JP2011243129A - Transportation vehicle system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the accuracy of transportation vehicle to approach to a station in a horizontal travel mode.SOLUTION: A transportation vehicle system 1 comprises a station 3, a traveling part 20, a detection target 49, first to third distance sensors 41, 43 and 45, and a travel control section 63. The station 3 is disposed being separated from a trackless first traveling path 5 in a Y-direction perpendicular to an X-direction. The traveling part 20 is capable of traveling in a longitudinal direction and in a horizontal direction, and which travels on the first traveling path 5 in the longitudinal direction. The detection target 49 is provided to the station 3. The first to third distance sensors 41, 43 and 45 are provided to the traveling part 20 to detect the detection target 49. The travel control section 63 controls the position and posture of the traveling part 20 while causing the traveling part 20 to approach to the station 3 in a horizontal travel mode based on the detection results from the first to third distance sensors 41, 43 and 45.

Description

  The present invention relates to a transport vehicle system, and more particularly to a trackless transport vehicle system.

  The transport vehicle system transports articles between stations using a transport vehicle that autonomously travels on the floor of a factory or warehouse. There are two types of transport vehicle systems: a system using a track-type carriage and a system using a trackless carriage. A trackless cart is a transport vehicle that travels a target by guidance control without using a track. The trackless transport vehicle system employs guide type guidance control or guideless type guidance control. In the guide type guidance control, a continuous or intermittent derivative is installed on the ground, and the conveyance vehicle is guided along the derivative. Guideless guidance control is control in which the position of the vehicle is measured by a vehicle-mounted sensor or the like and the transport vehicle is guided to a target travel path.

  The transport vehicle is provided with driving wheels and driven wheels. A traveling motor is connected to the drive wheels. The drive wheel and the travel motor are rotatable by a steering mechanism. The steering mechanism has a steering motor.

  The transfer vehicle is provided with a transfer device such as a scalar arm or a fork, and the transfer device delivers articles to and from the station. In order to accurately deliver the article to and from the station, it is necessary to accurately position the transfer device of the automatic guided vehicle with respect to the station. In view of this, the position of the transfer device is corrected with respect to the reference provided in the station (see, for example, Patent Document 1).

JP 2000-194418 A

A conveyance vehicle may drive | work the path | route in the position away from the station in the horizontal direction of the conveyance vehicle, for example. In order to stop at such a transport vehicle station, the transport vehicle first stops at a position corresponding to the station according to a guide (eg, magnetic tape) and then transitions from a longitudinal travel state to a transverse travel state. Can be switched. Specifically, the direction of the driving wheel can be changed from the front-rear direction to the lateral direction. Thereafter, the transport vehicle travels in a traverse direction and approaches the station. Finally, the transport vehicle stops near the station, and in this state, the transfer device transfers the article.
However, in general, the traveling accuracy of the transport vehicle in the transverse traveling state is not high. As a result, when the transport vehicle approaches and stops near the station, a situation may occur in which the transfer operation of the transfer device is difficult. Therefore, conventionally, the transport vehicle travels in a transverse direction at a position deviated from the station in the traveling direction, and then travels in the longitudinal direction to accurately position the station relative to the station. In that case, there is a problem that it takes extra travel time.
An object of the present invention is to improve traveling accuracy when a transport vehicle approaches a station by traversing traveling.

  Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.

A transport vehicle system according to an aspect of the present invention includes a station, a traveling vehicle, a detected unit, a detector, and a control unit. The stations are arranged apart from each other in a direction intersecting the path extension direction with respect to the trackless path. The traveling vehicle is capable of longitudinal traveling and transverse traveling, and travels longitudinally along the route. The detected part is provided in the station. The detector is provided in the traveling vehicle and detects the detected part. The control unit controls the position and posture of the traveling vehicle based on the detection result from the detector while the traveling vehicle approaches the station while traveling in a traverse direction.
In this system, the control unit controls the position and posture of the traveling vehicle based on the detection result from the detector while approaching the station in the transverse traveling. Therefore, the traveling accuracy of the traveling vehicle is improved.
In addition, a station means the place where a conveyance vehicle stops in the vicinity.

