] The placement intervals of the markers MK may be set based on the accuracy required for determining the self-position. For example, when the required accuracy is high, the intervals D1 and D2 may be set small. Conversely, when the required accuracy is low, the intervals D1 and D2 may be set large.

[0053] Although the above description shows an example in which an automated guided vehicle determines its own position based on a marker MK, the method for determining its own position is not limited to this example. For example, the self-position may be determined using a distance measuring sensor that measures the distance to a reference position. The self-position may also be determined based on data obtained from a laser scanner, magnetic tape, depth camera, etc.

[0054] Furthermore, the automated guided vehicle may determine its own position using a method called odometry, which estimates and accumulates the amount and direction of movement based on the amount of rotation and orientation of the wheels. Alternatively, the automated guided vehicle may use two or more sensors to receive radio waves emitted by a tag fixed to the road surface FL and identify the relative position of the tag. For example, the automated guided vehicle may determine its own position using UWB (Ultra-Wideband) positioning.

[0055] The automated guided vehicle moves to the stay area RS based on its determined self-position, and then moves to the transfer area RT.

[0056] A guide mechanism may be provided in the stay area RS to prevent the automated guided vehicle from deviating from the stay area RS when traveling within the stay area RS. Similarly, a guide mechanism may be provided in the transfer area RT to ensure that the automated guided vehicle can reliably transfer articles between the automated guided vehicle and the conveyor CV in the transfer area RT. Additionally, object detection sensors that detect the presence or absence of automated guided vehicles may be provided in the stay area RS and the transfer area RT.

[0057] [Control of Transport System] FIG. 5 is a block diagram showing the configuration of a controller related to control of the transport system according to an embodiment of the present disclosure.

[0058] The controller 10 is connected to the automatic guided vehicles AM1 to AM3 via a communication unit 20 so as to be able to communicate with them.

[0059] The controller 10 may be mounted on a management server (not shown) that manages the conveyor CV and the articles being transported. The controller 10 may be mounted on a management server (not shown) that manages the transport of articles by the automated guided vehicles AM1 to AM3 and the travel routes during transport. Alternatively, the controller 10 may be connected to these management servers.

[0060] The controller 10 may acquire information regarding the number of articles being transported on the conveyor CV, or information regarding the positions of the automated guided vehicles AM1 to AM3, information regarding the travel routes, etc. Additionally, the controller 10 may acquire information regarding the presence or absence of automated guided vehicles in the stay area RS and the transfer area RT.

[0061] The controller 10 is a general-purpose computer equipped with a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (transport program) for controlling the transport system 1 is installed in the controller 10. By executing the computer program, the controller 10 functions as multiple information processing circuits (11, 13, 15, 17) equipped in the transport system 1.

[0062] In this disclosure, an example is shown in which multiple information processing circuits (11, 13, 15, 17) are realized by software. However, it is also possible to configure the information processing circuits (11, 13, 15, 17) by preparing dedicated hardware for executing each of the information processes described below. Furthermore, the multiple information processing circuits (11, 13, 15, 17) may be configured by individual hardware.

[0063] As shown in FIG. 5, the controller 10 includes an automated guided vehicle management unit 11, an area management unit 13, an allocation setting unit 15, and an execution instruction unit 17 as a plurality of information processing circuits (11, 13, 15, 17).

[0064] The AGV management unit 11 manages the multiple AGVs included in the transport system 1. More specifically, the AGV management unit 11 manages information on whether or not an AGV is transporting an article. For example, the AGV management unit 11 may acquire the information from a predetermined management server, or may acquire the information directly from the AGV.

[0065] In the transport system 1, when an article is handed over from a conveyor CV to an automated guided vehicle, the automated guided vehicle management unit 11 extracts an automated guided vehicle that is not transporting an article as a specified automated guided vehicle. The specified automated guided vehicle becomes a target for movement to the stay area RS.

