JP7155463B2 - Mobile transport sorting system - Google Patents

Description

The present invention relates to a sorter system using automated guided vehicles (AGV, AMR).

Recently, in distribution centers, picking systems using AGVs (Automatic Guided Vehicles) or AMRs (Autonomous Mobile Robots) as unmanned transportation vehicles are becoming popular. Patent Document 1 discloses a GTP station (GTP: Goods to person) in which a large number of shelves consisting of multiple stages containing products are provided in a warehouse, an AGV or AMR crawls under the shelves, lifts the shelves, and has a picking operator. After the worker picks up the desired product from the shelf, the shelf and AGV or AMR return to the storage location, and the process is repeated.

Patent Literature 1 relates to a request fulfillment method and system in an inventory management device for effective use of space and resources. A request fulfillment method in the inventory control system of the present invention receives a request indicating an activity to be performed, selects from a plurality of shelves a shelf that satisfies the request, selects at least one item from a plurality of inventory items, and selects at least one item from the selected shelf. It is characterized by efficient use of time, space and resources of the device by moving it to a different location.

Reference Document 2 shows a sales catalog of an unmanned transfer vehicle that is already on the market.

The reason why unmanned transport vehicles have started to play an active role in distribution centers is that they have entered the popularization stage, and various companies have started to supply low-cost unmanned transport vehicles with various functions. In particular, the lack of manpower at distribution centers has become a problem, and there is a strong social demand for unmanned operations.

US-A-090185884 publication

https://www.geekplus.jp/common/pdf/geek.pdf

On the other hand, the applicant paid attention to another aspect of the unmanned transport vehicle. This is because these unmanned transport vehicles have their own moving power, so there is no need to set up a conveyor line for transportation in the distribution center as in the past, and there is no need for physically large fixed facilities. A large degree of freedom was born in the layout design inside the center.

Conventionally, a circle-type sorter system (cross-belt sorter system) has been installed at large airports, etc., and is used for communication between check-in counters in the airport and multiple make-up areas (make-ups) provided near the parking apron. As a component of the baggage transport system, it is used in combination with the transport conveyor.

This circle-type sorter system is based on a system in which rails are provided on the floor and carts run on the rails. However, since it is a fixed facility, system construction required a great deal of time, cost, man-hours, and operation know-how from design to operation and maintenance.

In other words, a high degree of expertise is required to design, build, and maintain these facilities. In other words, it was a system that required "scrubbing".

On the other hand, building a system using an unmanned transport vehicle is the exact opposite of such a system, and can be easily constructed because it is not an advanced fixed facility, and can be substituted for other unmanned transport vehicle systems. It can be said that it is a "commodity" system.

A sorter system according to a first aspect of the present invention comprises:
An unmanned transport vehicle having a sorting server, a conveyor section for loading and/or transporting articles on a top plate, an article loading section for loading articles into the unmanned transport vehicle, and an article for transferring the articles from the unmanned transport vehicle. A system having a transfer section,
The sorting server
a communication unit that receives article sorting information;
a first storage unit that stores the received article sorting information;
a second storage unit for storing position information of the unmanned transport vehicle transmitted from the unmanned transport vehicle and received by the communication unit;
Operation management information is generated from the article sorting information stored in the first storage unit and the position information stored in the second storage unit, and the unmanned transport vehicle is generated based on the operation management information. a control unit that controls at least one of the travel of the unmanned transport vehicle, the behavior of the conveyor unit of the unmanned transport vehicle, the behavior of the article loading unit and/or the article transfer unit;
with
The unmanned transport vehicle,
a vehicle body communication unit that transmits the position information of the unmanned transport vehicle to the sorting server;
a third storage unit that stores the operation management information received from the sorting server;
a conveyor section control section that controls the introduction of articles and the transfer of articles;
a sensor unit for measuring the position of the unmanned transport vehicle, the shape and position of obstacles, and the distance between the unmanned transport vehicle and surrounding unmanned transport vehicles;
a fourth storage unit that stores measurement data obtained by measurement by the sensor unit;
a carriage control unit that controls travel of the unmanned transport vehicle based on the operation management information stored in the third storage unit and the measurement data stored in the fourth storage unit;
with
It is characterized by comprising arranging means for circularly arranging and traveling a plurality of the unmanned transport vehicles.

