JP2015081017A - Automatic transport apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent collisions between a pulled truck and surrounding objects and the situation of being unable to turn a corner on a narrow passage even when the type of the pulled truck is different.SOLUTION: An automatic transport apparatus includes an automatic transport vehicle coupled to a pulled truck via a coupling means so as to pull and transport the pulled truck. The length of the coupling means is changeable according to the size of the pulled truck and/or the turning situation of the pulled truck.

Description

  The present invention relates to an automatic transfer apparatus, and more particularly, to an automatic transfer apparatus suitable for, for example, a production factory or a distribution center, in which an automatic transfer vehicle connects and pulls a towed carriage loaded with a transfer object via a connecting means.

  Generally, in many places such as a factory production line, a distribution line, or a distribution warehouse, a towed truck is used to transport articles. Originally, a towed cart is carried by a person, but a system (device) for automatically transporting a towed cart using an automated transport vehicle is required to improve line efficiency. There are various types of conveyed articles having different sizes and weights, and there are many types of towed carts to be used.

  Thus, there is almost no need to modify a large number of towed trolleys, and there is a trolley tow type automatic transporting device as an automatic transporting device that can handle many types of towed trolleys (conveyed items). .

  There exists a thing described in patent document 1 as an automatic conveyance apparatus of the trolley towing system mentioned above. In Patent Document 1, a connecting member having a certain length is rotated up and down to first hook the connecting member on a connecting pin fixed to a towed carriage, and then the automatic conveyance vehicle moves forward to connect. There is disclosed an automatic conveyance device including a connection mechanism in which a pin and a connection member are in close contact with each other, and a connection member is fitted between a connection pin and a convex member provided opposite to the connection pin to shift to a loose connection state.

  On the other hand, in Patent Document 2, in order to prevent contact with a towed truck connected to an automatic guided vehicle, a traveling path when the towed truck is connected, a case where the towed truck is not connected, and Discloses an automated guided vehicle system that has a different travel route.

JP 2011-189769 A JP 2013-41527 A

  However, according to the automatic pulling device of the cart pulling system described in Patent Document 1, any towed cart can be easily connected and disconnected, but a fixed-length connecting member In this connection, when the automatic guided vehicle makes a turn with the towed truck connected, the towed truck travels with a turning radius different from that of the automatic guided vehicle. Depending on the type, there is a risk of causing a collision between the towed truck and surrounding objects and a collision between the towed truck and the automatic transport vehicle.

  On the other hand, in the automatic guided vehicle system in which the travel route when the towed cart described in Patent Document 2 is connected is different from the travel route when the towed cart is not connected, the towed cart is Traveling with a turning radius different from that of an automated guided vehicle is possible. Depending on the type of towed truck, there is a risk of collision between the towed truck and surrounding objects, and the corners of narrow passages can be bent completely. There may be no case.

  The present invention has been made in view of the above points. The object of the present invention is to prevent collision between the towed truck and the surrounding object and to prevent the corner of the narrow passage from being bent even if the type of the towed truck is different. An object of the present invention is to provide an automatic transfer device capable of preventing the situation.

  In order to achieve the above object, the automatic transfer device of the present invention is an automatic transfer device that includes an automatic transfer vehicle that is connected to a towed cart via a connecting means and that pulls and transports the towed cart. The length of the connecting means can be changed based on the dimensions of the towed carriage and / or the turning situation of the towed carriage.

  In addition, in order to achieve the above object, the automatic conveyance device of the present invention includes an automatic conveyance vehicle that is connected to a leading towed cart among a plurality of towed carts via a coupling means, Each of the plurality of towed carts is connected via a connecting means, and is an automatic transport device that pulls and transports the plurality of towed carts by pulling and transporting the leading towed cart with the automatic transport vehicle. In addition, the length of each of the connecting means can be changed based on the dimensions of the plurality of towed carriages and / or the turning situation of the towed carriages.

  According to the present invention, even if the type of the towed carriage is different, it is possible to prevent the collision between the towed carriage and the surrounding object and the situation where the corner of the narrow passage cannot be bent completely. It is effective for the device.