The transport vehicle system may further include a transfer device and a moving mechanism. The transfer device is provided in the traveling vehicle. The moving mechanism supports the transfer device so as to be movable on the traveling vehicle. The moving mechanism moves the transfer device relative to the traveling vehicle based on the detection result from the detector after the traveling vehicle stops in the vicinity of the station due to the transverse traveling.
In this system, after the traveling vehicle stops near the station, the moving mechanism moves the transfer device relative to the traveling vehicle for positioning. In this case, since the positioning of the traveling vehicle with respect to the station is already accurately performed, the positioning of the transfer device by the moving mechanism can also be accurately performed with a small load.

  The detector may have three distance meters arranged at a predetermined interval from each other. The detected part has two planes and inclined surfaces corresponding to the three distance meters, respectively. The control unit controls the traveling vehicle based on the distances measured by the three distance meters.

  The transport vehicle system may further include a transfer device and a moving mechanism. The transfer device is provided in the traveling vehicle. The moving mechanism supports the transfer device so as to be movable on the traveling vehicle. The moving mechanism moves the transfer device based on the distances measured by the three distance meters after the traveling vehicle stops in the vicinity of the station by traversing.

  The control unit corrects the position in the first direction in which the route extends, the position of the traveling vehicle in the second direction orthogonal to the first direction, and the inclination angle of the traveling vehicle with respect to the second direction during the transverse traveling control of the traveling vehicle. Also good.

  In the system according to the present invention, based on the detection result from the detector, the position and posture of the traveling vehicle are controlled while the traveling vehicle is approaching the station by traversing traveling, so that the traveling accuracy of the traveling vehicle is improved.

The schematic plan view which shows the station of a conveyance vehicle system, a path | route, and a conveyance vehicle. The typical top view which shows the state which the conveyance vehicle stopped in the position corresponding to a station on a path | route. FIG. 3 is a schematic plan view showing a state in which a transport vehicle is moved in a traverse direction and approached to a station. The typical top view which shows the state which the conveyance vehicle stopped before the station. The typical block diagram which shows the control structure of a conveyance vehicle. The control flowchart of an approaching operation to a station, while a conveyance vehicle runs transversely. The control flowchart of transfer operation | movement. The typical top view which shows the correction | amendment operation | movement principle at the time of transverse running of a conveyance vehicle.

(1) Whole transport vehicle system The transport vehicle system 1 is demonstrated using FIG. FIG. 1 is a schematic plan view showing a station, a route, and a transport vehicle of the transport vehicle system.

The transport vehicle system 1 is, for example, an article transport system in a factory. The transport vehicle system 1 includes a first travel path 4 and a second travel path that connect the stations 3 of a plurality of facilities (locations where the transport vehicle is stopped and where the articles W are transferred in the present embodiment). 5 is a system for causing the transport vehicle 7 to travel along the line 5. In FIG. 1, the first travel path 4 and the second travel path 5 extend in parallel, and the station 3 is disposed on the opposite side of the first travel path 4 from the second travel path 5. Accordingly, the second travel path 5 is separated from the station 3 by a predetermined distance (in this embodiment, the width of the first travel path 4). The transport vehicle 7 moves along the first travel path 4 or the second travel path 5 and stops at a stop position in front of the predetermined station 3, and transfers the article W to and from the station 3.
In the following description, the direction in which the first travel path 4 and the second travel path 5 extend is defined as the X direction, and the direction perpendicular to the X direction is defined as the Y direction.

  In the first travel path 4 and the second travel path 5, a plurality of first magnetic spots 11 are arranged at predetermined intervals along the X direction. Furthermore, a second magnetic spot 13 is disposed on the first traveling path 4 and the second traveling path 5 side of the station 3. The number and position of the first magnetic spot 11 and the second magnetic spot 13 are not particularly limited.

(2) Conveyance vehicle The conveyance vehicle 7 is demonstrated using FIG. FIG. 2 is a schematic plan view showing a state where the transport vehicle is stopped at a position corresponding to the station on the route.

