JP2020123079A - Automated transport system - Google Patents

Abstract

To easily, accurately and safely transport a transport object (equipment) when using an elevator for construction or a lift for construction to transport the transport object (equipment).SOLUTION: An automated transport system comprises: transport object information storage means 10 which stores identification information and transport destination information of a transport object 40; transport control information storage means 20 which stores control information for the transport object 40; automatic transport means 30 which automatically transports the transport object 40; and lifting and lowering means 50 which transports the transport object 40 or the automatic transport means 30 holding the transport object 40 to a destination floor. The lifting and lowering means 50 comprises: receiving means 51 which receives the transport object 40 or the automatic transport means 30 holding the transport object 40; lifting and lowering drive means 52 which vertically drives the receiving means 51; and lifting and lowering drive control means 53 which controls the lifting and lowering drive means 52 so that the receiving means 51 is lifted or lowered to a loading floor of the transport object 40 or a transport destination floor.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic transfer system, for example, a system that can automatically transfer materials and equipment using an elevator (construction elevator or construction lift) at a construction site.

Various materials and equipment are brought into the construction site. The transported materials and equipment must be transported to the target transport position, and the worker can transport the materials and equipment to the target transport position by placing the materials and equipment on a dolly or by using a crane. It is the current situation. In addition, the construction structure in recent years is generally multi-story, and it is necessary to unload the materials and equipment carried by a carrier to the destination floor.

However, at a construction site of a construction structure, a construction elevator (hereinafter, also referred to as a construction lift) may be used for unloading work. This construction elevator has a restriction because it is temporary, and if the elevator pit is not constructed, a step (stage) of about 1 to 1.5 m from the ground surface (ground level) occurs on the first floor part. Therefore, it may be difficult to transport the equipment using the automatic transport device.

In other words, it is not possible to get over the step at once with an automatic carrier, and if you want to eliminate the step with a slope etc., you have to provide a long-distance slope. A large space is required for using and carrying in. It is sufficient if the construction site has a lot of land, but it is practically impossible to install a slope at a construction site where the land is not available, especially in urban areas.

Further, the construction elevator is provided with an outer door provided on each floor and an inner door provided on the elevator main body (basket part), but at present, it is often opened and closed manually by a worker. In addition, if the materials and equipment are not regularly loaded in the elevator, it may not be possible to unload the materials and equipment from the construction elevator at the destination floor by the automatic transfer device. In order to deal with such inconvenience, various techniques have been proposed for efficiently transporting the loaded materials and equipment (see, for example, Patent Documents 1 and 2).

The technique described in Patent Document 1 arranges a relocatable marker at a turning point, a unloading point, an unloading point, or the like on a route of a work floor. Then, the marker is picked up by the image pickup device on the self-propelled carriage, and the operation instruction is recognized by the image processing to autonomously set the route to control the self-propelled carriage.

This automatic transfer device includes an elevator that vertically transfers a pallet on which an object to be transferred is mounted from a ground floor to a transfer work floor, and a marker that indicates a unloading operation is provided in the elevator. Also, an elevator that conveys the pallet loaded with the object to be transported vertically from the ground floor to the transport work floor, and a transfer device that transfers the pallet loaded with the object to be transported from the elevator to the vicinity of the marker indicating the unloading operation. Equipped with.

The technique described in Patent Document 2 relates to a system that integrally manages a plurality of transfer robots for transferring materials and a construction robot for executing materials. This comprehensive management system for transfer robots and construction robots controls and manages the transfer operation of a plurality of transfer robots via a public line network, and controls the construction operation of a construction robot via a public line network. It is equipped with construction robot management means.

JP-A-2000-53395 JP, 2017-228101, A

However, there are still unsolved problems in the conventional techniques including the techniques described in the above-mentioned patent documents. That is, in order to automate the work of picking up and placing the load on the construction site, it is necessary to grasp the surrounding environment, estimate the self-position of the automatic carrier, and accurately grasp the position of picking up and placing the load. Further, in the transportation of materials and equipment using an elevator, it is necessary to control the elevator.

As a technique for grasping the surrounding environment, there is a method of detecting obstacles in the surroundings by using a laser sensor or the like and creating map information (for example, SLAM (Simultaneous Localization and Mapping). GPS, magnetic tape, embedded In the case of the method using the built-in marker, it is not necessary to create an environment map, but with SLAM technology, it is necessary to create map information before self-position estimation, and it is not possible to flexibly cope with daily environmental changes. was there.