As one embodiment of the present invention, the article input section includes: an article input section communication section that receives the operation management information from the sorting server;
an article loading section control section for controlling the article loading section based on the operation information;
with
The article transfer section includes an article transfer section communication section that receives the operation management information from the sorting server;
an article transfer section control section for controlling the article transfer section based on the operation information;
It may be characterized by having

As one embodiment of the present invention, the running direction of the conveyor of the conveyor section may be substantially perpendicular to the running direction of the unmanned transport vehicle, or the conveyor may run in the running direction of the unmanned transport vehicle. , the conveyor may run obliquely to the running direction of the unmanned transport vehicle. Further, the conveyor may be characterized by being configured with a conveyor of a type that is used by rotating the conveyor in the axial direction.

An embodiment of the present invention may be characterized in that the entire conveyor section is equipped with a mechanism that rotates on a traveling carriage to transfer articles in a required direction.

As one embodiment of the present invention, the unmanned transport vehicle is not limited to AGV or AMR. Examples include mobile robots and drones. For example, a wheeled, crawler, or legged (including walking) robot. In addition to moving within a predetermined area, it may also feature the ability to perform various tasks such as transportation, picking, welding, mounting, display, customer service, security, assembly, and inspection.

As one embodiment of the present invention, a SLAM method (not shown) officially called Simultaneous Localization and Mapping is used for confirming the vehicle position of the unmanned transport vehicle. However, it is not limited to this. Known technologies such as laser range scanners (ranging sensors, LIDAR), cameras, encoders, and microphone arrays are used for position estimation and map creation.

The destination where airport baggage is transported by belt conveyor is a work area in the airport called "departure sorting area", and here there is a place called "make" where baggage is stored in the container to be transported by aircraft. .

General baggage is automatically transported from the counter to the makeup.

In one embodiment of the present invention, articles received from passengers at an airport check-in counter are conveyed by a belt conveyor and transferred to a nearby make where the destination aircraft is waiting, which is an optimal meeting point with other make. At some point, a circular continuous array of unmanned transport vehicles may feature a sorter system that functions as an article sorting device.

In one embodiment of the present invention, as further utilization of unmanned transport vehicles, a solution may be featured in which sorter lines and conveyor lines of various shapes are constructed by combining multiple unmanned transport vehicles.

In one embodiment of the present invention, each unit can function as an independent unmanned transfer vehicle instead of a fixed facility, so it is possible to quickly and easily construct a circular sorter facility at a desired location in the airport. As a result, the sorter system can be characterized by a significant reduction in installation time and cost, and a dramatic improvement in operational flexibility.

In one embodiment of the present invention, since each unit can function as an independent unmanned transport vehicle, a malfunctioning unmanned transport vehicle and a non-malfunctioning unmanned transport vehicle with substantially the same function are replaced, and use is interrupted due to failure. It may also feature a sorter system that easily solves problems such as:

An embodiment of the present invention may feature a sorter system using an unmanned transport vehicle, which is easy to install as well as to remove, so that it can be temporarily repurposed for other purposes, such as a security checkpoint. .

An embodiment of the invention may feature a sorter system that scales the number of AGVs to fit the installation space.

A sorter system according to a second aspect of the present invention is characterized in that, in the first aspect, the plurality of unmanned transport vehicles are arranged in an unconnected state and run in a ring.

In one embodiment of the invention, the sorter system may be characterized by a plurality of independent AGVs arranged in a circular direction.

As an embodiment of the present invention, a non-self-propelled unmanned transport vehicle is towed by a self-propelled unmanned transport vehicle, pushed by a self-propelled unmanned transport vehicle, or caught between self-propelled unmanned transport vehicles. It may be characterized by running while

A sorter system according to a third aspect of the present invention is characterized in that, in the first aspect, the plurality of unmanned transport vehicles are connected and travel in a circular direction.

One embodiment of the present invention may feature a circular sorter system that is controlled to maintain a chained alignment by mechanically linking multiple AGVs or utilizing electromagnets.

A sorter system according to a fourth aspect of the present invention is characterized in that, in the first aspect, the unmanned transport vehicle sorts the articles while traveling in a circular arrangement continuously in the traveling direction according to the operation information. .

The sorting of articles means that the unmanned transfer vehicle puts in articles at the article introduction section and transfers the articles at the article transfer section according to operation management information.

In the sorter system according to a fifth aspect of the present invention, in any one of the first to fourth aspects, the article input section and/or the article transfer section further includes a conveyor, and the conveyor and/or the article input section of the article input section The conveyor of the article transfer section is characterized in that it operates separately from the unmanned transfer vehicle that runs continuously in a running direction in a circular arrangement.