The transport vehicle 7 mainly includes a main body 15, a travel mechanism 17, and a transfer mechanism 19. The main body 15 and the traveling mechanism 17 function as the traveling unit 20.
The main body 15 has a substantially rectangular box shape. However, the main body 15 is not a square in plan view, but a rectangle whose X direction length is longer than the Y direction length. The main body 15 has a front portion 15a, an intermediate portion 15b, and a rear portion 15c in order from the front side in the traveling direction in the X direction.
The traveling mechanism 17 is a mechanism that causes the main body 15 to travel. The travel mechanism 17 includes a drive wheel 21, a driven wheel 23, a travel motor 25, and a steering motor 27. Two drive wheels 21 are provided at diagonal positions on the bottom of the main body 15. There are two driven wheels 23, which are provided at positions symmetrical to the drive wheels 21. The drive wheel 21 is connected to the travel motor 25 (FIG. 5) via a speed reduction mechanism (not shown), and is driven by the travel motor 25 so that the speed can be controlled. In order to detect the rotational speed of the drive wheel 21, a rotary encoder 71 (FIG. 5) is provided. Further, the traveling motor 25, the speed reduction mechanism (not shown), and the drive wheels 21 are unitized, and are individually rotated around the vertical axis with respect to the main body 15 by the steering motor 27 (FIG. 5). It has become. A steering sensor 73 (FIG. 5) is provided to detect the steering angle. By the traveling mechanism 17 described above, the transport vehicle 7 can travel in the X direction and travel in the Y direction.

  A pair of first forward / reverse guide sensors 29 are provided at the center of the front portion 15a and the rear portion 15c in the Y direction at the bottom of the main body 15. The first back-and-forth advance guide 29 is a magnetic sensor for detecting the first magnetic spot 11. A pair of second forward / backward guide sensors 31 is provided at the center of the intermediate portion 15b in the X direction at the bottom of the main body 15. The second forward / backward guide sensor 31 is a magnetic sensor for detecting the second magnetic spot 13.

  The transfer mechanism 19 is provided on the intermediate portion 15 b of the main body 15. The transfer mechanism 19 is a mechanism for transferring the article W, and includes a scalar arm 35 and a turning table 37. The scalar arm 35 is disposed on the turning table 37 and is rotatable with respect to the main body 15 together with the turning table 37. The scalar arm 35 includes an arm, a lifter, and a fork, and can deliver the article W to and from the station 3.

  A first distance sensor 41, a second distance sensor 43, and a third distance sensor 45 are provided on the side surface of the turning table 37 facing the station 3 side by side in the X direction in the drawing. The first distance sensor 41 and the third distance sensor 45 are provided, for example, near both ends of one side surface of the turntable 37, and the second distance sensor 43 is provided between the first distance sensor 41 and the third distance sensor 45. Yes. The first to third distance sensors 41, 43, and 45 have a laser light emitting part and a light receiving part. As the distance sensor, an ultrasonic wave may be used.

(3) Station The station 3 is a device on which the article W can be placed.
A front edge 47 of the station 3 (an edge facing the first traveling path 5 side) is parallel to the X direction. A detected portion 49 is provided at the center of the front edge 47 in the X direction. The detected part 49 is a part to be detected by the first to third distance sensors 41, 43 and 45. The detected portion 49 includes a first detected portion 51, a second detected portion 53, and a third detected portion 55 arranged in the X direction from the left side of the figure. The first detected part 51 is a flat surface parallel to the X direction and corresponds to the first distance sensor 41. The second detected portion 53 is a block provided on the front edge 47, and the first traveling path 5 side surface is an inclined surface inclined in the X direction. The second detected part 53 corresponds to the second distance sensor 43. The third detected portion 55 is a flat surface parallel to the X direction and corresponds to the third distance sensor 45.