As a method of estimating the self-position, there are a method of estimating by communicating with some kind of sensor such as GPS or a marker, and a method of estimating while comparing with the map information with the initial position as a reference. GPS cannot be used in a place where signals from satellites cannot be received, such as indoors or inside a tunnel.

In addition, since it is necessary to determine the traveling route of the magnetic tape in advance and install the magnetic tape over the entire traveling route, not only the installation work becomes complicated, but also the traveling route changes at the construction site where the situation changes day by day. Also, it cannot flexibly deal with obstacles placed on the magnetic tape. Further, it cannot be used in a place where edging is required such as an elevator.

In addition, the embedded marker is not suitable for construction sites because it requires some work on the road. SLAM technology is a large space with few walls and obstacles, an environment with few characteristic points such as a monotonous corridor, and inside a building under construction (construction of walls and doors, changing sections with load cones, daily construction material loading). As described above, the accuracy is greatly reduced in an environment where the characteristics are likely to change greatly in a short time. Also, the equipment used for SLAM technology is expensive.

In addition, in the technique described in Patent Document 1, the materials and equipment vertically conveyed to the work floor by the construction elevator are to be unloaded by the worker to the bed of the self-propelled carriage in front of the construction elevator. There is. That is, the technique described in Patent Document 1 requires manual work by a worker when unloading the equipment from the elevator, and in this respect, it is difficult to say that the equipment can be efficiently transported.

The present invention has been proposed in view of the above circumstances, and when an object (material/material) to be conveyed is transferred using a construction elevator or a construction lift, the object (material/material) to be conveyed can be easily and accurately identified. It is an object of the present invention to provide an automatic transfer system capable of carrying.

The automatic transport system according to the present invention has the following features in order to achieve the above-mentioned object. That is, the automatic transport system according to the present invention includes a transport target information storage unit that stores identification information for identifying a transport target and transport destination information indicating a transport destination, and at least a holding start position of the transport target. And a transfer control information storage unit that is installed at a transfer destination and stores transfer control information for controlling the transfer of the transfer target object, an automatic transfer unit (AGV) that automatically transfers the transfer target object, and a transfer target object. And an elevating means (elevator) for conveying the automatic conveying means holding the to the destination floor.

The automatic carrying means includes an identification information acquiring means for acquiring the identification information stored in the carrying object information storing means and the carrying destination information, and an identification for obtaining the carrying control information stored in the carrying control information storing means. And information acquisition means.

The raising and lowering means controls the containing means (elevator main body (eg, basket)) for containing the object to be conveyed or the automatic conveying means holding the object to be conveyed, the elevating and lowering driving means for vertically moving the accommodating means, and the elevating and lowering driving means. Then, the elevator drive control means for raising and lowering the accommodating means is provided on the loading floor and the destination floor of the object to be transported.

The raising/lowering means in the present invention is a device such as a construction elevator or a construction lift capable of raising and lowering the accommodation means that accommodates the object to be conveyed or the automatic conveying means that holds the object to be conveyed. .. When the elevating means is a construction elevator, the elevating drive means is constituted by a drive device such as a rack and pinion and a motor for elevating the accommodating means along the guide rail, and when the elevating means is a construction lift, a wire is used. And the winding device constitutes an elevating means.

In the automatic transporting device having the above-described configuration, the lifting control device includes a transporting destination floor instructing device for instructing a transporting destination floor based on the identification information of the transport target and the transporting destination information, and the lifting and lowering device A door opening/closing means for opening/closing the door (at least one of the inner door and the outer door) corresponding to the entrance/exit of the elevating means can be configured when the vehicle arrives at the transfer destination floor.

In the automatic transporting device having the above-described configuration, the door opening/closing means opens/closes the door based on at least one of the door opening/closing instruction signal input by the operator and the door opening/closing instruction signal transmitted from the destination floor instructing means. It is possible to adopt a configuration for performing. That is, the door opening/closing means opens/closes the door based on the opening/closing instruction signal input by the operator or the opening/closing instruction signal transmitted from the automatic conveying means. In this case, which of the opening/closing instruction signals is used to open/close the door is switched by the changeover switch.

