JPS6310046B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to freight transport equipment for automatically transporting freight to a destination.

Conventional configuration and its problems Conventional freight transportation currently relies on rail and truck freight, and it is not possible to automatically deliver the freight to the destination. Therefore, one method of automatic transportation is to use a large computer in a control center to manage the movement of a transport vehicle between each railway station, depending on the destination of the cargo loaded on the transport vehicle. Conceivable.

However, as the number of transport vehicles increases with the expansion of the service area, and the number of cargoes loaded onto a single transport vehicle with different destinations increases, there is a drawback that the control center's large computer cannot handle it alone. .

Purpose of the Invention The present invention provides a cargo transportation system that can automatically deliver cargo to its destination even when there are a large number of transport vehicles and one transport vehicle is loaded with a large number of cargo destined for different destinations. The purpose is to provide

Composition of the Invention The freight transportation equipment of the present invention comprises automatic warehouses distributed in a plurality of distributed service areas, track facilities connecting these automatic warehouses, and transportation cargo. A decentralized area automatic guided vehicle is provided, which loads and moves on the track of the track facility, and the main track facility that connects the designated automated warehouses of each of the distributed service areas, as well as the main track facility, moves on the track of the main track facility. In addition to providing mainline automated guided vehicles, a cargo management device is also provided for each distributed service area, and when loading onto the distributed area automated guided vehicle, the cargo loaded onto the automated guided vehicle is checked by the cargo management device of the distributed service area. When loading position information, delivery destination automated warehouse information, and specific information specific to the transported cargo are written in the management device, and the cargo is moved from the loading distribution service area to the distribution service area to which the delivery destination belongs via the trunk automatic guided vehicle, The management information of the corresponding transport cargo is transferred from the cargo management device of the loading distribution service area specified by the loading location information to the cargo management device of the delivery destination distribution service area at an appropriate time, and the automatic guided vehicle for the distribution area delivers it. If the service area is expanded by unloading the transported cargo upon arrival at the automated warehouse that matches the destination automated warehouse information, and by configuring the system to read the management information of the unloaded transported cargo from the cargo management device in the delivery destination distributed service area, The system is characterized in that it can be quickly processed each time by the cargo management device at the delivery destination without having to inquire about management information to the cargo management device in the distant loading distribution service area.

Embodiments and Effects Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 1 shows the basic configuration of the cargo transportation equipment of the present invention. 1a, 1b, 1c, and 1d are automated warehouses distributed in the service area 2, 3 is track equipment connecting the automated warehouses 1a to 1d, and 4 is track equipment 3.
Automated guided vehicles moving above, 5 are each automated warehouse 1a ~
This is a cargo management device that stores management information of the cargo received in 1d. Management information is entered for each received cargo, and its contents are as follows.

Cargo No. Class Shipper's address, name, and phone number Consignee's address, name, and phone number Delivery destination Automated warehouse Handling type Cargo transit position
It consists of "reception date and time", "reception number", and "grade"
consists of the "size", "weight", and "type" of the cargo.

FIG. 2 shows the configuration of the automated warehouses 1a to 1d and the configuration of the track equipment 3. Since the configurations of the automatic warehouses 1a to 1d are all the same, the automatic warehouse 1a will be described here as an example. Furthermore, in the following description, it is assumed that the automatic guided vehicle 4 travels on the track equipment 3 in the direction of the arrow.

6 is an input device for inputting the management information of each cargo; 7 is a loading device for loading the received cargo onto the automated guided vehicle 4; and 8 is the automated guided vehicle 4 [hereinafter referred to as automated guided vehicle 4] stopped in the premises of the automated warehouse 1a. 9 is a clamping device for clamping the mobile vehicle 4 at a predetermined position and restraining the position of the mobile vehicle 4 during loading and unloading of cargo; A communication device for exchanging data with the self-propelled vehicle 4 via a photocoupler or the like, and 11 a parking route 1 whose track within the automated warehouse 1a is clamped by the clamping device 9.
a point device for switching between 2 and a passing route 13;
4 is an opening/closing device that engages with the door 15 (see FIG. 3) of the stopped personal vehicle 4 to open and close the door 15, and 16 is an automatic warehouse control device that controls each of the above-mentioned devices of the automatic warehouse 1a.