(4) Control Configuration The control configuration of the transport vehicle 7 will be described using FIG. FIG. 5 is a schematic block diagram showing a control configuration of the transport vehicle.
The control unit 61 is computer hardware for executing the transport vehicle control software, and includes, for example, a CPU, a RAM, and a ROM. In FIG. 4, various functions realized by the cooperation of software and hardware are expressed in blocks. Specifically, the control unit 61 includes a travel control unit 63 and a transfer control unit 65. The travel control unit 63 realizes a function of controlling the travel mechanism 17 of the transport vehicle 7. More specifically, the travel control unit 63 performs speed control and steering control of the transport vehicle 7. The transfer control unit 65 realizes a function of controlling the transfer mechanism 19 of the transport vehicle 7.
Although not shown, the control unit 61 has transmission / reception means with a host controller, thereby receiving a conveyance command from the controller and reporting the conveyance result and the current position to the controller.

  The traveling motor 25 and the steering motor 27 are connected to the traveling control unit 63. The travel control unit 63 can drive the drive wheels 21 by transmitting a motor drive signal to the travel motor 25 and the steering motor 27.

  A rotary encoder 71 and a steering sensor 73 are connected to the travel control unit 63. Information about the rotational speed of the drive wheel 21 is transmitted from the rotary encoder 71 to the travel control unit 63, and steering angle information of the steering unit is transmitted from the steering sensor 73.

  A first distance sensor 41, a second distance sensor 43, and a third distance sensor 45 are connected to the travel control unit 63. The traveling control unit 63 transmits a laser drive signal to the first distance sensor 41, the second distance sensor 43, and the third distance sensor 45, and causes a laser to be emitted from the light emitting unit of these sensors. Furthermore, the traveling control unit 63 receives detection signals from the light receiving units of the first distance sensor 41, the second distance sensor 43, and the third distance sensor 45. Thereby, the traveling control unit 63 calculates the distance between the sensor and the reflected object based on the time from when the laser light is emitted until the reflected light is received.

(5) Control Operation The approach and transfer operation of the transport vehicle 7 to the station will be described with reference to FIGS. 6 and 7. FIG. 6 is a control flowchart of an operation for causing the traveling vehicle to approach the station while traversing. FIG. 7 is a control flowchart of the transfer operation.

  It demonstrates as control operation by the control part 61, specifically the driving | running | working control part 63, and the transfer control part 65. FIG. In the following description, the distance from the first distance sensor 41 to the first detected part 51 is L1, the distance from the second distance sensor 43 to the second detected part 53 is L2, and the third distance sensor 45 to the third detected part. The distance to the detection unit 55 is L3. The traveling control unit 63 corrects the position of the transport vehicle 7 in the X direction, the position of the transport vehicle 7 in the Y direction, and the tilt angle θ of the transport vehicle 7 with respect to the Y direction during the lateral travel control of the transport vehicle 7.

As shown in FIG. 1, the transport vehicle 7 approaches the station 3 while traveling on the first travel path 5. A command is sent to the transport vehicle 7 to deliver the article W to and from the station 3 from a host controller (not shown). Note that the values of the distances L1 and L3 when the transfer mechanism 19 performs a transfer operation with the station 3 according to the command are stored in the travel control unit 63.
In step S1 of FIG. 6, after the state where the predetermined first magnetic spot 11 has already been detected and the vehicle has started decelerating, the traveling control unit 63 waits for the stop position to be reached.

  In step S <b> 2, the travel control unit 63 transmits a stop signal to the travel motor 25 to stop the longitudinal travel of the transport vehicle 7. The state at this time is shown in FIG.

  In step S <b> 3, the travel control unit 63 transmits the drive signal to the steering motor 27 to turn the drive wheels 21 in the Y direction.

  In step S <b> 4, the travel control unit 63 transmits a travel signal to the travel motor 25 to start the traveling of the transport vehicle 7. FIG. 3 shows a state in which the transport vehicle 7 leaves the first traveling path 5 and starts approaching the station 3 side.

  In step S <b> 5, the traveling control unit 63 waits for the second forward / backward guide sensor 31 to detect the second magnetic spot 13.