In the automatic transporting device having the above-described configuration, the elevating device is a construction elevator or a construction lift attached to the outer wall or the inside of the construction structure. And in the case of a construction elevator or a construction lift in which the loading floor is located at a position higher than the ground surface (ground level) of the construction structure, there is a gap between the ground surface (ground level) and the loading floor. It is possible to adopt a configuration including auxiliary lifting means (lift) for mounting and lifting the object to be conveyed or the automatic conveying means holding the object to be conveyed. By providing a pit on the ground surface, when the construction elevator or construction lift is landed on the ground surface, the loading floor will be the ground surface.

In the automatic transporting device having the above-described configuration, the auxiliary lifting/lowering device includes an auxiliary housing device (frame) for housing the automatic transporting device and an auxiliary lifting/lowering driving device (hydraulic cylinder, hydraulic pump, link mechanism, etc.) for vertically driving the auxiliary housing device. ) And an elevation drive control means for controlling the auxiliary elevation drive means to elevate and lower the auxiliary storage means.

According to the automatic transport system of the present invention, the identification information and the transport destination information of the transport target are stored, and the transport target is transported based on the identification information and the transport destination information of the transport target held by the automatic transport means. By stopping the construction elevator and the construction lift at the destination floor and opening and closing the door, the object to be transported is transported to the destination floor.

Therefore, when an object to be conveyed (materials and equipment) is conveyed using a construction elevator or a construction lift, the object to be conveyed (materials and equipment) can be easily, accurately and safely conveyed.

In addition, even if a construction elevator or construction lift with a step between the ground surface (ground level) and the loading floor is installed, auxiliary lifting means (lift) is provided to eliminate the step, so transfer When the target object (materials and equipment) is transported, the transport target object (materials and equipment) can be easily transported. Furthermore, even at a construction site where there is no room in the site area, it is possible to efficiently carry the object (material) to be carried.

The functional block diagram of the automatic conveyance system which concerns on embodiment of this invention. Explanatory drawing which shows the conveyance method (longitudinal conveyance) of the conveyance object by the automatic conveyance system which concerns on embodiment of this invention. Explanatory drawing which shows the carrying method (horizontal carrying) of the carrying target object by the automatic carrying system which concerns on embodiment of this invention.

An automatic carrying system according to an embodiment of the present invention will be described below with reference to the drawings. 1 to 3 are diagrams for explaining an automatic transport system according to an embodiment of the present invention, FIG. 1 is a functional block diagram, FIG. FIG. 4 is an explanatory diagram showing a method of conveying an object to be conveyed (lateral conveyance).

<Outline of automatic transport system>
As shown in FIG. 1, an automatic transfer system according to an embodiment of the present invention includes an object-to-be-transferred information storage unit 10, a transfer control information storage unit 20, an automatic transfer unit 30, an elevating unit 50 (a construction elevator or a construction elevator). Construction lift) is a basic component. The transport object information storage means 10 is a means for storing identification information of the transport object 40 (for example, equipment) and transport destination information, and is attached to the transport object 40 or a pickup position of the transport object 40. When installed in the vehicle, it is possible to acquire the identification information for identifying the individual information (type, etc.) of the transportation target object 40 and the transportation destination information at the time of unloading.

It should be noted that the identification information of the transport target 40 may be at least information for identifying the type of material and equipment, but further includes information that can uniquely identify each transport target 40. However, it is possible to comprehensively manage the information from the loading of the respective objects 40 to the loading and the setting.

The automatic carrying means 30 is a means for automatically carrying the object 40 to be carried, and is composed of, for example, an automatic guided vehicle/AGV (Automatic Guided Vehicle). Although the detailed configuration will be described later, the automatic transport unit 30 includes a unit for acquiring information from various information storage units and a unit for autonomously traveling the automatic transport unit 30.

Each unit that constitutes the automatic transport system according to the embodiment of the present invention is configured by a device that exhibits each function, a computer, and a program installed in the computer. It should be noted that the computer and the program installed in the computer are broad concepts including a device having an arithmetic function such as a personal computer, a microcomputer, and a PLC, and a program installed in these.

Further, although not shown, each unit includes a communication unit (including a communication control unit) so that data can be communicated with each other. Data communication is basically performed by wireless communication, but wired communication may be used, or wired communication and wireless communication may be used in combination. Further, the communication system may be any system. Generally, data communication in the same device is performed by wire communication using a communication cable, and data communication between separated devices is performed by wireless communication such as Wi-Fi.