As one embodiment of the present invention, the unmanned transport vehicles used as the conveyor of the article loading section and/or the conveyor of the article transfer section may be arranged continuously in parallel with respect to the traveling direction. good.

In the sorter system according to the sixth aspect of the present invention, in the fifth aspect, the article conveying direction of the conveyor section of the unmanned transport vehicle and the traveling direction of the unmanned transport vehicle are arranged in substantially the same direction. is further provided.

As an embodiment of the present invention, the unmanned transport vehicle that is closest in distance to the unmanned transport vehicles that run in a circular arrangement among the unmanned transport vehicles used for the conveyor of the loading section and the conveyor of the transfer section. The conveyor shape of is suitable for transferring articles to the conveyor of the unmanned transport vehicle that runs in a circular arrangement, and is composed of a conveyor of a type that rotates the axial direction of the conveyor and is in contact with the substantially tangential direction. A shape may also be a feature.

A sorter system according to a seventh aspect of the present invention is characterized in that, in any one of the first to sixth aspects, the unmanned transfer vehicle further has power for self-travel and/or for driving the conveyor.

A sorter system according to an eighth aspect of the present invention is characterized in that, in the first to seventh aspects, the plurality of unmanned transport vehicles include the non-self-propelled unmanned transport vehicles.

A sorter system according to a ninth aspect of the present invention is characterized in that, in the eighth aspect, the non-self-propelled unmanned transport vehicle travels in connection with the self-propelled unmanned transport vehicle.

In the sorter system according to the tenth aspect of the present invention, in the first to ninth aspects, the unmanned transport vehicle is battery-driven, and in an emergency including when the charging power is insufficient or when there is a failure, the Alternatively, it is characterized by being appropriately replaced with the above-mentioned unmanned transport vehicle in normal operation.

A sorter system according to an eleventh aspect of the present invention, in the tenth aspect, is characterized in that charging of the unmanned transport vehicle can be done in contact with and/or without contact with a power source.

A sorter system according to a twelfth aspect of the present invention is characterized in that, in the eleventh aspect, the charging of the unmanned transport vehicle is enabled even if it is in contact with and/or not in contact with a power source. do.

A sorter system according to a thirteenth aspect of the present invention is, in any one of the first to twelfth aspects, wherein the unmanned transport vehicle has a plurality of circularly arranged traveling, and all of the circularly arranged traveling are single or plural. It is formed so that articles can be introduced and/or transferred to the conveyor of the article introduction section and/or the conveyor of the article transfer section, and further comprising forming an article sorting section per unit area of the installed floor. and

As one embodiment of the present invention, the unmanned transport vehicle 2 may be characterized by reading a barcode attached to the article G and using the read barcode data as article sorting information.

One embodiment of the present invention includes a solution for winding the conveyor belt 33 in the running direction (long side direction) of the unmanned transport vehicle 2 . When the conveyor belt 33 is provided in the running direction (long side direction) of the unmanned transport vehicle 2, the conveyor belt 33 is provided in the long side direction of the unmanned transport vehicle 2. In this case, the unmanned transport vehicle are connected in the running direction, it may be characterized by functioning as a long conveyor system corresponding to the length of the connection.

As an embodiment of the present invention, when the unmanned transport vehicle 2 (the conveyor belt 33 is formed in the short side direction) is applied, the running direction of the unmanned transport vehicle 2 is rotated by approximately 90 degrees to rotate the unmanned transport vehicle 2. If they can be connected, they may be arranged in series in the longitudinal direction to function as a belt conveyor.

As one embodiment of the present invention, the conveyor belt 33 is wound in the running direction of the unmanned transport vehicle 2 and/or the running direction of the unmanned transport vehicle 2 is rotated by approximately 90 degrees and connected to form a longitudinal belt conveyor. By functioning as a belt conveyor, it can function as a belt conveyor for the article loading section and/or the article transfer section.

As one embodiment of the present invention, the shape of the conveyor belt of the unmanned transport vehicle 2 functioning as a conveyor of the loading section and/or the article transfer section closest to the unmanned transport vehicle 2 traveling in a circular arrangement is elongated. For example, it may have a shape of a conveyor belt that is substantially in contact with the conveyor belt of the unmanned transfer vehicle 2 arranged in a circular arrangement so that the articles G can be gently handled.