  In step S <b> 6, the travel control unit 63 transmits the drive signal to the travel motor 25 to cause the transport vehicle 7 to creep.

  In step S7, the traveling control unit 63 waits for a predetermined time to elapse. The predetermined time is, for example, about 100 mm seconds.

  In step S8, the traveling control unit 63 drives the first distance sensor 41, the second distance sensor 43, and the third distance sensor 45 to measure the distance and correct the position and posture of the transport vehicle 7. Hereinafter, the correction operation will be described in detail with reference to FIG. FIG. 8 is a schematic plan view showing the principle of the correction operation when the transport vehicle travels transversely. In FIG. 8, a dotted line representing the article W indicates a state where the article W has been transferred from the transport vehicle 7 to the station 3 without correcting the position of the transport vehicle 7, and a solid line representing the article W is A state where the article W is transferred from the transport vehicle 7 to the station 3 after correction is shown.

As shown in FIG. 8A, the travel control unit 63 uses the first distance sensor 41 and the third distance sensor 45 to move the distance L1 to the front edge 47 (the first detected unit 51 and the third detected unit 55). When L3 and L3 are obtained, when the side surface of the station 3 of the turntable 37 is parallel to the front edge 47, the distances L1 and L3 are equal. If the distance L1 and the distance L3 are different, a driving signal is transmitted to the steering motor 27 to rotate the transport vehicle 7 by an angle θ so that the distance L1 and the distance L3 become equal. Thus, by making the distances L1 and L3 equal, the turning table 37 becomes parallel to the front edge 47.
In the state where the distance L1 and the distance L3 are equal as described above, as shown in FIG. 8C, the distance in the Y direction can be obtained from these values.
The traveling control unit 63 uses the distance L2 from the second distance sensor 43 to the second detected unit 53 to determine the position in the X direction. In the case of FIG. 8B, the distance L2 decreases as the second distance sensor 43 moves to the left in the X direction. Since the distance in the Y direction from the turning table 37 to the leading edge 47 is already known, if the distance L2 from the second distance sensor 43 to the second detected portion 53 is known, the deviation from the X direction position in the command is performed. ΔX can be obtained. As a result, the travel control unit 63 corrects the position of the transport vehicle 7 in the X direction by transmitting drive signals to the travel motor 25 and the steering motor 27.
As described above, the traveling control unit 63 acquires the position in the Y direction while correcting the inclination of the transport vehicle 7 and the shift in the X direction.

  In step S9, the traveling control unit 63 determines whether L1 and L3 have become equal to or less than a predetermined value. If it is Y0 or less, the process proceeds to step S9. If it is greater than or equal to the predetermined value, the process returns to step S5.

  In step S <b> 10, the travel control unit 63 stops the transport vehicle 7 by transmitting a stop signal to the travel motor 25.

  In step S11, a transfer operation is performed. Hereinafter, the transfer operation will be described in detail with reference to FIG.

  In step S21 of FIG. 7, the transfer control unit 65 uses the first distance sensor 41 and the third distance sensor 45 to move the distances L1 and L3 to the front edge 47 (the first detected unit 51 and the third detected unit 55). To determine whether the side surface of the station 3 of the turntable 37 is parallel to the front edge 47. If the transfer control unit 65 determines that correction is necessary, the process proceeds to step S22. If the transfer control unit 65 determines that correction is unnecessary, the process skips step S22 and proceeds to step S23.

In step S <b> 22, the transfer control unit 65 rotates the turning table 37 by transmitting a drive signal to the turning table 37. When the turning table 37 rotates to a predetermined angle, the distance L1 and the distance L3 become equal, and the turning table 37 becomes parallel to the front edge 47. Thereby, the position of the scalar arm 35 is corrected.
In step S <b> 23, the transfer control unit 65 transfers the article W by the scalar arm 35 by transmitting a drive signal to the scalar arm 35. For example, the scalar arm 35 transfers the article W in the station 3 to the transport vehicle 7. Alternatively, the scalar arm 35 transfers the article W in the transport vehicle 7 to the station 3.