<Automatic transport means>
The automatic carrying means 30 is a means for causing the object 40 to be carried to travel from the loading place to the loading place. The automatic carrying means 30 includes an identification information obtaining means 31, a carrying control information obtaining means 32, a holding means 33 for holding a carrying object 40, a moving means 36, and a drive for driving the moving means 36. Means 35 and autonomous traveling control means 34 are provided.

<Transported object information storage means/identification information acquisition means>
The transport object information storage means 10 is a means for storing identification information of the transport object 40 and transport destination information, and is attached to the transport object 40 or installed at the unloading position of the transport object 40. The identification information acquisition unit 31 is a unit for acquiring the identification information and the transfer destination information of the transfer target object 40 stored in the transfer target object information storage unit 10, and depending on the mode of the transfer target object information storage unit 10. It can be made into various forms.

<Transport control information storage means/transport control information acquisition means>
The transfer control information storage unit 20 is a unit that stores transfer control information for controlling the transfer of the transfer target, and is installed at the holding start position (loading place) and the transfer destination (loading place) of the transfer target. Has been done. Further, the transport control information storage means 20 may be installed at an appropriate position on the transport route. The transfer control information acquisition unit 32 is a unit for acquiring the transfer control information stored in the transfer control information storage unit 20, and can have various forms according to the mode of the transfer control information storage unit 20.

<Driving means>
The driving means 35 is composed of a motor or the like for driving the moving means 36. For example, when the moving means 36 is a wheel, the driving means 35 is a motor for driving the wheel. In this case, in addition to the wheels functioning as the moving means 36, wheels to which the driving force is not transmitted may be provided. Although the number of the moving means 36 is not limited, all the wheels may be the moving means 36, or some of the wheels may be the moving means 36.

<Holding means>
The holding unit 33 is a unit for holding the conveyance target 40, and can have various modes depending on the mode of the automatic conveyance unit 30. For example, the device for placing the object 40 to be conveyed, the device for suspending the object 40 to be conveyed, and the device for towing the object 40 to be conveyed are the holding means 33. Alternatively, the object 40 to be conveyed may be carried by holding the pallet or the basket by placing the object 40 on the pallet or by storing it in a basket with wheels.

<Autonomous traveling control means>
The autonomous traveling control unit 34 is a unit for causing the automatic conveyance unit 30 to autonomously travel in accordance with the acquired identification information and conveyance destination information of the conveyance target 40, and the acquired identification information of the conveyance target 40 and the conveyance destination. The drive means 35 is controlled based on the information, and the automatic transport means 30 is caused to travel to the target position.

<Elevating means>
The elevating means 50 is a means for conveying the object 40 to be conveyed or the automatic conveying means 30 holding the object 40 to be conveyed to a destination floor, and is a construction elevator or a construction lift (hereinafter may be collectively referred to as an elevator). ). In particular, this embodiment can be suitably applied to a temporary construction elevator or a construction lift. The construction elevator and the construction lift may be attached to the outer wall or the inside of the construction structure, and a position higher than the ground surface (ground level) of the construction structure may be the loading floor. In this case, the auxiliary lifting means 60 is required.

<Accommodation means>
The accommodating means 51 is means for accommodating the automatic transporting means 30 and is an elevator main body. Although not shown, a general construction elevator is driven up and down by a drive device such as a rack and pinion and a motor that moves up and down the accommodating means 51 along a guide rail. Further, a general construction lift is suspended by a wire, and a winding device winds or unwinds the wire to drive it up and down.

<Lift drive means>
The lifting drive means 52 is means for driving the housing means 51 up and down, and is composed of, for example, a rack and pinion and a motor for lifting the housing means 51, a wire for suspending the housing means 51, and an electric winding device. .. That is, the housing means 51 can be moved up and down by driving the rack and pinion with a motor or driving the winding device to wind and unwind the wire. Although not shown, a brake for stopping the elevation of the accommodating means 51 is provided between the elevating drive means 52 or the accommodating means 51 and the support.

<Lift drive control means>
The elevating drive control means 53 includes means for controlling the elevating drive means 52 to move the accommodating means 51 to the loading floor and the destination floor of the object to be transported 40, and is configured by, for example, a microcomputer. The elevator drive control means 53 controls the drive of the elevator drive means 52 so that the accommodation means 51 reaches the destination floor by the destination floor instruction signal indicating the destination floor.

<Destination floor instruction means>
The destination floor instructing means 54 is a means for instructing the transportation destination floor based on the identification information of the object to be transported 40 held by the automatic transportation means 30, and is constituted by, for example, a microcomputer. That is, the identification information of the object 40 to be conveyed and the destination information of the object to be conveyed are acquired by the identification information acquisition means 31, and the identification information includes information about the destination floor of the object 40 to be conveyed.

