JP2017068455A - Guided vehicle system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guided vehicle system with a mixture of a guide rail travelling line and a guiding travelling line, that takes advantage of benefits of the guiding travelling line and allows stable supply of electric power and stable travelling of a guided vehicle in a work area.SOLUTION: The guided vehicle system uses a guide rail travelling line, where a guided vehicle travels by supply of electricity from a power supply rail laid along a guide rail, along the guide rail laid on a specific locus, and a guiding travelling line, where a guided vehicle travels by a battery along a guiding path set on a specific locus, and uses the guide rail travelling line in a work area.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transport vehicle system having a transport vehicle equipped with a battery and a work area for performing work using the transport vehicle, and more particularly to a travel route for an RGV (Rail Guided Vehicle) and an AGV (Automated Guided Vehicle). The present invention relates to a transport vehicle system in which travel routes are mixed.

  2. Description of the Related Art Conventionally, an automated guided vehicle is used to efficiently perform operations such as assembly and inspection of industrial products at a production factory and transportation of products at a distribution center. Examples of the transport vehicle include an RGV (Rail Guided Vehicle) that self-propels according to a rail previously laid on the floor surface, an AGV (Automated Guided Vehicle) that self-propells according to a guide path that is pasted on the floor surface, and the like. The RGV normally runs by power supplied from a power supply line installed in parallel with the rail or a power supply rail having a power supply function. The AGV normally has a built-in battery and runs on its own power supplied from the battery charged by the charging facility. Here, the battery refers to a battery capable of being charged and fed.

  Since RGV travels on rails, it can travel at high speed. However, since rails must be laid in advance on the floor surface, there is a step between the floor surface, and when changing the travel route, the rail must be laid again. Is not easy. Further, since the rail is usually laid in a loop shape and the rail is not cut, it is impossible to put a parts transport cart or the like in the loop. Although it is possible to embed the rail in the floor, it takes more man-hours than laying on the floor surface, and it becomes more difficult to change the travel route.

  On the other hand, since the AGV travels according to the taxiway affixed to the floor surface, it is easy to set and change the travel route, and there is no step between the floor surface. be able to. However, since the vehicle travels with power supplied from the battery, a separate charging facility for charging the battery is required. Here, the transport cart refers to a vehicle mainly intended for the movement of goods, such as an article transfer AGV or a hand cart, and basically, operations such as product assembly are not performed on the transport cart. On the other hand, the transport vehicle can be used for moving an article, but refers to a vehicle having a structure in which work can be performed on the transport vehicle.

  In order to make up for the disadvantages of RGV and AGV and take advantage of the advantages, a transport technology that mixes a travel route for RGV (guide rail travel line) and a travel route for AGV (guide travel line) has been proposed. For example, in Japanese Patent Application Laid-Open No. 9-101819 (Patent Document 1), there is a conveyance vehicle travel control system including a track-type non-guided track that is a guide rail travel line and a track-free guided track that is a guided travel line that receives a guidance signal. Proposed. Patent Document 1 is intended to achieve both high speed travelability and ease of rearrangement from the high speed travelability on the track type non-guided runway and the ease of changing the travel route on the trackless type guide runway. In the work area where loads such as luggage are loaded, guided travel lines are used because of the ease of rearrangement.

Japanese Patent Laid-Open No. 9-101819

  However, in the work area, a large load may be applied when assembling parts on the side of the product, working on a transport vehicle, or loading heavy loads. In these cases, if the guided travel line is used in the work area, the transport vehicle may deviate from the travel route, or the transport vehicle may fall over when the work site is above the center of gravity. In other words, the guided vehicle usually travels by detecting the set guidance path by attaching a magnetic tape or magnetic marker, etc., so that it deviates from the traveling route when a large load is applied to the guided vehicle. If it is easy to deviate from the travel route, it may not be possible to normally detect the taxiway and return to the travel route. Further, in the work area, the transport vehicle is often moved at low speed or intermittently, and power consumption is likely to increase. Work is sometimes performed on a transporter with a lifter, and more power is consumed by moving the lifter. In such a case, more power than expected may be consumed, so that the battery of the transport vehicle traveling on the guided travel line is sufficiently charged before the start of work in order to prevent the battery from running out during the work. It is necessary to manage the battery so that it is in a state in which the battery is in a state of being present, and a battery having a large capacity is required. Larger capacity batteries are heavier and larger in size.