It is a side view which shows Example 1 of the automatic conveyance apparatus of this invention. It is a top view which shows Example 1 of the automatic conveyance apparatus of this invention. It is a figure which shows an example of the connection means employ | adopted as Example 1 of the automatic conveyance apparatus of this invention. It is a figure which shows the other example of the connection means employ | adopted as Example 1 of the automatic conveyance apparatus of this invention. It is a figure which shows the further another example of the connection means employ | adopted as Example 1 of the automatic conveyance apparatus of this invention. In Example 1 of the automatic conveyance apparatus of this invention, it is a figure which shows the example to which the automatic conveyance vehicle pulls the two towed trolley | bogies connected with the connection means. In Example 1 of the automatic conveyance apparatus of this invention, it is a figure for demonstrating the turning condition of the towed truck connected with the automatic conveyance vehicle by the connection means. It is a figure for demonstrating the control apparatus mounted in the automatic conveyance vehicle in Example 1 of the automatic conveyance apparatus of this invention. It is a figure for demonstrating the flow of the conveyance operation | movement of the towed trolley | bogie by the automatic conveyance vehicle in Example 1 of the automatic conveyance apparatus of this invention.

  Hereinafter, the automatic transfer apparatus of the present invention will be described based on the illustrated embodiments. In each figure, the same symbols are used for the same components.

  1 and 2 show a first embodiment of the automatic transfer apparatus of the present invention. The present embodiment shown in the figure is an example in which a towed truck 12 connected to the automatic transport vehicle 1 by the connecting means 4 is pulled by the automatic transport vehicle 1, and the details will be described below with reference numerals.

  As shown in the figure, the automatic guided vehicle 1 is equipped with a control device 11 which will be described later, and the lower part of the automatic guided vehicle 1 is free to rotate with two drive wheels 2 each having an axle fixed thereto, with the vertical direction as an axis ( Two free wheels 3 that rotate about a direction perpendicular to the plane of FIG. 2 as an axis are provided, and the direction is changed by the difference between the left and right rotations of the drive wheels 2. However, the present invention is not limited to the driving means of the driving wheel 2 and the free wheel 3 of this embodiment, and the arrangement of the driving wheel 2 and the free wheel 3 may be reversed, or the driving wheel 2 The direction of the free wheel 3 may be controlled by a motor or the like without changing the direction due to the difference between the left and right rotations to have a steering function.

  At the rear part of the automatic transport vehicle 1, there is provided a connecting means 4 that can rotate via a rotating part 6, and a substantially circular space 5 is formed at the tip of the connecting means 4. The towed carriage 12 is connected to the automatic transport vehicle 1 by fitting the space 5 into a connecting column (pin) 13 provided. Separation of the automatic transport vehicle 1 and the towed carriage 12 is performed by moving the connecting means 4 upward via the rotating unit 6 to release the connection strut (pin) 13 and the space 5 from being fitted.

  In such a configuration of the present embodiment, it is only necessary to attach the fixing member 16 to the two carriage structures (supports) 17 on the towed carriage 12, so that the automatic transportation can be easily performed using the conventional towed carriage. It can be easily adapted to automatic towed trucks.

  On the other hand, the towed truck 12 is provided with a fixed wheel 14 having a fixed axle and a free wheel 15 (caster). In this embodiment, when the automatic transport vehicle 1 turns, the towed truck 12 can rotate around the connection strut (pin) 13 (connection point) relative to the automatic conveyance vehicle 1.

  In the present embodiment, the towed carriage 12 has been described as an example of a general four-wheel truck, but there are various kinds of towed carriages 12 and the number of wheels and their positions in addition to the size. For example, there are some in which the free wheels 15 are provided at the four corners and the fixed wheels 14 are provided at the center left and right. However, in order to stabilize the track, the towed truck 12 needs one or more fixed wheels 14, preferably one on each side (two in total).

  3, 4 and 5 are diagrams showing a configuration example of the connecting means 4 employed in this embodiment.

  The connecting means 4 employed in this embodiment is characterized in that the length can be changed based on the dimensions of the towed carriage 12 and the turning situation.

  FIG. 3 shows an example of the connecting means, in which a rack and pinion mechanism 8A is used as the drive unit 8 that expands and contracts the linear motion mechanism. The rack and pinion mechanism 8A is driven by a motor 8B controlled by a control computer 37 described later. Further, the connecting means 4 needs to pull the heavy towed carriage 12 and needs to maintain strength even during expansion and contraction. Therefore, in order to resist an external force in the left-right direction from the towed carriage 12, a linear motion guide mechanism 7 that limits the operation direction to a straight line is provided.