As an embodiment of the present invention, the circularly arranged traveling of the unmanned transfer vehicle 2 is formed in multiple circles, and all the circularly arranged traveling can be linked to one or more article loading section conveyors and article transfer section conveyors. It may be characterized by forming a large number of sorting points per unit area of the installation floor.

In one embodiment of the present invention, for example, using an AMR that can function as an unmanned transfer vehicle that independently forms a conveyor part on the top plate part, for example, a circle type can be easily carried out to a desired place in an airport in a short time. It is now possible to build a sorter facility, which greatly reduces the labor, time, and cost involved in installation from design to operation start-up. The failure problem can be easily solved by replacing it with an unmanned transport vehicle. In addition, it is easy not only to install but also to remove it, and it is also possible to temporarily change it to another purpose (for example, a security checkpoint). In addition, since the number of AMRs can be increased or decreased according to the installation space, the system configuration can be easily configured, so the number of sorting points per unit area can be increased, and the integrated function can be easily expanded. It provides a system.

In one embodiment of the present invention, it may be a port-related sorter system other than an airport, or a distribution center that has introduced a circle-type sorter system.

1 is a plan view showing a main part of a sorter system according to one embodiment of the present invention; FIG. 1 is a front view of an unmanned transport vehicle for configuring a sorter system according to one embodiment of the present invention; FIG. 1 is a side view of an unmanned transport vehicle for configuring a sorter system according to one embodiment of the present invention; FIG. It is a travel route L1 with a QR code (registered trademark) sticker attached on the floor for configuring a sorter system according to an embodiment of the present invention. 1 is a network diagram of a sorter system according to one embodiment of the present invention; FIG. 1 is a configuration diagram of a sorting server of a sorter system according to one embodiment of the present invention; FIG. 1 is a system configuration diagram of an unmanned transport vehicle according to an embodiment of the present invention; FIG. 4 is a travel route formation flow for an unmanned transport vehicle according to an embodiment of the present invention; 1 is a sorting flow of an unmanned transport vehicle according to an embodiment of the present invention;

A sorter system according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a layout plan view of an annular arrangement of unmanned transport vehicles 2, an article loading section 3, and an article transfer section 4, which constitute a sorter system 100 according to an embodiment of the present invention. 2 and 3 are diagrams showing the configuration of the unmanned transfer vehicle 2. FIG.

The sorter system 100 arranges and travels the unmanned transport vehicles 2 on which the articles G are received by the conveyor section 30 in the article input section 3 and placed thereon in a circular direction, and sorts the placed articles G into any one of a plurality of articles. It is configured by transferring by transferring units 4, 4b, 4c, and 4d. Furthermore, by increasing or decreasing the number of unmanned transport vehicles 2 according to the installation space on the floor, it is possible to quickly configure the system. The article G includes a trunk, a package, or a tray on which articles are placed.

The conveyor section 30 mounted on the unmanned transport vehicle 2 runs as a belt in a direction orthogonal to the running direction of the unmanned transport vehicle 2 . That is, the sorter system 100 allows the unmanned transport vehicle 2 to load the articles G from the article loading section 3 in the rotation direction of the conveyor belt 33 of the unmanned transport vehicle 2 and the article G at the article transfer sections 4, 4b, 4c, and 4d. from the unmanned transport vehicle 2 is different from the traveling route L1 direction of the unmanned transport vehicle 2, and is the same as the belt conveyors of the article loading section 3 and the article transfer section 4. .

The sorter system 100 performs the loading of the articles G in the article loading section 3 and the transfer of the articles G in the article transfer sections 4, 4b, 4c, and 4d while the unmanned transfer vehicle 2 travels in a circle. The unmanned transfer vehicle 2 may stop traveling when the articles are loaded and transferred.

As shown in FIGS. 2 and 3 , the unmanned transport vehicle 2 includes a traveling carriage portion 10 and a conveyor portion 30 provided on the traveling carriage portion 10 .

The conveyor section 30 includes a conveyor belt 33 , a belt receiving roll 34 , a belt running motor 35 , and a conveyor section control section 36 .

The conveyor belt 33 is controlled by a conveyor section control section 36 and driven by a belt running motor 35 .

The traveling truck portion 10 includes a truck main body 11, a pair of drive wheels 12A and 12B, a pair of auxiliary wheels 14A and 14B, motors 13A and 13B, and a battery 16. Also, the non-self-propelled traveling carriage has a pair of non-drive wheels 12C and 12D instead of the drive wheels 12A and 12B.