  The present invention has been made under the circumstances as described above, and an object of the present invention is to make use of the advantages of the guide travel line, and to enable stable traveling of the transport vehicle and stable power supply in the work area. An object of the present invention is to provide a transport vehicle system in which a rail travel line and an induction travel line are mixed.

  The present invention relates to a transport vehicle having a battery and a transport vehicle system having a work area for performing work using the transport vehicle. The object of the present invention is to follow the guide rail laid on a predetermined trajectory. A guide rail travel line in which the transport vehicle travels by power feeding from a power supply rail laid along the guide rail, and a guide travel line in which the transport vehicle travels by the battery according to a guide path set in a predetermined locus, It is achieved by using the guide rail travel line in the work area.

  The object of the present invention is that the guide rail and the power supply rail are integrated, or that the guided travel line is used in an area other than the work area, or in an area other than the work area. In part, by using the guided travel line, or by having a plurality of the work areas, or by using the guided travel line in some of the work areas, Alternatively, the transport vehicle includes at least a pair of rollers, and when the transport vehicle travels on the guide rail travel line, the transport vehicle is more effectively achieved by sandwiching the guide rail with the rollers.

  According to the transport vehicle system of the present invention, by using the guide rail travel line in the work area, it is possible to prevent the transport vehicle from being out of the travel route or toppling over and to prevent power from being cut off. Also, by using guided travel lines in areas other than the work area, it is easy to set and change travel routes, and even when the travel route is set in a loop, it is easy to move parts transport carts, etc. into the loop. Can be done.

It is a figure which shows the image and structural example of a conveyance vehicle in this invention. It is a schematic plan view which shows the structural example (1st Embodiment) of the driving | running route in this invention. It is a schematic cross section which shows the example of the integrated rail of the guide rail travel line in this invention. It is an external view which shows the example of the current collector with which the conveyance vehicle in this invention is equipped. It is a schematic plan view which shows an example when the conveyance vehicle in this invention drive | works a guide rail travel line. It is a schematic diagram which shows the example of a state of a conveyance vehicle and an integrated rail when drive | working a guide rail driving line. It is a part of flowchart which shows the operation example (1st Embodiment) of this invention. It is a part of flowchart which shows the operation example (1st Embodiment) of this invention. It is a part of flowchart which shows the operation example (1st Embodiment) of this invention. It is an image figure which shows the work example in this invention. It is a schematic plan view which shows the structural example (2nd Embodiment) of the driving | running route in this invention. It is a schematic plan view which shows the structural example (3rd Embodiment) of the driving | running route in this invention.

  In the present invention, the travel route on which the transport vehicle travels has a configuration in which the guide rail travel line and the guide travel line are mixed, and the same transport vehicle travels on both the guide rail travel line and the guide travel line. In the work area, a guide rail travel line is used. In the guide rail travel line, the transport vehicle travels according to a fixed guide rail laid on the floor surface, etc., and the power for operating the transport vehicle is integrated with the guide rail. It is supplied from the power supply rail that is installed. As a result, a large load may be applied to the transport vehicle in the work area, but even if a large load is applied, there is little risk of the transport vehicle coming off the travel route, and there is no risk of power being cut off during the work. It is possible to stably perform work that requires a large amount of power. The transport vehicle has a built-in battery serving as a power supply source when traveling on the guided travel line, and the battery is also charged by supplying power from the power supply rail. Therefore, it is not necessary to separately provide a charging facility, and it is only necessary to charge at least the electric power for traveling on the induction travel line. Therefore, it is possible to operate with a battery smaller than the conventional AGV. In areas other than the work area (hereinafter referred to as “return area”), a guided travel line is used. Thereby, setting and a change of a travel route can be performed easily and movement of a parts conveyance cart etc. can also be performed easily.

  Note that the guide rail and the power supply rail are not integrated, and may be laid separately in parallel.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 and 2 show a configuration example (first embodiment) of an embodiment of the present invention. FIG. 1 shows a configuration example of a transport vehicle, and FIG. 2 shows a configuration example of a travel route. FIG. 1A shows an image when the transport vehicle is viewed from above, and FIG. 1B shows an image when the transport vehicle is viewed from the side and an internal block configuration.