Therefore, the destination floor instructing means 54 recognizes the transportation destination floor of the transportation object 40 based on the identification information of the transportation object 40 and the transportation destination information, and moves the accommodating means 51 up and down to the transportation destination floor. Output the destination floor instruction signal. In the present embodiment, the destination floor instruction means 54 is composed of a computer system that controls the automatic transport means 30, and the destination floor instruction signal is transmitted from the computer system.

The destination floor instructing means 54 receives the instruction signal of the destination floor input by an operator or the like through an input means such as an operation button or a tablet terminal, and raises/lowers the accommodation means 51 to the transportation destination floor. The instruction signal may be transmitted. That is, when the information about the transfer destination floor of the transfer target object 40 cannot be obtained due to some inconvenience, or when it is urgently necessary to change the transfer destination floor, an appropriate response can be taken flexibly by the operation of the worker or the like. be able to.

<Door opening/closing means>
The door opening/closing means 55 is means for opening/closing the door corresponding to the entrance/exit of the elevating/lowering means 50 when the elevating/lowering means 50 arrives at the loading floor and the transfer destination floor, and is controlled by, for example, a microcomputer. It consists of a door opening and closing device. A general elevator has an outer door installed on each floor and an inner door installed on the elevator body. The door opening/closing means 55 controls the opening/closing of the outer door of the elevator, and the inner door of the elevator is opened/closed by the opening/closing control signal of the computer system controlling the elevator.

Further, the door opening/closing means 55 can perform the door opening/closing operation based on at least one of the door opening/closing instruction signal input by the operator and the door opening/closing instruction signal transmitted from the destination floor instruction means 54. In this way, the door opening/closing means 55 not only opens/closes the door based on the instruction signal of the destination floor, but also receives the opening/closing instruction signal input by the operator through the input means such as the operation button or the tablet terminal, You may open and close the door.

In this way, the door opening/closing means 55 performs the opening/closing operation of the door based on the opening/closing instruction signal input by the operator or the opening/closing instruction signal transmitted from the automatic conveying means 30, but based on which opening/closing instruction signal. Whether the door is opened or closed can be switched by a changeover switch. It is preferable that the opening/closing instruction signal input by the operator is ignored during the automatic operation of the elevator, and the opening/closing instruction signal input by the operator is valid only in the case of an emergency stop.

<Auxiliary lifting means>
The auxiliary elevating means 60 is a means used for a construction elevator or a construction lift in which a position higher than the ground surface (ground level) of the construction structure is the loading floor, and the ground surface (ground level) or the first floor. It will be installed between the slab surface and the loading floor. The auxiliary lifting/lowering means 60 moves the automatic carrying means 30 (including the case where the carrying object 40 is held) between the loading floor and the ground surface (ground level) or the first floor slab surface. For auxiliary construction means 61, auxiliary lifting drive means 62, auxiliary lifting drive control means 63, and auxiliary door opening/closing means 64, which will be described later, are located at a loading floor at a position higher than the ground surface (ground level) of the construction structure. It is a means used in elevators and construction lifts.

<Auxiliary storage means>
The auxiliary accommodating means 61 is means for accommodating the automatic transporting means 30. The auxiliary storage means 61 is different from the storage means 51 used in the elevating means 50 composed of a construction elevator or a construction lift, and elevates the height of about one floor, so that it is simpler than the elevating means 50. It can be configured. For example, it may be a device such as a lift used for loading luggage on a bed in a lorry.

<Auxiliary lifting drive means>
The auxiliary elevating/lowering drive means 62 can be an appropriate device according to the configuration of the auxiliary accommodating means 61, which is means for vertically moving the auxiliary accommodating means 61. For example, when a device such as a lift used in a truck is used, the auxiliary lifting drive means 62 can be configured by devices such as a hydraulic cylinder, a hydraulic pump, and a link mechanism.

<Auxiliary lifting drive control means>
The auxiliary lifting drive control means 63 comprises means for controlling the auxiliary lifting drive means 62 to move the auxiliary housing means 61 up and down, and is constituted by, for example, a microcomputer. The auxiliary lift drive control means 63 controls the automatic transfer means 30 to move up and down between the ground surface (ground level) of the construction structure and the loading floor of the construction elevator or construction lift.

