JPWO2023223384A5

JPWO2023223384A5 -

Info

Publication number: JPWO2023223384A5
Application number: JP2022580845A
Authority: JP
Filing date: 2022-05-16
Publication date: 2024-04-25
Anticipated expiration: 2042-05-16

Claims

コンベアにより荷物を搬送するコンベア装置と、荷物を荷台部に搭載して走行し、前記コンベア装置との間で荷物の受渡しを行う複数の搬送車と、を備える搬送システムであって、
前記コンベア装置は、
前記コンベアの隣接位置に設けられ、前記コンベア部により搬送される複数の荷物を保管可能なスペースを有する荷物保管部と、
前記コンベアにより搬送される荷物を前記荷物保管部に搬送する荷物案内部と、備え、
前記搬送システムは、
前記荷物案内部と前記搬送車の動作を制御する協調制御部を備え、
前記協調制御部は、
前記荷物保管部の荷物保管状況に応じて、荷物が保管されていない前記荷物保管部の空きスペースに荷物を案内するよう前記荷物案内部を制御し、
前記荷物保管部の荷物保管状況に応じて荷物の受渡位置を判断し、前記搬送車を前記受渡位置に移動させ、
前記搬送車は、駆動輪を制御することにより該搬送車を任意の位置に移動させるとともに該搬送車の向きを任意の方向に調整することが可能な走行制御部を備える、搬送システム。 A conveying system including a conveyor device that conveys luggage by a conveyor, and a plurality of conveying vehicles that run with luggage loaded on a loading platform and deliver the luggage to and from the conveyor device,
The conveyor device includes:
a luggage storage section provided adjacent to the conveyor and having a space capable of storing a plurality of luggage transported by the conveyor section;
A baggage guide unit that conveys the baggage transported by the conveyor to the baggage storage unit,
The transport system includes:
a cooperative control unit that controls the operations of the baggage guiding unit and the transport vehicle,
The cooperative control unit includes:
controlling the baggage guiding unit to guide the baggage to an empty space in the baggage storage unit where no baggage is stored, according to the baggage storage status of the baggage storage unit;
determining a location for receiving and delivering luggage according to a luggage storage status of the luggage storage unit, and moving the transport vehicle to the location for receiving and delivering luggage ;
The transport vehicle is equipped with a travel control unit that can control drive wheels to move the transport vehicle to any position and adjust the orientation of the transport vehicle in any direction .

前記搬送車は、前記荷台部の位置を昇降させる昇降駆動部を備える、請求項１に記載の搬送システム。The transport system according to claim 1 , wherein the transport vehicle includes a lifting drive unit that raises and lowers the position of the loading platform unit.

前記搬送車は、無軌道走行可能である、請求項１又は２に記載の搬送システム。The transport system according to claim 1 or 2, wherein the transport vehicle is capable of trackless travel.

前記搬送システムが前記コンベア装置から前記搬送車へ荷物を受け渡す動作モード時において、前記荷物保管部に複数の荷物が隣接する位置に保管されている場合に、前記協調制御部は、前記荷台部に当該複数の荷物を搭載するスペースを有する前記搬送車を、前記複数の荷物が隣接して配置されている位置に移動させる、請求項１又は２に記載の搬送システム。 The conveying system according to claim 1 or 2, wherein when the conveying system is in an operating mode in which it transfers luggage from the conveyor device to the conveying vehicle, when multiple luggage are stored in adjacent positions in the luggage storage section, the cooperative control unit moves the conveying vehicle, which has space on the loading platform section to load the multiple luggage, to a position where the multiple luggage are arranged adjacently.

前記搬送システムが前記コンベア装置から前記搬送車へ荷物を受け渡す動作モード時において、前記荷物保管部に一つの荷物が保管されている場合に、前記協調制御部は、前記荷物の隣接位置にコンベア上を流れる次の荷物を搬送するよう前記荷物案内部を制御する、請求項１又は２に記載の搬送システム。 The conveying system according to claim 1 or 2, wherein when the conveying system is in an operating mode in which it transfers luggage from the conveyor device to the conveying vehicle, when one luggage is stored in the luggage storage section, the cooperative control section controls the luggage guide section to transport the next luggage traveling on the conveyor to a position adjacent to the luggage.