  The transport vehicle 1 in this configuration example includes a pair of main wheels 21 (21a, 21b) that change the travel direction and the traveling direction of the transport vehicle 1, and a pair of auxiliary wheels 31 (31a, 31b) that assist the travel of the transport vehicle 1. ), A pair of elevating units 80 that move up and down to change the height of the work object to be loaded is provided. A drive unit 20 and a wheel steering adjustment unit 25 are connected to the main wheel 21. In addition, when traveling on the guide travel line, a guidance detection sensor 60 for detecting the guide route set as the travel route, a marker detection sensor 61 for detecting switching between the guide rail travel line and the guide travel line, a collision A bumper sensor 90 and an ultrasonic sensor 100 are installed as safety means for detecting the above. The ultrasonic sensor 100 is used for detecting an obstacle or the like in a medium distance range (for example, 5 meters). However, in some cases, the ultrasonic sensor 100 is operated in front of the moving direction of the transport vehicle 1. Stop the function. A battery 50 is built inside the transport vehicle 1, and a current collector 40, a current collector 41, and a current collector arm 42 are equipped to charge the battery 50. A main control unit 10 is provided to control the operation of the transport vehicle 1, and the main control unit 10 exchanges data with an external central control device (not shown) via the radio unit 70. Do. The wireless unit 70 receives data transmitted from the central controller via a wireless local area network (LAN) and the like, inputs the data to the main controller 10, and inputs data output from the main controller 10 to the central controller. Send. The transport vehicle 1 is also equipped with a panel switch 110, and operation instructions for the transport vehicle 1 can be input from the panel switch 110 to the main control unit 10.

  The transport vehicle 1 normally travels in the direction of the arrow A shown in FIG. 1, but a function of moving backward for emergency response or the like may be added.

  When the traveling direction of the transport vehicle 1 is changed, the speed of both wheels (21a, 21b) of the main wheel 21 is changed, and the speed of the outer peripheral wheels is made faster than the speed of the inner peripheral wheels. Yes. For example, when turning rightward in the traveling direction, the speed of the wheel 21a is made faster than the speed of the wheel 21b. The main wheels 21a and 21b can be rotated in a horizontal plane with the upper and lower axes as axes, and the direction changes according to the change in the traveling direction. Adjust the orientation.

  No power is supplied to the auxiliary wheel 31, and the auxiliary wheel 31 follows the movement of the main wheel 21.

  The traveling direction of the transport vehicle 1 may be changed by adding a function capable of directly changing the direction of the main wheel 21 or the auxiliary wheel 31 to the transport vehicle 1 and using the function. The wheel steering adjustment unit 25 may have the function.

  As shown in FIG. 2, the travel route in this configuration example has one work area in the travel route, the travel route in the work area is configured by the guide rail travel line 2, and the travel route in the return area. Is constituted by an induction travel line 3.

  The guide rail travel line 2 includes a guide rail and a power supply rail, and the guide rail and the power supply rail are integrated (hereinafter, the integrated rail is referred to as “integrated rail”). FIG. 3 is a schematic view of a cross section when the integrated rail is cut along a vertical plane orthogonal to the traveling direction. As shown in FIG. 3, the integrated rail 210 is fixed to the floor surface, and has a bottom surface 211 extending in the traveling direction with a constant width, and is joined perpendicularly to the bottom surface 211 and has a constant width (height). A cover 212 that extends in the traveling direction and a cover that joins the upper portion of the cover 212, has a L-shaped cross section with the cover 212, is parallel to the bottom surface 211, and extends in the traveling direction with a certain width. 213, a guide rail 214 that is vertically joined to the bottom surface 211 on the opposite side of the cover 212 and extends in the traveling direction at a constant width (height) shorter than the cover 212, and substantially equal to the vertical direction of the bottom surface 211. From the power supply rails 215 (215a, 215b, 215c, 215d) that are joined to the cover 212 at intervals and have a cross-sectional shape that approximates a U-shape that opens in the horizontal direction. Composed . The guide rail 214 is used to prevent the conveyance vehicle 1 from being deviated from the traveling direction by being sandwiched between rollers 300 (see FIG. 6) mounted on the conveyance vehicle 1 while the conveyance vehicle 1 is traveling. The Feeding trolley wires (not shown) are embedded in the feed rails 215a, 215b, 215c, and 215d, and the current collector 41 of the transport vehicle 1 is inserted into each opening of the feed rail 215. Is supplied with power. The structure of the integrated rail 210 is not limited to the structure shown in FIG. 3. For example, the cover 212 and the cover 213 may be joined in a T shape.