  In the example shown in FIG. 3, a mechanism using a telescopic structure (a structure in which overlapping cylinders expand and contract) is shown as the linear motion guide mechanism 7, but any mechanism that resists external force may be used. A linear shaft and a linear bearing It is also possible to use a linear guide (one in which a moving body in which a bearing is mounted on a rail) is used.

  FIG. 4 shows an example in which a ball screw mechanism 9 is used as another example of the drive unit 8 that expands and contracts the linear motion mechanism. This ball screw mechanism 9 is driven by a motor 8C controlled by a control computer 37 described later. The linear guide mechanism 7 uses the same telescopic structure as in FIG. A feature of using the ball screw mechanism 9 as the driving unit 8 is that a large driving force can be obtained.

  In the present embodiment, it is sufficient that the length of the connecting means 4 can be changed, and the drive unit 8 may be one using a belt or wire, one using a lattice structure (magic hand structure), or liquid. A pressure cylinder may be used. When a hydraulic cylinder is used, since the cylinder itself has a telescopic structure, the linear guide mechanism 7 and the drive unit 8 may be the same.

  Further, as shown in FIG. 5, the length of the connecting means 4 may be changed manually. In this case, the drive unit 8 is not necessary, but the lock mechanism 10 is necessary so that it does not expand and contract by an external force during traveling.

  Furthermore, the length of the connecting means 4 is effective even if it is not strictly adjusted, and its expansion and contraction may be changed stepwise instead of continuously. Moreover, if there are few kinds of towed trucks 12 to be used, the effect of the present invention can be sufficiently obtained even if a method of replacing the connecting means 4 in accordance with the towed trucks 12 is adopted.

  The operation and effect of the automatic transfer apparatus of this embodiment will be described with reference to FIG. FIG. 6 shows a case where the automatic guided vehicle 1 pulls the first carriage 18 and the second carriage 19 connected by the connecting means 4 and 36.

  As shown in the figure, the automatic guided vehicle 1 is turning around a turning center 20, and the turning radius, which is the distance between the center 21 of the drive wheel 2 and the turning center 20 at this time, is Rr (22). And At this time, the first carriage 18 which is the first towed carriage also turns around the turning center 20, and the first connection point 23 between the first carriage 18 and the connecting means 4 and the drive wheels 2 are connected. If the distance to the center 21 is Lr (24) and the distance from the first connection point 23 to the center 25 of the fixed wheel 14 of the first carriage 18 is La (26), the turning radius Ra of the first carriage 18 (27) is expressed by Equation 1.

  As can be seen from Equation 1, when Lr = La, the automatic conveyance vehicle 1 and the first carriage 18 have the same turning radius, and when Lr> La, the turning radius Ra (27) of the first carriage 18 is automatically When the turning radius Rr (22) of the transport vehicle 1 is larger and Lr <La, the turning radius Ra (27) of the first carriage 18 is smaller than the turning radius Rr (22) of the automatic transport vehicle 1. .

  Therefore, it is possible to adjust the turning radius Ra (27) of the first carriage 18 by adjusting the length of the connecting means 4.

  FIG. 6 shows a case where Lr <La, and the first carriage 18 is in a state where there is a difference between the inner wheels traveling on the locus 28 inside the automatic conveyance vehicle 1. At this time, conversely, the automatic guided vehicle 1 is in a state where there is a difference between the outer wheels passing through the locus 29 on the outer side than the first carriage 18. In this state, a wide area is necessary for turning, and there is a high possibility that the vehicle will collide with surrounding objects or bend into a situation where the corner of a narrow passage cannot be bent.

  The same applies to the second carriage 19 that is the next towed carriage. The center 25 of the fixed wheel 14 of the first carriage 18, the second carriage 19, and the connection means 36 that is the next connection means. Assuming that the distance between the second connection point 30 is Lc (31) and the distance between the second connection point 30 and the center 32 of the fixed wheel 14 of the second carriage 19 is Lb (33), the second carriage 19 The turning radius Rb (34) is expressed by Equation 2.