[0066] On the other hand, when an article is handed over from an automated guided vehicle to a conveyor CV in the transport system 1, the automated guided vehicle management unit 11 extracts the automated guided vehicle that is transporting the article as a specified automated guided vehicle. The specified automated guided vehicle becomes a target for movement to the stay area RS.

[0067] The area management unit 13 manages the stay area RS and the transfer area RT set directly below the conveyor CV. More specifically, the area management unit 13 acquires information on the number of articles transported by the conveyor CV. For example, the area management unit 13 extracts, from among the multiple conveyors CV, a conveyor CV that transports a predetermined number of articles or more as a target conveyor.

[0068] Alternatively, the area management unit 13 may extract target conveyors based on the number of articles transported per unit time. The number of articles transported, which is referenced to extract target conveyors, may be based on past actual values, or on future planned or predicted values. The area management unit 13 may extract all conveyors CV as target conveyors.

[0069] Then, the area management unit 13 extracts the stay area RS set immediately below the target conveyor as a waiting location for the specific automatic guided vehicle extracted by the automatic guided vehicle management unit 11.

[0070] The allocation setting unit 15 allocates a specific automated guided vehicle to the stay area RS associated with the target conveyor.

[0071] For example, in the transport system 1, when an article is handed over from a conveyor CV to an automated guided vehicle, an automated guided vehicle that is not transporting an article is assigned to the stay area RS associated with the target conveyor.

[0072] On the other hand, in the transport system 1, when an article is handed over from an automated guided vehicle to a conveyor CV, the automated guided vehicle that is responsible for transporting the article is assigned to the stay area RS associated with the target conveyor.

[0073] The allocation setting unit 15 may determine the number of automated guided vehicles to be allocated to the stay area RS associated with the conveyor CV of interest based on the number of articles to be transported by the conveyor CV. For example, the more articles to be transported, the more automated guided vehicles may be allocated, and the fewer articles to be transported, the fewer automated guided vehicles may be allocated.

[0074] The allocation setting unit 15 may also determine whether there is any available space in the stay area RS where an automated guided vehicle can stay. More specifically, information regarding the presence or absence of automated guided vehicles in the stay area RS and the transfer area RT may be acquired based on information from sensors installed in the stay area RS and the transfer area RT. Information regarding the presence or absence of automated guided vehicles in the stay area RS and the transfer area RT may also be acquired based on position information of the automated guided vehicles. In this case, the size of the available space in the stay area RS and the transfer area RT where an automated guided vehicle can stay may be calculated based on information from sensors installed in the stay area RS and the transfer area RT, respectively.

[0075] Then, if it is determined that there is an available space, the allocation setting unit 15 may allocate the specific automated guided vehicle to a stay area RS that has an available space.

[0076] The execution instruction unit 17 instructs the specific AGV to travel along a route that moves through the stay area RS assigned to the specific AGV. For example, the execution instruction unit 17 instructs the AGV to travel along a route that moves to the transfer area RT via the stay area RS set directly below the conveyor CV.

[0077] The route for traveling to the transfer area RT via the stay area RS set directly below the conveyor CV may be determined in advance for each stay area RS, or may be set each time depending on the availability of space in the stay area RS.

[0078] In addition, if there is an empty space in the stay area RS where an unmanned guided vehicle can stay, the execution instruction unit 17 may instruct the unmanned guided vehicle that is not assigned to transporting goods to move to the empty space.

[0079] Alternatively, the execution instruction unit 17 may control the conveyor CV and the automated guided vehicle so as to execute the transfer of articles between the conveyor CV and the automated guided vehicle when the automated guided vehicle reaches the transfer area RT. For example, the execution instruction unit 17 may control the transfer device TF to execute the transfer of articles between the conveyor CV and the automated guided vehicle.

[0080] [Processing Procedure of the Transfer System] Fig. 6 is a flowchart showing the processing procedure of the transfer system according to an embodiment of the present disclosure. The processing shown in Fig. 6 may be repeatedly executed at a predetermined cycle.