  A magnetic tape is affixed to the guide travel line 3 as a guide path, and the guide detection sensor 60 of the transport vehicle 1 detects the magnetic field (magnetic field) of the magnetic tape. Boundary markers 4 (4a, 4b) indicating the boundary of the line are affixed to both ends of the integrated rail 210, that is, the upper surface of the cover 213 at a location in contact with the boundary with the guide travel line 3. The boundary marker 4 is a magnetic marker, and the marker detection sensor 61 of the transport vehicle 1 detects the magnetic field of the boundary marker 4. The induction detection sensor 60 and the marker detection sensor 61 are both magnetic sensors. For example, the induction detection sensor 60 and the marker detection sensor 61 have a coil in which an electric wire is spirally wound, and a magnetic flux that passes through the coil when passing over the magnetic tape or the boundary marker 4. Along with this, a voltage due to electromagnetic induction is generated, and the magnitude of the magnetic field is measured by detecting the voltage. Therefore, by changing the magnetic material used for the magnetic tape and the boundary marker 4, the guidance detection sensor 60 correctly detects the magnetic tape, and the marker detection sensor 61 correctly detects the boundary marker 4. Note that the boundary marker 4 may include coded instructions for operation after passing the boundary marker 4 such as the speed of the transport vehicle, temporary stop, stop time, and traveling direction.

  As described above, the magnetic sensor measures the magnitude of the magnetic field by detecting the voltage generated in the coil due to the change in magnetic flux. Therefore, the guidance detection sensor 60 has a plurality of coils arranged perpendicular to the traveling direction of the transport vehicle 1 and inputs the magnitude of the voltage generated in each coil to the main control unit 10. No. 10 determines from the difference in voltage level whether the transport vehicle 1 is detached from the magnetic tape or, if it is detached, from the left or right. That is, since the magnitude of the voltage generated in the coil varies depending on the distance to the magnetic tape, the shift can be detected by tracing the voltage difference between the coils. When the main control unit 10 determines that the transport vehicle 1 is detached from the magnetic tape, the main control unit 10 corrects the deviation by changing the speeds of the main wheels 21a and 21b via the drive unit 20.

  As the current collector 41, for example, one having a shape as shown in FIG. 4 is used. FIG. 4 shows a current collector 41 and a current collecting arm 42. The transport vehicle 1 travels in the direction of arrow A shown in FIG. 4B, and FIG. 4B is viewed from above. 4A is a side view on the right side in the traveling direction, FIG. 4C is a side view on the left side in the traveling direction, and FIG. 4D is a back surface on the opposite side to the traveling direction. FIG. The current collector 41 includes an R-phase current collector 41a that receives R-phase power, an S-phase current collector 41b that receives S-phase power, a T-phase current collector 41c that receives T-phase power, and an earth (ground) ) For collecting the ground current collector 41d. As shown in FIG. 4 (B), the portion on the right side in the direction of travel of each current collector has an isosceles trapezoidal shape whose base is longer than the legs, and the thickness is about 5 to 6 millimeters. The outer periphery has a slope. Each current collector is fixed to the current collecting arm 42 by bolting so as to be parallel to the traveling direction, and is arranged at equal intervals in the order of 41a → 41b → 41c → 41d from above. A lead wire is connected to each current collector. The lead wire extends along the current collecting arm 42 and is connected to the current collecting unit 40. Then, when the current collector 41 is connected to the power supply rail 215 in the integrated rail 210, the current from the power supply trolley wire flows to the current collector 40 via the current collector 41, and power supply and charging to the battery 50 are performed. . The R-phase current collector 41a is connected to the power supply rail 215a, the S-phase current collector 41b is connected to the power supply rail 215b, the T-phase current collector 41c is connected to the power supply rail 215c, and the ground current collector 41d is connected to the power supply rail 215d. .

  Here, the physical operation when the transport vehicle 1 enters the guide rail travel line 2 will be described with reference to FIGS. 5 and 6.

  The transport vehicle 1 travels in the direction of arrow A in FIG. 5. First, the end of the guide rail 214 enters between the rollers 300 a, and the guide rail 214 is sandwiched between the rollers 300 a. Thereafter, the current collector 41 enters from the end of the power supply rail 215. The end of the power supply rail 215 is tapered in the vertical direction so that the current collector 41 can enter the power supply rail 215 even if the current collector 41 is slightly moved up and down. When the transport vehicle 1 further travels, the end of the guide rail 214 enters between the rollers 300b, and the guide rail 214 is sandwiched between the rollers 300b. By sandwiching the guide rail 214 between the rollers 300a and 300b, the transport vehicle 1 can travel without shaking from side to side.