<Auxiliary door opening/closing means>
Further, an auxiliary door may be provided in the auxiliary storage means 61 in order to prevent the automatic carrying means 30 from falling off. When the auxiliary door is provided, the auxiliary door opening/closing means 64 for opening/closing the auxiliary door corresponding to the entrance/exit of the auxiliary lifting means 60 when the auxiliary lifting means 60 arrives at the ground surface (ground level) and the loading floor. Can be provided. The auxiliary door opening/closing means 64 performs the opening/closing operation of the auxiliary door based on at least one of the auxiliary door opening/closing instruction signal input by the operator and the auxiliary door opening/closing instruction signal transmitted from the destination floor instruction means 54. Can be configured to.

The auxiliary door opening/closing means 64 also opens/closes the auxiliary door based on the auxiliary door opening/closing instruction signal input by the operator and the auxiliary door opening/closing instruction signal transmitted from the destination floor instruction means 54. Which one of the opening/closing instruction signals is used to open/close the auxiliary door is switched by the changeover switch.

<Transverse transportation of objects to be transported on destination floor>
Hereinafter, a means for carrying the automatic carrying means 30 (the carrying object 40) that has arrived at the destination floor to the loading place will be described. In the present embodiment, the automatic carrier unit 30 uses the identification information and the carrier destination information of the carrier object 40 stored in the carrier object storage unit 10 and the carrier control information stored in the carrier control information storage unit 20 to load the automatic carrier unit 30. The unloading work is carried out at the yard and the unloading work is carried out at the yard.

In the automatic transport system according to the present embodiment, as shown in FIG. 3, identification information for identifying the transport target 40 and transport in advance at the transport target 40 itself or at the unloading site of the transport target 40. The conveyance object information storage means 10 storing the destination information is installed. In addition, a transportation control information storage unit 20 that stores information indicating that the transportation object 40 is a cargo storage area is installed in the transportation area of each transportation object 40, and the transportation control information storage unit 20 that stores the information indicating that the transportation object 40 is a cargo storage area. A transport control information storage unit 20 that stores information indicating that the transport target object 40 is a loading place is installed. Furthermore, the transport control information storage unit 20 that stores information regarding the passage of the transport target object 40 may be installed at an appropriate position on the transport path of each transport target object 40.

<Automatic transfer method>
Next, a method of transporting the transport target object 40 using the above-described automatic transport system will be described. In FIG. 2, the automatic transfer means 30 uses the automatic transfer system to carry out the unloading work at the carry-in position (ground level (ground level) or the first floor of the construction elevator or construction lift), and the destination (load storage area). FIG. 4 is an explanatory view for explaining a series of steps for carrying out the cargo placing work, and FIG. 3 is an explanatory view for explaining a series of steps for carrying out the cargo placing work by autonomously traveling the automatic carrying means 30 on the carrying destination floor. Is. Further, although the automatic carrying system is described as having the above-described functional means, other functional means may be added in actual operation.

Hereinafter, materials and equipment (conveyance) at a construction site in which an elevating means 50 (hereinafter, a construction elevator will be described as a typical example) having a loading floor higher than the ground surface (ground level) of a construction structure is installed. The conveyance of the object 40) will be described. If there is no room in the site area, it is necessary to install the auxiliary elevating means 60, and the following description assumes a construction site where the auxiliary elevating means 60 is installed.

Various materials and equipment are brought into the unloading area. Since each of the materials and equipment can be held by the automatic carrying means 30, they are placed on a trolley or stored in a basket. In addition, a transportation target object information storage means 10 for recognizing the identification information of the transportation target object 40 is installed at each material itself or at an appropriate place of the yard. Specifically, the materials and equipment A1, A2, and A3 are carried in the unloading site, and the transportation target object information storage means 10 indicating the identification information A1, A2, and A3 is installed in each of the materials and equipment. There is.

In the following description, the transfer destination floor of the identification information A1, A2, and A3 is all the third floor, but the transfer destination floor of the equipment can be set appropriately. For example, the conveyance destination floor is set such that the identification information A4 is the fourth floor and the identification information A5 is the fifth floor. Further, a case will be described in which the automatic carrying means 30 holding the carrying object 40 is loaded on the auxiliary elevating means 60 and the elevating means 50, but only the carrying object 40 is loaded on the auxiliary elevating means 60 and the elevating means 50. After the object to be conveyed 40 arrives at the destination floor, the work of picking up goods by the automatic conveying means 30 may be performed.