The battery 16 is a rechargeable secondary battery that is used to drive the traveling carriage unit 10 and the conveyor unit 30 . Details of the self-propelled driving method and the conveyor driving method are omitted.

As shown in FIG. 4, the sorter system 100 follows a travel route L1 (see FIG. 4) to which a QR code (registered trademark) sticker (not shown) is attached on the floor surface of the device installation space. 10 and a conveyor unit 30, and a sorter function is realized by circularly traveling a plurality of unmanned transport vehicles 2. As shown in FIG.

As shown in FIG. 5, a sorter system 100 is connected to an airport backbone system 200 via an airport network 1, and an unmanned transfer vehicle 2, an article loading section 3, an article transfer section 4, and a sorting server 101 are connected via the network 1. It is

The sorting server 101 may be configured as part of the airport backbone system 200 .

The airport network 1 uses a wireless and/or wired communication network.

As shown in FIG. 6 , the sorting server 101 is composed of a communication section 110 , a storage section 120 , a system control section 130 , a charge management section 150 , an input section 160 , a display section 170 and a processor section 180 .

The sorting server 101 appropriately records the state of charge of the battery 16 of the unmanned transport vehicle 2 transmitted from the unmanned transport vehicle 2 as rechargeable battery information in the second storage unit, and records the charging power of the unmanned transport vehicle 2 in operation. A controller 130 is provided for controlling the standby charged unmanned transfer vehicle 2 and the replacement based on operation management information when there is a shortage. Furthermore, when the unmanned transport vehicle 2 is out of order, it is appropriately replaced by the standby charged or normally operating unmanned transport vehicle.

In the sorter system 100, the unmanned transfer vehicle can be charged even while the vehicle is running, so the power supply for power reception is provided with a charging facility capable of charging in a non-contact manner in the device installation space.

As shown in FIG. 7 , the unmanned transport vehicle 2 includes a vehicle body communication section 40 , a conveyor section control section 36 , a carriage control section 18 , a sensor section 50 , a vehicle body storage section 21 and a vehicle body processor section 20 . Further, the unmanned transport vehicle 2 that travels in connection may be provided with a connection part 60 .

As an embodiment of the present invention, in order to connect and run the self-propelled unmanned transport vehicle 2 and the non-self-propelled unmanned transport vehicle 2, a connection method using an electromagnet by the connection part 60, or, for example, a train It may be mechanically connected by applying a Janney coupler method, a Willison coupler method, a simple coupler, a tight coupler, or a Scharfenberg method used for automatic connection. Details are omitted.

As an embodiment of the present invention, when the AGV system is adopted for the unmanned transport vehicle 2, the carriage control unit 18 uses a QR code (registered trademark) sticker (see Fig. are omitted) may be controlled so that the traveling vehicle 10 travels along the traveling route L1 attached thereto.

The sorting information of the goods G is linked with other airport systems using barcodes, and the sorting server 101 stores the sorting information of the goods G received by the communication unit 110 from the airport backbone system 200 through the network 1. is stored in the first storage unit. Alternatively, the sorting information of the articles G may be input from the input section 160 of the sorting server and stored in the first storage section of the storage section. Also, the sorting information of the articles G may be displayed on the display section 170 .

The sorting server 101 receives the position information of the unmanned transport vehicle 2 and the rechargeable battery information transmitted from the body communication unit 40 of the unmanned transport vehicle 2 at the communication unit 110, and stores them in the second storage unit of the storage unit.

The system control unit 130 of the sorting server 101 stores the sorting information of the articles G stored in the first storage unit of the storage unit, the position information of the unmanned transportation vehicle and the rechargeable battery stored in the second storage unit of the storage unit. , and controls the carriage control unit 18 and the conveyor unit control unit 36 using wireless communication between the communication unit 110 and the vehicle body communication unit 40 of the unmanned transport vehicle 2 .

As an embodiment of the present invention, the system control unit 130 of the sorting server 101 controls communication between the article loading unit control unit 300 and the article transfer unit 4 through the communication unit (not shown) of the item loading unit 3 according to the operation management information. The article transfer section control section 400 is controlled through the section (not shown) to sort the articles G. FIG. The communication between the article loading unit 3, the article transfer unit 4 and the communication unit 110 may be wireless or wired.