  FIG. 6 shows a state where the guide rail 214 is sandwiched between the rollers 300 and the current collector 41 is inserted into the power supply rail 215. As shown in FIG. 6, the R-phase current collector 41a is on the power supply rail 215a, the S-phase current collector 41b is on the power supply rail 215b, the T-phase current collector 41c is on the power supply rail 215c, and the ground current collector 41d is Inserted in each of the power supply rails 215d, the transport vehicle 1 travels on the guide rail travel line 2 in this state.

  In FIG. 5, the transport vehicle 1 is equipped with two pairs of rollers. However, the number of rollers is not limited to this, and the number of rollers is determined based on cost and stability. Also good.

  The operation of the transport vehicle 1 includes a predetermined operation schedule stored in advance in the main control unit 10, a command from the central control device, an operation of the panel switch 110 by the operator, and an operation instruction embedded as a code in the boundary marker 4. Controlled by etc.

  Note that the travel route does not have to be elliptical as shown in FIG. 2, and may have various trajectories, and does not have to be a loop. In particular, since the guide travel line 3 can set a travel route with a magnetic tape, the travel route can be set with a higher degree of freedom than the guide rail travel line 2.

  In such a configuration, an example of the operation will be described with reference to the flowcharts of FIGS. In addition, the following operation examples mainly explain the operation by the main control unit 10 regarding the switching of the travel route among the operations of the transport vehicle system according to the present configuration. Further, it is assumed that the transport vehicle 1 exists on the travel route at the start of operation.

  When the operation of the transport vehicle 1 is started by pressing the power button in the panel switch 110 or the like, first, the magnetic tape detection is performed in order to determine the type of travel route (guide rail travel line, guided travel line) that is currently mounted. Is performed by the guidance detection sensor 60 (step S1). If the guidance detection sensor 60 detects the magnetic tape, it is determined that the current travel route is the guide travel line 3, and if the magnetic tape is not detected, the current travel route is the guide rail travel line 2. (Step S2). The determination result is stored as a line mode.

  After confirming pressing of the start button in the panel switch 110 or a start command from the central control unit (step S3), the line mode is checked (step S4). An operation (hereinafter referred to as “guided travel line operation”) is performed (step S5), and in the case of a guide rail travel line, an operation during travel on the guide rail travel line (hereinafter referred to as “guide rail travel line operation”) is performed. (Step S6).

  In the guided travel line operation, information (voltage) on the magnetic tape detected by the guidance detection sensor 60 is input (step S51), the traveling direction is determined from the information, and the main wheel 21 is driven via the drive unit 20. Steer and travel (step S52). And it is investigated whether the marker detection sensor 61 detected the boundary marker 4 (step S53), and when the boundary marker 4 is not detected, it returns to step S51. When the boundary marker 4 is detected, the line mode is changed to the guide rail travel line (step S54), and the history of detecting the boundary marker 4 is deleted.

  In the guide rail travel line operation, the main wheel 21 is driven via the drive unit 20 to travel (step S61). And it is investigated whether the marker detection sensor 61 detected the boundary marker 4 (step S62), and when the boundary marker 4 is not detected, it returns to step S61. When the boundary marker 4 is detected, the line mode is changed to the guided travel line (step S63), and the history of detecting the boundary marker 4 is deleted. In addition, the current collector 40 supplies and charges the battery 50 with power supplied from the power supply rail via the current collector 41 during the operation of the guide rail travel line. In this case, the charging rate of the battery 50 may be checked, and if the charging rate is 100%, charging may not be performed.

  Then, it returns to step S4 and repeats operation | movement.

  When the transport vehicle 1 travels, when the stop button in the panel switch 110 is pressed, the stop command from the central control unit, the stop code in the boundary marker 4 and the like are confirmed, the drive unit 20 stops the main wheel 21 and travels. Cancel. Thereafter, when the start button in the panel switch 110 is pressed or a start command from the central control unit is confirmed, the operation is resumed from step S4. The traveling is also stopped when the bumper sensor 90 receives a predetermined impact force (for example, approximately 30 N (Newton) or more) and detects a collision, or when the ultrasonic sensor 100 detects an obstacle or the like.

  The elevating unit 80 changes the height according to the elevating map stored in the main control unit 10 in advance or the elevating map transmitted from the central control unit. The height of the lift unit set for each process is input to the lift map, and when the transport vehicle 1 moves to the station of each process, the height of the lift unit 80 is changed according to the lift map. The movement to the station of each process can be recognized, for example, by attaching a marker for identifying the station on the floor near the entrance of the travel route at each station, and the marker detection sensor 61 detects the marker. it can. FIG. 10 shows a working image in the case of motorcycle assembly. As shown in FIG. 10, in the process of assembling the upper part of the motorcycle (left side of FIG. 10), the elevating unit 80 is lowered, and in the process of assembling the lower part (right side of FIG. 10).