When the automatic carrying means 30 recognizes that it is a yard by the function of the carrying control information obtaining means 32, the identification information of the carrying object 40 and the carrying destination information are obtained by the function of the identification information obtaining means 31. That is, it is possible to recognize whether the material/material to be picked up is A1, A2, or A3, and also to recognize the transfer destination floor and the loading place of the material/material A1, A2, or A3.

In this embodiment, since there is a step of about 1 to 1.5 m between the ground surface (ground level) of the construction structure and the loading floor of the construction elevator, the materials and equipment brought to the construction site are Using the auxiliary lifting means 60, the elevator is lifted up to the loading floor. At this time, the automatic carrying means 30 that has arrived at the loading position of the auxiliary lifting means 60 uses the identification information acquiring means 31 to acquire the identification information of the relevant equipment and the carrying destination information.

When the materials and equipment are held by the automatic carrying means 30, the carrying purpose is read by reading the identification information and the carrying destination information (identifying information of the carrying object 40 and carrying destination information) stored in the carrying object information storage means 10. Recognize the floor. Then, the automatic carrying means 30 holding the materials and equipment is loaded into the auxiliary housing means 61, and the function of the auxiliary lifting drive means 62 loads the loaded automatic carrying means 30 (materials and equipment) into the lifting means 50 (construction elevator). Ship to the floor.

When the auxiliary lifting/lowering means 60 arrives at the loading floor of the lifting/lowering means 50 (construction elevator), the automatic transfer means 30 is lowered from the auxiliary storage means 61 and directed to the lifting/lowering means 50 (construction elevator). When the auxiliary housing means 61 is provided with an auxiliary door, the auxiliary door is opened/closed. In this case, the auxiliary door opening/closing means 64 may be used to open/close the auxiliary door.

When the automatic transfer means 30 arrives at the position of the lifting means 50 (construction elevator), the opening/closing door of the lifting means 50 (construction elevator) is opened. At this time, the opening/closing door is opened by the function of the door opening/closing means 55, and when a predetermined number of the automatic transporting means 30 are accommodated in the accommodating means 51, the opening/closing door is closed by the function of the door opening/closing means 55. As described above, at the loading position of the object to be conveyed 40 and the loading floor of the object to be conveyed 40, the case where the automatic conveying means 30 holding the object to be conveyed 40 is accommodated in the accommodating means 51, and only the object to be conveyed 40 are provided. May be housed in the housing means 51.

When the object 40 to be conveyed or the automatic conveying means 30 holding the object 40 to be conveyed is accommodated in the accommodating means 51, the function of the destination floor instructing means 54 outputs an instruction signal for raising the accommodating means 51 to the destination floor to be conveyed, and the elevator is moved up and down. The lift control means 52 is controlled by the function of the drive control means 53 to move the storage means 51 to the transfer destination floor of the transfer object 40. In the present embodiment, since the automatic transporting means 30 holds the materials/equipment having the identification information A1, A2, A3, the accommodating means 51 moves up to the third floor. When the accommodating means 51 arrives at the third floor, the opening/closing door (outer door) is opened by the function of the door opening/closing means 55, and the automatic conveying means 30 is lowered from the accommodating means 51. The inner door opens and closes under the control of a computer system that controls the lifting means 50.

Hereinafter, the transport control information storage means 20 will be described as markers X0 to X3 and Y1 to Y3. The identification marks X0 to X3 are required to be installed, and the identification marks Y1 to Y3 are optional. A sign X1 indicating that effect is installed in the cargo storage area (1) of the material/material A1, and a sign X2 indicating that effect is installed in the cargo storage area (2) of the material/material A2. A sign X3 indicating that effect is installed at the loading place (3) of A3.

Further, signs Y1, Y2, and Y3 indicating the order of the passage points of the equipment are installed on the transportation route of the equipment. The sign Y1 is the transport control information storage means 20 indicating information for passing the materials A1, A2, A3, and the sign Y2 is the transport control information storage means 20 indicating information for passing the materials A1, A2. The marker Y3 is a transport control information storage unit 20 that indicates information for passing the equipment A1.

When the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the markers Y1, Y2 and Y3, it passes through the installation positions of the markers Y1, Y2 and Y3. Further, when the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the signs X2 and X3, since the information regarding the material A1 is not included, another sign can be recognized. Continue running until. Then, when the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the sign X1, it is the loading place for the material A1 and therefore the loading is performed at an appropriate position in the loading place.