前記搬送システムが前記コンベア装置から前記搬送車へ荷物を受け渡す動作モード時において、前記荷台部に荷物を搭載するスペースを有する前記搬送車が前記荷物保管部の近傍に待機している場合に、前記協調制御部は、前記搬送車の待機位置に対応する前記荷物保管部上の位置に前記コンベア上の荷物を搬送するよう前記荷物案内部を制御する、請求項１又は２に記載の搬送システム。 The conveying system described in claim 1 or 2, wherein when the conveying system is in an operational mode in which it transfers luggage from the conveyor device to the conveying vehicle, when the conveying vehicle having space to load luggage on the loading platform is waiting near the luggage storage area, the cooperative control unit controls the luggage guide unit to transport the luggage on the conveyor to a position on the luggage storage area corresponding to the waiting position of the conveying vehicle.

前記搬送システムが前記コンベア装置から前記搬送車へ荷物を受け渡す動作モード時において、前記協調制御部は、前記荷物保管部の荷物保管状況と前記搬送車の動作状態に応じて、前記コンベアの搬送動作の停止、又は搬送速度を調整する、請求項１又は２に記載の搬送システム。 The conveying system according to claim 1 or 2, wherein when the conveying system is in an operating mode for transferring luggage from the conveyor device to the conveying vehicle, the cooperative control unit stops the conveying operation of the conveyor or adjusts the conveying speed depending on the luggage storage status of the luggage storage unit and the operating status of the conveying vehicle.

前記搬送システムが前記搬送車から前記コンベア装置へ荷物を受け渡す動作モード時において、前記協調制御部は、前記荷台部に複数の荷物を搭載する前記搬送車を、前記複数の荷物を保管可能なスペースを有する前記荷物保管部上の位置に移動させる、請求項１又は２に記載の搬送システム。 The conveying system according to claim 1 or 2, wherein, when the conveying system is in an operational mode for transferring luggage from the conveying vehicle to the conveyor device, the cooperative control unit moves the conveying vehicle carrying multiple luggage on the loading platform to a position above the luggage storage unit having space capable of storing the multiple luggage.

前記搬送システムが前記搬送車から前記コンベア装置へ荷物を受け渡す動作モード時において、前記荷物保管部に複数の荷物が保管されている場合に、前記協調制御部は、前記荷物保管部の空きスペースの隣接位置に保管された荷物を優先してコンベア上に搬送するよう前記荷物案内部を制御する、請求項１又は２に記載の搬送システム。 The conveying system according to claim 1 or 2, wherein when the conveying system is in an operating mode in which it transfers luggage from the conveying vehicle to the conveyor device, and when multiple luggage are stored in the luggage storage section, the cooperative control section controls the luggage guide section to preferentially transport luggage stored in an adjacent position to the free space in the luggage storage section onto the conveyor.

前記コンベア装置の前記荷物保管部と前記搬送車の前記荷台部は、複数の長手形状の部材が水平方向に空間を空けて配置された櫛歯状で構成され、
前記荷物保管部の前記空間を前記荷台部の前記部材が上下方向に通り抜けるように、前記荷物保管部と前記荷台部を相対的に移動させることで、前記荷物保管部と前記荷台部との間で荷物の受け渡しを行う、請求項１又は２に記載の搬送システム。 The baggage storage unit of the conveyor device and the loading platform unit of the transport vehicle are configured in a comb shape in which a plurality of longitudinal members are horizontally spaced apart,
The conveying system described in claim 1 or 2, wherein luggage is transferred between the luggage storage section and the loading platform section by moving the luggage storage section and the loading platform section relative to each other so that the members of the loading platform section pass through the space of the luggage storage section in an upward and downward direction.

前記荷物保管部は、前記コンベアによる荷物搬送方向の横の位置に配置される、請求項１又は２に記載の搬送システム。 The transport system according to claim 1 or 2 , wherein the luggage storage section is disposed at a position lateral to the luggage transport direction by the conveyor.

前記搬送車の前記荷台部は、複数の荷物を搭載可能に構成され、前記荷物保管部との荷物受渡しを行う際に、一度に複数の荷物の受け渡しを行う、請求項１又は２に記載の搬送システム。 3. The transport system according to claim 1, wherein the platform of the transport vehicle is configured to be capable of carrying a plurality of pieces of luggage, and when transferring luggage to and from the luggage storage unit, the transfer of the plurality of pieces of luggage is performed at one time .