  As described above, from Equation 2, when Lc = Lb, the first carriage 18 and the second carriage 19 have the same turning radius, and when Lc> Lb, the turning radius Rb (34) of the second carriage 19 is When the turning radius Ra (27) of the first carriage 18 is larger and Lc <Lb, the turning radius Rb (34) of the second carriage 19 is the turning radius Ra (27) of the first carriage 18. Smaller than.

  FIG. 6 shows a case where Lc <Lb, and the second carriage 19 is in a state where there is a difference between the inner wheels traveling on the locus 28 inside the first carriage 18. In order not to fall into the above-described situation of collision with surrounding objects or the situation where the corner of the narrow passage cannot be bent, it is necessary to reduce the difference between the inner ring and the outer ring. The lengths are adjusted so that Lr = La and Lc = Lb are satisfied with respect to La (26) which is the dimension of the first carriage 18 and Lb (33) which is the dimension of the second carriage 19. Just do it. At this time, the dimension La (26) of the first carriage 18 and the dimension Lb (33) of the second carriage 19 may be different.

  Further, when the length of the first carriage 18 and the second carriage 19 is long, for example, the free wheels 15 are arranged at the four corners of the first carriage 18 and the second carriage 19 and the fixed wheel 14 is arranged at the center. It is also effective to change the La (26), which is the dimension of the first carriage 18, and the Lb (33), which is the dimension of the second carriage 19, by adjusting the centers 25 and 32 of the fixed wheel 14 such as arranging them. It is. At this time, since La (26) which is the dimension of the first carriage 18 and Lb (33) which is the dimension of the second carriage 19 are shortened, the lengths of the connecting means 4 and 36 are shortened.

  In any case, the turning radii of the first carriage 18 and the second carriage 19 are adjusted by adjusting the lengths of the connecting means 4 and 36 according to the dimensions of the first carriage 18 and the second carriage 19. Can be controlled.

  FIG. 7 is a diagram for explaining a turning situation of the towed truck 12 connected to the automatic transport vehicle 1 by the connecting means 4 in the automatic transport apparatus of the present embodiment.

  FIG. 7A shows a case where there is an inner ring difference, and is a case where Lr <La in FIG. In the case of FIG. 7A, since the relationship of Lr <La is established, if the towed carriage 12 is pulled by the automatic guided vehicle 1 in this state, the towed carriage 12 collides with the corner inside the building 44. FIG. 7B shows a case where there is an outer ring difference, and is a case where Lr> La in FIG. In the case of FIG. 7B, since Lr> La, the towed carriage 12 collides with the corner on the outside of the building 44 when the towed carriage 12 is pulled by the automatic guided vehicle 1 in this state. FIG. 7C shows the case where both the inner ring difference and the outer ring difference are small and Lr = La in FIG. In the case of FIG. 7C, since the relationship Lr = La, the towed carriage 12 can turn without colliding with the building 44 even in a narrow passage.

  FIG. 8 shows an automatic transfer device in which the control device 11 is mounted on the automatic transfer vehicle 1. As shown in the figure, the automatic conveyance apparatus is roughly composed of two types.

  That is, one is a control device 11 of the automatic guided vehicle 1, and includes a control computer 37, a battery 38, a travel mechanism 39 and its driving device 40, and self-position recognition and cart recognition (position / size, etc.) as external sensors. The scanning laser distance sensor 41 and the connecting means 4 are configured by a drive unit 8 and the like. The other is a management system 42 installed outside the automatic guided vehicle 1. The management system 42 is connected to the control computer 37 of the automatic guided vehicle 1 by wireless communication 43, and the monitor of the management system 42 displays the position of the automatic guided vehicle 1, the position of the towed carriage 12, and the traveling schedule. The route is displayed.

  With reference to FIG. 9, the flow of the conveying operation of the towed carriage 12 (one unit) by the automatic conveyance vehicle 1 will be described.