  As a result of the control operation described above, by using the first distance sensor 41, the second distance sensor 43, and the third distance sensor 45, the traveling accuracy when the transport vehicle 7 approaches the station 3 by traversing traveling is improved. ing. Therefore, the positional accuracy when the transport vehicle 7 stops near the station 3 is also high. In other words, it is difficult for the transport vehicle 7 to stop at an incorrect position or posture (orientation) with respect to the station 3.

(6) Features The embodiment can be expressed as follows.
The transport vehicle system 1 includes a station 3, a travel unit 20, a detected unit 49, first to third distance sensors 41, 43 and 45, and a travel control unit 63. The stations 3 are arranged away from each other in the Y direction intersecting the X direction with respect to the trackless first traveling path 5. The traveling unit 20 is capable of longitudinal traveling and transverse traveling, and travels along the first traveling path 5 in the longitudinal traveling. The detected part 49 is provided in the station 3. The first to third distance sensors 41, 43 and 45 are provided in the traveling unit 20 and detect the detected portion 49. Based on the detection results from the first to third distance sensors 41, 43 and 45, the traveling control unit 63 changes the position and orientation (orientation) of the traveling unit 20 while the traveling unit 20 approaches the station 3 in the transverse traveling. Control.
In the transport vehicle system 1, the traveling control unit 63 determines the position and posture of the traveling unit 20 while approaching the station 3 in the transverse traveling based on the detection results from the first to third distance sensors 41, 43, and 45. Control. Therefore, the traveling accuracy of the traveling unit 20 is improved.

The transport vehicle system 1 further includes a scalar arm 35 and a turning table 37. The scalar arm 35 is provided in the traveling unit 20. The turning table 37 supports the scalar arm 35 so as to be movable on the traveling unit 20, and is provided so that the first to third distance sensors 41, 43 and 45 move together. The turning table 37 moves the scalar arm 35 to the traveling unit 20 based on the detection results from the first to third distance sensors 41, 43 and 45 after the traveling unit 20 stops in the vicinity of the station 3 by traversing traveling. To move.
In this transport vehicle system 1, after the traveling unit 20 stops near the station 3, the turning table 37 is positioned by moving the scalar arm 35 relative to the traveling unit 20. In this case, since the positioning of the transport vehicle 7 with respect to the station 3 is already performed with high accuracy, the positioning of the scalar arm 35 with the turning table 37 can be performed with a small load with high accuracy. As a result, transfer accuracy is improved.

(7) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in the present specification can be arbitrarily combined as necessary.

  In the said embodiment, although the conveyance vehicle was guided and conveyed by the intermittent derivative | guide_body, this invention is not limited to such embodiment. The derivative may be a continuously provided magnetic tape.

  In the said embodiment, although the conveyance vehicle was magnetically guided by the magnetic spot, this invention is not limited to such embodiment. The guide method may be electromagnetic induction type or optical induction type. In the optical guidance system, a laser guidance system is known in which a large number of reflectors are arranged along a travel route, the reflectors are recognized by a laser scanner of an automated guided vehicle, and the current position is calculated.

  In the said embodiment, although the conveyance vehicle was guided by the derivative | guide_body, this invention is not limited to such embodiment. For example, the present invention can be applied to a self-propelled transport vehicle. In this case, the transport vehicle determines the position of the own vehicle using an in-vehicle distance sensor, GPS, gyroscope, or visual recognition device, and travels the target route using a layout map stored in the in-vehicle computer.

  In the above embodiment, the distance sensor is used to determine the position and posture of the transport vehicle when the transport vehicle approaches the station by traversing, but the present invention is not limited to such an embodiment. For example, the detected part on the station side may be detected by a camera, and travel control may be performed based on the detected part.

  In the said embodiment, although the 2nd to-be-detected part which consists of an inclined surface was arrange | positioned between the 1st to-be-detected part and the 3rd to-be-detected part, this invention is not limited to such embodiment. The second detected part may be arranged outside the first detected part or the third detected part in the X direction.