As one embodiment of the present invention, FIG. 8 shows a travel route formation flow of the unmanned transport vehicle 2 . The system control unit 130 of the sorting server 101, based on the sorting information of the articles G stored in the first storage unit of the storage unit and the position information of the unmanned transport vehicle stored in the second storage unit of the storage unit, Operation management information is generated, the operation management information is transmitted from the communication unit 110 to the unmanned transport vehicle 2 <S1>, the unmanned transport vehicle 2 receives the operation management information at the vehicle body communication unit 40 via the network 1 <S2 >, the operation management information is stored in the third storage unit of the vehicle body storage unit 21 of the unmanned transport vehicle 2 <S3>, the unmanned self-propelled vehicle 2 acquires position information from the sensor unit 50 and transmits it to the server 101, Measure the shape and position information of the obstacle and the distance between the unmanned transport vehicle 2 and the unmanned transport vehicle 2 around the unmanned transport vehicle 2 <S4>, and store the measurement data in the fourth storage < S5>, using the operation management information stored in the third storage unit and the measurement data stored in the fourth storage unit, the carriage control unit 18 controls and forms the travel route L1 <S6>.

As one embodiment of the present invention, FIG. 9 shows a sorting flow of an unmanned transport vehicle. The unmanned transfer vehicle 2 moves to the desired article loading section 3 based on the operation management information stored in the third storage section of the vehicle body storage section 21 <S7>, and the article loading section 3 controlled by the article loading section control section 300 The unmanned transfer vehicle 2 moves to the desired article transfer section 4, 4b, 4c, or 4d according to the operation management information stored in the third storage section <S8>. S9>, the article G is transferred in cooperation with the conveyor of the article transfer section controlled by the article transfer section control section 400 <S10>.

Returning from <S10> to <S7> as a series of flow, but <S7> to <S10> may not be continuous. For example, <S7> and <8> are repeated, and <S9> and <S10> are repeated. may

The sorter system 100 moves the conveyor belt 33 by the desired distance in the direction in which the articles G are to be thrown in at the desired article insertion section 3 by the system control section 130 from the operation management information, by the conveyor section control section 36 of the unmanned transfer vehicle 2, and at the desired article insertion section 3. to run.

The conveyor section control section 36 controls belt travel suitable for the conveyor section 30 to load the articles G from the article loading section 3 .

The sorter system 100 uses the system control unit 130 from the operation management information, the conveyer unit control unit 36 of the unmanned transfer vehicle 2, and the desired article transfer units 4, 4b, 4c, and 4d to determine the direction in which the articles G are to be transferred. First, control is performed to run the conveyor belt 33 for a desired distance.

The conveyor section control section 36 controls the belt travel suitable for the transfer of the articles G in the article transfer sections 4, 4b, 4c, and 4d by the conveyor section 30. FIG.

When the transfer of the goods G is completed in the designated goods transfer section, transfer completion information is transmitted to the sorting server 101 through the network 1, and the sorting of the goods G is completed.

According to this configuration, by using AGVs and/or AMRs that can function as independent unmanned transfer vehicles 2, for example, it is possible to quickly and easily construct a circle-type sorter facility at a desired location in an airport. As a result, the installation time and cost can be greatly reduced, and the flexibility of operation is dramatically improved.

In addition, according to this configuration, the system can be easily configured simply by connecting a plurality of unmanned transport vehicles 2 in a predetermined position, and the number of unmanned transport vehicles 2 can be increased or decreased to match the installation space. Even if the number of unmanned transport vehicles 2 is increased or decreased, the system can be easily moved to another location once installed, and can be temporarily and quickly removed on days or hours when the sorter system is not used. Space can be used effectively by temporarily using the space for other purposes, such as receptions.Furthermore, in the event of a breakdown, the problem of failure can be easily resolved by replacing it with another unmanned transport vehicle with the same function.

According to the present invention, it is possible to construct a circle-type sorter facility at a desired location in an airport, for example, in a short time and easily by using AMRs that can function as independent unmanned transfer vehicles. It is possible to provide an excellent sorter system, which has the effect of significantly reducing costs and dramatically improving the degree of freedom in operation.