  In the first embodiment, a magnetic sensor having a coil is used as the guidance detection sensor 60 and the marker detection sensor 61. However, other types of magnetic sensors, optical sensors, or image sensors may be used. . In that case, the guidance travel line 3 and the boundary marker 4 are also changed as necessary according to the sensor to be used. Further, although the current collector 41 as shown in FIG. 4 is used for power feeding and charging to the battery 50, other types of current collectors may be used. Furthermore, although the raising / lowering unit 80 is equipped in the upper part of the conveyance vehicle, you may equip other parts, such as a lifter.

  Next, a second embodiment of the present invention will be described.

  In the first embodiment, the guide rail travel line is used only in the work area, but in the second embodiment, the guide rail travel line is also used in a part of the return area. For example, as shown in FIG. 11, the guide rail travel line 5 is used up to a predetermined range beyond the work area, and the remaining travel route uses the guide travel line 6. This narrows the range of travel routes where the trajectory can be easily changed. However, it is necessary because the transport vehicle can move at a high speed in the return area and one transport vehicle can be used efficiently in the work area. The total number of transport vehicles can be reduced.

  In 2nd Embodiment, the same conveyance vehicle 1 as 1st Embodiment is used, and operation | movement is also the operation | movement similar to 1st Embodiment.

  Next, a third embodiment of the present invention will be described.

  In the third embodiment, as shown in FIG. 12, there are a plurality of work areas (two in this embodiment). As in the first embodiment, the guide rail travel lines 7a and 7b are used in the two work areas (work area 1 and work area 2), and the guide travel lines 8a and 8b are used in the other return areas. To do. Since there are two work areas, the boundary markers 4 are also doubled from the first embodiment and are affixed at four places. This embodiment is used when there are processes in which the work environment is greatly different in the production process, or when work is performed by connecting work areas that are separated from each other.

  In the third embodiment, the same transport vehicle 1 as in the first embodiment is used, and the operation is the same as that in the first embodiment.

  In the third embodiment, the guide rail travel line is used in all the work areas, but the guide travel line may be used in some work areas. There is no fear that a large load is applied and power consumption is low. For example, in the work area where only the inspection process is performed, the use of the guided travel line can make it easy to change the travel route, which is an advantage of the guided travel line. it can. Further, as in the second embodiment, a guide rail travel line may be used in a part of the return area.

1 Conveyor vehicles 2, 5, 7a, 7b Guide rail travel lines 3, 6, 8a, 8b Guide travel lines 4a, 4b, 4c, 4d Boundary marker 10 Main control unit 20 Drive units 21, 21a, 21b Main wheel 25 Wheel steering Adjustment unit 31, 31 a, 31 b Secondary wheel 40 Current collector 41 Current collector 41 a R phase current collector 41 b S phase current collector 41 c T phase current collector 41 d Earth current collector 42 Current collection arm 50 Battery 60 Induction detection sensor 61 Marker detection sensor 70 Radio unit 80 Lifting unit 90 Bumper sensor 100 Ultrasonic sensor 110 Panel switch 210 Integrated rail 214 Guide rails 215a, 215b, 215c, 215d Feed rails 300, 300a, 300b Rollers

Claims (7)

In a transport vehicle system having a transport vehicle having a battery and a work area for performing work using the transport vehicle,
According to the guide rail laid in a predetermined locus, a guide rail travel line on which the transport vehicle travels by power feeding from the power feeding rail laid along the guide rail,
In accordance with a guide path set to a predetermined trajectory, the guide travel line on which the transport vehicle travels by the battery,
In the work area, the guide rail traveling line is used.   The transport vehicle system according to claim 1, wherein the guide rail and the power supply rail are integrated.   The transport vehicle system according to claim 1 or 2, wherein the guided travel line is used in an area other than the work area.   The transport vehicle system according to claim 1 or 2, wherein the guided travel line is used in a part of an area other than the work area.   The conveyance vehicle system in any one of Claims 1 thru | or 4 which has two or more said work areas.   The transport vehicle system according to claim 5, wherein the guided travel line is used in a part of the plurality of work areas. The transport vehicle includes at least a pair of rollers,
The transport vehicle system according to claim 1, wherein when the transport vehicle travels on the guide rail travel line, the transport vehicle travels with the guide rail sandwiched between the rollers.