  First, the current position of the towed truck 12 to be transported, the route of transport, the target position of transport, the type (shape, dimensions, etc.) and weight of the towed truck 12 are transmitted from the management system 42 to the automatic transport vehicle 1. . Next, the automatic transport vehicle 1 moves to the front of the towed carriage 12 instructed to transport, and connects the towed truck 12 via the connecting means 4. At this time, the length of the connecting means 4 is changed according to the type of the towed carriage 12. When the automatic conveyance vehicle 1 is provided with the drive unit 8, the drive unit 8 is operated so that the length of the connection unit 4 is adjusted according to the type of the towed carriage 12. . Information on the length of the connecting means 4 may be transmitted directly from the management system 42, or information on the length corresponding to the type of the towed truck 12 may be stored in advance. Further, when the automatic transport vehicle 1 is not provided with the drive unit 8, a person may adjust the length of the connecting means 4 or replace the connecting means 4 according to the type of the towed carriage 12. .

  Information on the type of the towed carriage 12 may be transmitted from the management system 42 or may be detected by using the scanning laser distance sensor 41.

  Next, the automatic transport vehicle 1 moves along the instructed route and arrives at a target position for transporting the transported object.

  Although the example which adjusts the length of the connection means 4 at the time of connection was shown above, when the automatic conveyance vehicle 1 is equipped with the drive part 8, since length can be adjusted anytime, it shortens at the time of a straight run. It may be changed before turning. The shorter the straight run, the less space is required, which is safer and more stable.

  Moreover, since the automatic conveyance vehicle 1 can detect the distance to surrounding objects and the state of the trailer 12 using the scanning laser distance sensor 41, the turning radius of the trailer 12 is controlled according to the situation. In this way, the length of the connecting means 4 may be changed sequentially.

  Next, the automatic transport vehicle 1 releases the connection with the towed carriage 12 and reports the success of the work to the management system 42. After reporting to the management system 42, the process proceeds to the next operation. Here, when the automatic conveyance vehicle 1 is equipped with the drive part 8, the length of the connection means 4 is shortened before connection cancellation | release. Further, when an abnormality is detected during the transfer operation and the transfer cannot be continued normally, the operation is stopped, the failure of the operation is reported to the management system 42, and the next instruction is waited.

  By adopting such a configuration of the present embodiment, even if the type of the towed carriage is different, the length of the connecting member is adjusted so that the turning radius of the automatic conveyance vehicle and the towed carriage is different. It is possible to obtain an automatic conveyance device that can prevent a collision between a tow truck and surrounding objects and a situation in which a corner of a narrow passage cannot be bent.

  In other words, the connecting means can be expanded and contracted, and the turning of the automatic transport vehicle while the automatic transport vehicle is turning is only required by changing the length of the connecting means based on the dimensions of the towed truck connected behind the automatic transport vehicle. The radius and the turning radius of the towed truck can be made equal, and a situation in which a collision with a surrounding object or a corner of a narrow passage cannot be bent can be prevented. In addition, by automatically performing this telescopic operation, the length of the connecting means can be automatically changed even with multiple types of towed carriages, and it can be shortened during straight running to reduce the occupied space, enabling safe and stable running. It is possible to lengthen only when necessary.

In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  DESCRIPTION OF SYMBOLS 1 ... Automatic conveyance vehicle, 2 ... Drive wheel, 3 ... Free wheel, 4, 36 ... Connection means, 5 ... Space, 6 ... Rotation part, 7 ... Linear motion guide mechanism, 8 ... Drive part, 8A ... Rack and Pinion mechanism, 8B, 8C ... motor, 9 ... ball screw mechanism, 10 ... lock mechanism, 11 ... control device, 12 ... towed carriage, 13 ... coupling strut, 14 ... fixed wheel, 15 ... free wheel, 16 ... fixing member , 17 ... bogie structure, 18 ... first cart, 19 ... second cart, 20 ... turning center, 21 ... center of driving wheel, 22 ... turning radius (Rr) of automatic carrier, 23 ... first Connection point, 24: distance (Lr) from the first connection point between the first carriage and the connection means to the center of the drive wheel (Lr), 25, 32 ... center of the fixed wheel, 26 ... first from the first connection point The distance (La) to the center of the fixed wheel of the bogie, 27 ... the turning radius (Ra) of the first bogie, 28 ... the first bogie , 29... Automatic transport vehicle trajectory, 30... Second connection point, 31... Distance (Lc) between the center of the fixed wheel of the first carriage and the second connection point of the second carriage and connection means. 33 ... Distance between the second connecting point and the center of the fixed wheel of the second carriage (Lb), 34 ... Turning radius (Rb) of the second carriage 19, 37 ... Control computer, 38 ... Battery, 39 ... Traveling mechanism, 40 ... drive device, 41 ... scanning laser distance sensor, 42 ... management system, 43 ... wireless communication, 44 ... building.