  In the embodiment, the position of the transport vehicle in the X direction when the transport vehicle travels in the traverse direction is performed using the second detected portion and the second distance sensor, but the present invention is not limited to such an embodiment. . For example, the position correction in the X direction of the transport vehicle when the transport vehicle travels in a traverse direction may be performed by reading a marker provided in the station with a CCD camera. Furthermore, when the transport vehicle travels in a traverse direction, position correction in the X direction of the transport vehicle may not be performed.

  In the embodiment, the transfer device correction is performed as necessary, but the present invention is not limited to such an embodiment. The transfer device correction may be always performed or may not be performed at all.

  In the above embodiment, the turning table is used as a mechanism for correcting the position of the scalar arm, but the present invention is not limited to this. For example, the scalar arm may be moved using a turning table and an XY stage.

  In the said embodiment, although the 2nd magnetic spot was provided as a guide of the transverse running of a conveyance vehicle, this invention is not limited to such embodiment. A magnetic tape may be used, and further, an electromagnetic induction type or an optical induction type may be used. Furthermore, it is not necessary to use a guide for traversing the transport vehicle.

  In the above embodiment, the distance sensor is provided on the turntable, but the present invention is not limited to such an embodiment. The distance sensor may be provided in the main body of the transport vehicle.

  In the said embodiment, although the transfer apparatus mounted in the conveyance vehicle was a scalar arm, this invention is not limited to such embodiment. A slide fork and various conveyors may be used.

  The present invention can be widely applied to a trackless transport vehicle system.

DESCRIPTION OF SYMBOLS 1 Transfer vehicle system 3 Station 5 Travel path 7 Transfer vehicle 11 1st magnetic spot 13 2nd magnetic spot 15 Main body 17 Traveling mechanism 19 Transfer mechanism 20 Traveling part (traveling vehicle)
21 driving wheel 23 driven wheel 25 travel motor 27 steering motor 29 first forward / reverse guide sensor 31 second forward / backward guide sensor 33 marker sensor 35 scalar arm (transfer device)
37 Turning table (moving mechanism)
41 First distance sensor (detector, distance meter)
43 Second distance sensor (detector, distance meter)
45 Third distance sensor (detector, distance meter)
47 Leading edge 49 Detected part 51 First detected part (plane)
53 Second detected portion (inclined surface)
55 3rd detected part (plane)
61 Control Unit 63 Travel Control Unit 65 Transfer Control Unit 71 Rotary Encoder 73 Steering Sensor

Claims (5)

Stations arranged away from the trackless path in a direction intersecting the path extension direction,
A traveling vehicle capable of longitudinal traveling and transverse traveling, and traveling in the longitudinal direction on the route;
A detected portion provided in the station;
A detector provided in the traveling vehicle for detecting the detected part;
Based on the detection result from the detector, a control unit that controls the position and posture of the traveling vehicle while causing the traveling vehicle to approach the station in a transverse traveling;
Car carrier system equipped with. A transfer device provided in the traveling vehicle;
A moving mechanism that movably supports the transfer device on the traveling vehicle,
The moving mechanism moves the transfer device relative to the traveling vehicle based on a detection result from the detector after the traveling vehicle stops in the vicinity of the station by traversing traveling. The described transport vehicle system. The detector has three distance meters arranged at predetermined intervals from each other,
The detected portion has two planes and inclined surfaces respectively corresponding to the three distance meters,
The transport vehicle system according to claim 1, wherein the control unit controls the traveling vehicle based on each distance measured by the three distance meters. A transfer device provided in the traveling vehicle;
A moving mechanism that movably supports the transfer device on the traveling vehicle,
The said moving mechanism moves the said transfer apparatus based on each distance measured with the said three distance meters, after the said traveling vehicle stops in the vicinity of the said station by traversing driving | running | working. Transport vehicle system.   The control unit includes a position in the first direction in which the route extends, a position of the traveling vehicle in a second direction orthogonal to the first direction, and the second direction of the traveling vehicle during the transverse traveling control of the traveling vehicle. The conveyance vehicle system of Claim 3 or 4 which correct | amends the inclination angle with respect to.

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