前記コンベア装置は、前記荷物保管部に保管される荷物の有無を検出する第１の荷物検出部を備え、
前記協調制御部は、前記第１の荷物検出部の検出情報に基づいて前記荷物保管部の荷物保管状況を取得する、請求項１又は２に記載の搬送システム。 the conveyor device includes a first baggage detection unit that detects the presence or absence of baggage stored in the baggage storage unit,
The transportation system according to claim 1 or 2 , wherein the cooperative control unit acquires a luggage storage status of the luggage storage unit based on detection information of the first luggage detection unit.

前記搬送車は、前記荷台部に保管される荷物の有無を検出する第２の荷物検出部を備え、
前記協調制御部は、前記第２の荷物検出部の検出情報に基づいて前記荷台部の荷物搭載状況を取得する、請求項１又は２に記載の搬送システム。 the transport vehicle includes a second baggage detection unit that detects the presence or absence of baggage stored in the loading platform,
The transport system according to claim 1 or 2 , wherein the cooperative control unit acquires a luggage loading status of the loading platform unit based on detection information of the second luggage detection unit.

前記搬送システムで制御する前記荷物保管部と前記無人搬送車の少なくともいずれかの数を変更した場合には、前記協調制御部は、入出力装置を介して取得するユーザの入力情報、前記コンベア装置からの取得情報、前記搬送車からの取得情報の少なくともいずれかの情報に基づいて、前記荷物保管部と前記無人搬送車の変更後の数を把握する、請求項１又は２に記載の搬送システム。 3. The conveying system according to claim 1 or 2, wherein when the number of at least any of the luggage storage units and the unmanned guided vehicles controlled by the conveying system is changed, the cooperative control unit determines the changed number of the luggage storage units and the unmanned guided vehicles based on at least any of information obtained by a user via an input/output device, information obtained from the conveyor device, and information obtained from the guided vehicles.

コンベアにより荷物を搬送するコンベア装置と、荷物を荷台部に搭載して走行し、前記コンベア装置との間で荷物の受渡しを行う複数の搬送車と、を備える搬送システムを用いた搬送方法であって、
前記コンベア装置は、
前記コンベアの隣接位置に設けられ、前記コンベア部により搬送される複数の荷物を保管可能なスペースを有する荷物保管部と、
前記コンベアにより搬送される荷物を前記荷物保管部に搬送する荷物案内部と、備え、
前記搬送方法は、
前記荷物保管部の荷物保管状況を取得するステップと、
前記荷物保管部の荷物保管状況に応じて、荷物が保管されていない前記荷物保管部の空きスペースに荷物を案内するよう前記荷物案内部を制御するステップと、
前記荷物保管部の荷物保管状況に応じて荷物の受渡位置を判断し、前記搬送車を前記受渡位置に移動させるステップと、を備え、
前記搬送車は、平面空間において、駆動輪を制御することにより該搬送車を任意の位置に移動させるとともに該搬送車の向きを任意の方向に調整することが可能な走行制御部を備える、搬送方法。 A method of transporting using a transport system including a conveyor device that transports luggage by a conveyor, and a plurality of transport vehicles that run with luggage loaded on a loading platform and deliver the luggage to and from the conveyor device, comprising:
The conveyor device includes:
a luggage storage section provided adjacent to the conveyor and having a space capable of storing a plurality of luggage transported by the conveyor section;
A baggage guide unit that conveys the baggage transported by the conveyor to the baggage storage unit,
The conveying method includes:
acquiring a luggage storage status of the luggage storage unit;
controlling the baggage guiding unit to guide the baggage to an empty space in the baggage storage unit where no baggage is stored, according to a baggage storage status of the baggage storage unit;
determining a baggage delivery position according to a baggage storage status of the baggage storage unit, and moving the transport vehicle to the baggage delivery position ;
The transporting method, wherein the transporting vehicle is equipped with a travel control unit that can move the transporting vehicle to any position and adjust the orientation of the transporting vehicle in any direction in a planar space by controlling drive wheels.