Claims (9)

An automatic transfer device including an automatic transfer vehicle that is connected to a towed truck via a connecting means and pulls and conveys the towed truck;
The length of the connecting means can be changed based on the dimensions of the towed carriage and / or the turning situation of the towed carriage. An automatic transport vehicle connected to a leading towed cart of the plurality of towed carts via a coupling unit, and each of the plurality of towed carts coupled via a coupling unit; and An automatic transfer device that pulls and conveys the plurality of towed carriages by towing and conveying the top towed carriage with the automatic carriage,
The length of each of the connecting means can be changed based on the dimensions of the plurality of towed carriages and / or the turning conditions of the towed carriages. In the automatic conveyance apparatus of Claim 1 or 2,
The connecting means is rotatably attached to the automatic transport vehicle, and a space is formed at a tip, and the space is fitted into a connection post provided in the towed cart, so that the automatic transport vehicle An automatic transfer apparatus, wherein the towed carriage is connected. In the automatic conveyance apparatus according to any one of claims 1 to 3,
The connecting means includes a telescopic structure that can be expanded and contracted in the longitudinal direction, a structure in which a tube having a bearing mounted on the outside of a cylinder moves, or a structure in which a moving body in which a bearing is mounted on a rail is incorporated. An automatic transport device using a rack and pinion mechanism as a drive mechanism for extending and contracting the head. In the automatic conveyance apparatus according to any one of claims 1 to 3,
The connecting means includes a telescopic structure that can be expanded and contracted in the longitudinal direction, a structure in which a tube having a bearing mounted on the outside of a cylinder moves, or a structure in which a moving body in which a bearing is mounted on a rail is incorporated. An automatic conveying apparatus using a ball screw mechanism as a driving mechanism for expanding and contracting. In the automatic conveyance device according to any one of claims 1 to 5,
The automatic transport apparatus according to claim 1, wherein the dimension of the towed truck is a distance from a connection point between the towed truck and the connecting means to a center of a fixed wheel of the towed truck. In the automatic conveyance device according to any one of claims 1 to 5,
The turning state of the towed truck is determined by calculating the distance from the connecting point between the towed truck and the connecting means and the center of the driving wheel of the automatic transport vehicle from Lr, and the connecting point between the towed truck and the connecting means. When the distance to the center of the fixed wheel of the towed truck is La, the towed car turns in a relationship of Lr> La or Lr <La or Lr = La and / or a plurality of towed cars are If it is, the distance between the center of the fixed wheel of the leading trailer truck and the coupling point of the next trailer truck and the next coupling means is Lc, the coupling point of the next coupling means and the next coupling point When the distance of the center of the fixed wheel of the towed truck is Lb, the automatic transporting apparatus is in a state where the next towed car turns in a relationship of Lc> Lb or Lc <Lb or Lc = Lb . In the automatic conveyance apparatus of Claim 7,
When the distance between the center of the driving wheel of the automated guided vehicle and the turning center of the automated guided vehicle is a turning radius (Rr), and the turning radius (Ra) of the towed carriage is expressed by the following formula 1, The connecting means is such that when Lr = La, Rr and Ra are the same, when Lr> La, Ra is larger than Rr, and when Lr <La, Ra is smaller than Rr. Is adjusted and / or provided with a plurality of towed carriages, when the turning radius (Rb) of the next towed carriage is expressed by the following formula 2, When Lc = Lb, Ra and Rb are the same. When Lc> Lb, Rb is larger than Ra, and when Lc <Lb, the next connection is such that Rb is smaller than Ra. An automatic conveying apparatus characterized in that the length of the means is adjusted.

In the automatic conveyance device according to any one of claims 1 to 8,
The automatic transport vehicle is equipped with a control device including at least a control computer that adjusts the length of the connecting means based on the dimensions of the towed cart and / or the turning state of the towed cart, and the control device In the automatic transfer apparatus, the management system transmits a size of the towed carriage and / or a turning state of the towed carriage.

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