[0081] In step S101, the AGV management unit 11 extracts a specific AGV from among a plurality of AGVs.

[0082] In step S103, the area management unit 13 extracts a stay area that will be a waiting location for the specified automated guided vehicle.

[0083] In step S105, the allocation setting unit 15 allocates the specified automated guided vehicle to the stay area that serves as the waiting location.

[0084] In step S107, the execution instruction unit 17 instructs the assigned specific automated guided vehicle to move to the stay area.

[0085] In step S109, the execution instruction unit 17 executes the transfer of the article between the conveyor and the automatic guided vehicle in the transfer area.

[0086] As described above in detail, the system and the transport method according to the present disclosure use a conveyor, an automated guided vehicle, and a controller. The controller instructs the automated guided vehicle to travel along a route that passes through a stay area set directly below the conveyor and moves to a transfer area, and executes the delivery of an article between the conveyor and the automated guided vehicle in the transfer area.

[0087] This prevents the area in which an automated guided vehicle can travel freely from being restricted, allowing for flexible creation of driving routes for the automated guided vehicles. In particular, it prevents a queue of waiting automated guided vehicles that occurs near the transfer area from restricting the area in which other automated guided vehicles can travel. As a result, the degree of freedom in setting the route that an automated guided vehicle will travel after departing from the transfer area increases.

[0088] Furthermore, the efficiency of equipment layout in facilities where automated guided vehicles travel can be improved, thereby realizing space savings. Furthermore, the number of automated guided vehicles equipped in a transport system can be increased, thereby increasing the amount of goods that can be transported.

[0089] The stay area may be arranged in the direction in which the conveyor extends, and the automated guided vehicle may move through the stay area along the conveyor, thereby making it possible to effectively use the space directly below the conveyor as a waiting space for the automated guided vehicle.

[0090] The height from the road surface on which the automated guided vehicle travels to the conveyor may be higher than the height of the automated guided vehicle itself. This allows the automated guided vehicle to move in the space directly below the conveyor. Furthermore, the space directly below the conveyor can be effectively used as a waiting space for the automated guided vehicle.

[0091] The automated guided vehicle may determine its own position on the road surface on which it travels and move to the stay area based on its own position. This allows the automated guided vehicle to move to the stay area autonomously. As a result, the automated guided vehicle can wait in the space directly below the conveyor.

[0092] The automated guided vehicle may read codes arranged in a grid pattern on the road surface on which the automated guided vehicle travels and determine its own position based on the codes. This allows the automated guided vehicle to determine its own position with a relatively simple configuration, leading to cost reductions.

[0093] The spacing between the codes may be set based on the accuracy required for determining the self-position, thereby suppressing the error in the determined self-position of the automated guided vehicle to a predetermined level or less, and ensuring reliable movement of the automated guided vehicle to the waiting area.

[0094] The system may further include a transfer device that executes the transfer, and the transfer device may be installed adjacent to the conveyor, attached to the automatic guided vehicle, or constitute a part of the conveyor, thereby enabling the transfer of articles between the conveyor and the automatic guided vehicle.

[0095] The automated guided vehicle may further include a transfer device that executes the transfer, the automated guided vehicle may include a platform on which the article is placed, and the transfer device may include a lifting mechanism that raises and lowers the article without interfering with the platform. This allows the article to be reliably transferred between the conveyor and the automated guided vehicle. Furthermore, after the article has been transferred between the conveyor and the automated guided vehicle, the automated guided vehicle can reliably depart from the transfer area.

[0096] The controller may determine the number of automated guided vehicles to stay in the stay area based on the number of articles being transported by the conveyor. This allows the demand for articles to be reflected in the placement of the automated guided vehicles, enabling efficient transportation by the automated guided vehicles. Furthermore, this reduces waiting time for the transfer of articles between the conveyor and the automated guided vehicles, increasing the number of articles that can be processed per unit time and improving throughput.