When the automatic conveyance means B2 holding the material A2 travels in the work area and recognizes the markers Y1 and Y2, the automatic transportation means B2 passes through the installation positions of the markers Y1 and Y2. Further, when the automatic transporting means B2 holding the material A2 travels in the work area and recognizes the signs X1, X3, and Y3, since the information regarding the material A2 is not included, another sign is displayed. Continue driving until you can recognize it. When the automatic transporting means B2 holding the material A2 travels in the work area and recognizes the sign X2, it is the loading place for the material A2, so that the article is placed at an appropriate position in the loading place.

When the automatic conveying means B3 holding the material A3 travels in the work area and recognizes the marker Y1, the automatic carrier B3 passes through the installation position of each marker Y1. Further, when the automatic transporting means B3 holding the material A3 travels in the work area and recognizes the signs X1, X2, Y2, and Y3, since the information regarding the material A3 is not included, other information is not included. Continue driving until you recognize the sign. When the automatic transporting means B3 holding the material A3 travels in the work area and recognizes the sign X3, it is the loading place for the material A3, so that the article is placed at an appropriate position in the loading place.

After the loading operation is completed, the automatic transporting means 30 travels in the work area and returns to the loading place where the sign X0 is installed, and repeats the above-described automatic transporting operation. Even on the return path, the autonomous traveling of the automatic transporting means 30 is controlled by the above-described method. Further, on the return route, the unloading work and the unloading work may be performed via another unloading site or the unloading site.

10 Transport Object Information Storage Means 20 Transport Control Information Storage Means 30 Automatic Transport Means 31 Identification Information Obtaining Means 32 Transport Control Information Obtaining Means 33 Holding Means 34 Autonomous Travel Control Means 35 Driving Means 36 Moving Means 40 Transport Objects 50 Elevating Means 51 Housing means 52 Lifting/driving means 53 Lifting/driving control means 54 Destination floor indicating means 55 Door opening/closing means 60 Auxiliary lifting/lowering means 61 Auxiliary storing means 62 Auxiliary lifting/lowering driving means 63 Auxiliary lifting/lowering control means 64 Auxiliary door opening/closing means

Claims (5)

A transport object information storage unit that stores identification information for identifying a transport object and transport destination information indicating a transport destination,
A transport control information storage unit that is installed at least at the holding start position of the transport target and at the transport destination, and stores transport control information for controlling the transport of the transport target,
An automatic transporting means for automatically transporting the transport target;
Elevating means for conveying the object to be conveyed or the automatic conveying means holding the object to be conveyed to the destination floor,
Equipped with
The automatic transfer means,
Identification information acquisition means for acquiring the identification information and the transportation destination information stored in the transportation object information storage means,
Transport control information acquisition means for obtaining the transport control information stored in the transport control information storage means,
Equipped with
The lifting means is
Storage means for storing the transfer target or an automatic transfer means holding the transfer target,
An elevating drive means for elevating the accommodating means,
An elevating and lowering drive control means for controlling the elevating and lowering drive means to elevate and lower the accommodating means to a loading floor and a destination floor of the object to be transported,
An automatic transfer system characterized by having. The lifting control means,
Based on the identification information of the transfer target and the transfer destination information, a transfer destination floor indicating means for instructing a transfer destination floor,
Door opening and closing means for opening and closing the door corresponding to the entrance and exit of the elevating means when the elevating means arrives at the loading floor and the transfer destination floor,
The automatic transport system according to claim 1, further comprising: The door opening/closing means performs a door opening/closing operation based on at least one of a door opening/closing instruction signal input by an operator or a door opening/closing instruction signal transmitted from the destination floor instruction means.
The automatic transport system according to claim 2, wherein: The elevating means is attached to the outer wall or the inside of the construction structure, and is composed of a construction elevator or a construction lift whose position higher than the ground surface of the construction structure is the loading floor,
The auxiliary elevating means for mounting and elevating the object to be conveyed or an automatic conveying means holding the object to be conveyed is provided between the ground surface and the loading floor. The automatic transport system according to any one of items. The auxiliary lifting means is
Auxiliary accommodating means for accommodating the automatic transporting means,
An auxiliary lifting drive means for driving the auxiliary housing means up and down,
An elevation drive control means for controlling the auxiliary elevation drive means to elevate the auxiliary accommodation means,
The automatic transport system according to claim 4, further comprising:

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