1... airport network,
2 … unmanned transportation vehicle,
3 ... Goods input section,
4, 4b, 4c, 4d ... article transfer section,
10... Traveling carriage,
11 ... trolley body,
12A, 12B... driving wheels,
12C, 12D... non-driving wheels 13A, 13B... motors,
14A, 14B...Auxiliary wheels,
16...Battery,
18 ... bogie control unit,
20... vehicle body processor section 21... vehicle body storage section,
30... Conveyor section,
33 Conveyor belt,
35 ... belt running motor,
36... Conveyor section control section,
40... body communication section,
50... sensor section,
60 ... connecting part,
100... sorter system,
101... Sorting server 110... Communication unit,
120... Storage unit,
130 ... system control unit,
160... input section,
170 ... display unit,
180 ... processor unit,
200...Airport backbone system,
300... Goods input unit control unit,
400... Goods transfer section control section,
G ... goods,
L1... Traveling route,

Claims (11)

An unmanned transport vehicle having a sorting server, a conveyor section for loading and/or transporting articles on a top plate, an article loading section for loading articles into the unmanned transport vehicle, and an article for transferring the articles from the unmanned transport vehicle. A system having a transfer section,
The sorting server
a communication unit that receives article sorting information;
a first storage unit that stores the received article sorting information;
a second storage unit for storing position information of the unmanned transport vehicle transmitted from the unmanned transport vehicle and received by the communication unit;
Operation management information is generated from the article sorting information stored in the first storage unit and the position information stored in the second storage unit, and the unmanned transport vehicle is generated based on the operation management information. a control unit that controls at least one of the travel of the unmanned transport vehicle, the behavior of the conveyor unit of the unmanned transport vehicle, the behavior of the article loading unit and/or the article transfer unit;
with
The unmanned transport vehicle,
a vehicle body communication unit that transmits the position information of the unmanned transport vehicle to the sorting server;
a third storage unit that stores the operation management information received from the sorting server;
a conveyor section control section that controls the introduction of articles and the transfer of articles;
a sensor unit for measuring the position of the unmanned transport vehicle, the shape and position of obstacles, and the distance between the unmanned transport vehicle and surrounding unmanned transport vehicles;
a fourth storage unit that stores measurement data obtained by measurement by the sensor unit;
a carriage control unit that controls travel of the unmanned transport vehicle based on the operation management information stored in the third storage unit and the measurement data stored in the fourth storage unit;
with
The vehicle is characterized by comprising a travel route pasted on a floor surface for allowing a plurality of said unmanned transport vehicles to travel in a circular fashion, wherein said plurality of said unmanned transport vehicles travel while being connected in a circular fashion along said travel route. sorter system. According to the operation information, the unmanned transfer vehicle moves to the article loading section, loads the articles in cooperation with the article loading section, moves to the article transfer section, and cooperates with the article transfer section to load the articles. 2. The sorter system according to claim 1, wherein the sorter system transfers the . The article input section and/or the article transfer section further includes a conveyor,
3. The conveyor of the article loading section and/ or the conveyor of the article transfer section are operated separately from the unmanned transfer vehicle that is continuously arranged in a running direction and runs in a ring. The sorter system described in . 4. The sorter system according to claim 3 , further comprising an article conveying direction of the conveyor section of the unmanned transport vehicle and a running direction of the unmanned transport vehicle substantially perpendicular to each other. 5. A sorter system according to any one of claims 1 to 4 , characterized in that said automatic transport vehicle further has power for self-propulsion and/or for driving a conveyor. 6. The sorter system according to any one of claims 1 to 5 , wherein the plurality of unmanned transport vehicles include non-self-propelled unmanned transport vehicles. 7. The sorter system according to claim 6 , wherein the non-self-propelled unmanned transport vehicle is connected to the self-propelled unmanned transport vehicle. 1. The unmanned transport vehicle is driven by a battery, and in an emergency including when charging power is insufficient or when a failure occurs, the unmanned transport vehicle is appropriately replaced with the fully charged or normally operating unmanned transport vehicle. 8. A sorter system according to any one of claims 1 to 7 . 9. The sorter system of claim 8 , further comprising a charging facility for charging the automated transport vehicle. 10. The sorter system according to claim 9 , characterized in that the charging of the automatic transport vehicle can be in contact and/or non-contact with a power source. The circularly-arranged traveling of the unmanned transport vehicle is formed in a multiple manner, and all the circularly-arranged traveling are one or more of the conveyors of the article loading section and/or the conveyors of the article transfer section, and the articles are loaded into the conveyor and/or the conveyor of the article transfer section. 11. Sorter system according to any one of claims 1 to 10 , characterized in that it is/or configured to be transferable.

Images