[0097] The controller may determine whether there is an empty space in the stay area where an automated guided vehicle can stay, and if it determines that there is an empty space, move an automated guided vehicle that is not assigned to transport an item to the empty space. This prevents an automated guided vehicle that is not assigned to transport an item from being located in an area on the road surface where other automated guided vehicles are traveling. As a result, it is possible to reduce the possibility that an automated guided vehicle that is not assigned to transport an item will obstruct the travel of an automated guided vehicle that is assigned to transport an item.

[0098] Each of the functions described in the above embodiments may be implemented by one or more processing circuits, including programmed processors, electrical circuits, and even devices such as application specific integrated circuits (ASICs), or circuit components arranged to perform the described functions.

[0099] According to the present disclosure, it is possible to prevent restrictions on the areas in which an automated guided vehicle can travel freely, and to flexibly create routes for the automated guided vehicle. As a result, transportation efficiency is improved and labor productivity can be improved. Therefore, it is possible to contribute to, for example, Goal 8 of the Sustainable Development Goals (SDGs) led by the United Nations, "Promote inclusive and sustainable economic growth, full and productive employment and decent work for all."

[0100] Although several embodiments have been described, the embodiments can be modified or varied based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined, unless they are mutually inconsistent.

[0101] The entire contents of Japanese Patent Application No. 2024-150949 (filing date: September 2, 2024) are incorporated herein by reference.

[0102] 1 Transport system 11 Automated guided vehicle management unit 13 Area management unit 15 Allocation setting unit 17 Execution instruction unit 20 Communication unit 10 Controller AM1 to AM3 Automated guided vehicle AR1 Transport direction AR2 Lifting direction CV Conveyor D1, D2 Interval FL Road surface H1, H2 Height LD1, LD2 Article MK Marker MR Movement direction RS Stay area RT Transfer area ST Platform TF Transfer device

Claims

1. A transport system comprising a conveyor, an automated guided vehicle, and a controller, wherein the controller instructs the automated guided vehicle to travel along a route that passes through a stay area set directly below the conveyor and moves to a transfer area, and executes the delivery of articles between the conveyor and the automated guided vehicle in the transfer area.

2. The transport system according to claim 1, wherein the stay area is arranged in a direction in which the conveyor extends, and the automated guided vehicle moves through the stay area along the conveyor.

3. The transport system according to claim 1, wherein the height from the road surface on which the automated guided vehicle travels to the conveyor is higher than the height of the automated guided vehicle.

4. The transportation system according to claim 1, wherein the automated guided vehicle determines its own position on a road surface on which the automated guided vehicle is traveling, and moves to the staying area based on the self-position.

5. The transport system according to claim 4, wherein the automated guided vehicle reads codes arranged in a grid pattern on the road surface on which the automated guided vehicle travels, and determines its own position based on the codes.

6. The transport system according to claim 5, wherein the spacing between the codes is set based on the accuracy required for determining the self-position.

7. The conveying system according to claim 1, further comprising a transfer device that executes the transfer, wherein the transfer device is installed adjacent to the conveyor, attached to the automatic guided vehicle, or forms part of the conveyor.

8. The transport system according to claim 1, further comprising a transfer device that executes the transfer, wherein the automated guided vehicle comprises a platform on which the article is placed, and the transfer device comprises a lifting mechanism that raises and lowers the article without interfering with the platform.

9. The conveyance system according to any one of claims 1 to 8, wherein the controller determines the number of automated guided vehicles to stay in the stay area based on the number of articles to be transported by the conveyor.

10. A transport system according to any one of claims 1 to 8, wherein the controller determines whether or not there is an empty space in the stay area where the automated guided vehicle can stay, and if it is determined that there is an empty space, moves the automated guided vehicle that is not assigned to transport the item to the empty space.

11. A transport method for a transport system including a conveyor, an automated guided vehicle, and a controller, wherein the controller instructs the automated guided vehicle to travel along a route that moves to a transfer area via a stay area set directly below the conveyor, and executes the delivery of articles between the conveyor and the automated guided vehicle in the transfer area.

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