As shown in FIG. 3, the personal transport vehicle 4 is provided with first to twenty-fifth loading shelves A ₁ to A ₂₅ that can be pulled out to the automated warehouse 1a side by opening the door 15.
Each shelf A ₁ to _{A 25} has four areas B ₁ to A 25, respectively.
It is divided into areas B ₄ , and cargo can be placed and accommodated in each area B ₁ to _{B 4} . Also, each area B ₁
When unloading the bottom plate 17 of _B4 , the locking means (not shown) is removed by the unloading device 8 and the bottom plate 17 of B4 is opened downward as shown in FIG. The overall configuration of the mobile vehicle 4 is as shown in FIG.
a communication device 19 controlled by the vehicle 4, a door lock device 20, a door opening/closing detection device 21, a travel drive device 22, a braking device 23 that brakes the travel of the vehicle 4, and a It is composed of a position information receiving device 24 that receives various information while the vehicle is running, a stop request receiving device 25, an empty shelf address memory 26, and a loaded cargo management device 27. The device 27 has writing positions 1-1, 1-2, 1-3, 1- corresponding to the areas _B1 to _B4 of the storage shelves _A1 to _A25 , respectively.
4, 2-1...25-1, 25-2, 25-3, 2
5-4 is provided. Loaded cargo management device 27
In the writing positions 1-1 to 25-4, the "cargo number", "class", and "delivery destination automatic warehouse number" of the loaded cargo are written.
is written each time.

7 and 8 show a flowchart of the automatic warehouse control device 16, and FIG. 9 shows a flowchart of the self-transported vehicle control device 18 mounted on the self-transported vehicle 4.
Next, operation control of the self-propelled vehicle 4, cargo loading/unloading control, and management data processing will be explained in detail based on the flowcharts shown in FIGS. 7 to 9.

First, management information is input through the input device 6 at each automated warehouse 1a to 1d when transport cargo is accepted, and this management information is written into the cargo management device 5 via the communication line 28. When the management information is input using the input device 6, the automatic warehouse control device 16 of the automated warehouse that has received the transported cargo receives a "cargo number" unique to the transported cargo.
The "grade" and "delivery destination automatic warehouse number" are written.

Here, the self-transported vehicle 4 is moved to the automated warehouse 1 as shown in Fig. 2.
While traveling between d and 1a, the automated warehouse 1a
is controlled based on the flowchart shown in FIG. In the following explanation, the automated warehouse will be referred to as a terminal warehouse. The terminal warehouse 1a receives the "self-carrying vehicle number", "whether or not cargo is being unloaded at the current terminal warehouse 1a", and "empty shelf information" reported from the front terminal warehouse 1d via the communication line 29 [a-1]. Also,
Check whether unloading is possible at the temporary warehouse 1a [a
-2], and if unloading can be carried out, [a-
Look at the received data in step 1 and check whether there is unloading [a-3]. ``Unloading available'' at [a-3]
If it is determined that this is the case, the contents of the automatic warehouse control device 16 of the current warehouse 1a are checked to see if there is any cargo [a-4]. If it is determined in [a-4] that there is "no cargo to be loaded," the message is immediately sent to the traveling personal vehicle 4 via the transmitting means 30 for unloading as determined in [a-3]. A stop request signal S is sent [a-5].

If it is determined in [a-3] that there is no unloading, check [a-6] the "empty shelf information" received in [a-1], and check the "empty shelf information" in [a-6]. If it is determined that there is a cargo, the same as [a-4]
[a-7], and if it is determined that there is cargo in [a-7], the “number of empty shelves” and “large Search and decide on cargo that can be loaded based on
Then execute [a-5]. [a-5] is executed via [a-8] even if it is determined in [a-4] that there is a cargo.

When it is determined that "unloading is not possible" in [a-2], and "loading is not executed" in [a-6] and [a-7].
If it is determined that, in both cases, the "terminal storage number" of the terminal storage 1b next to the current storage 1a is reported to the traveling transport vehicle 4 via the transmission means 30 via the communication line 29 [a
-9] At the same time, the point device 11 in the terminal shed 1a is driven to change the trajectory to the imaginary line position in Fig. 2 in order to allow the self-propelled vehicle 4 to pass [a-10].

As shown in FIG. 9, the self-propelled vehicle 4 asks whether it has received the stop request signal S output by the stop request receiving device 25 in execution of [a-5] after the vehicle departs from the depot 1d.
Check [b-1] and check the "terminal warehouse No. = Pt" of the current terminal warehouse 1a that will arrive at the location information receiving device 2.
4 [b-2], searches the loaded cargo management device 27 in which the "delivery front warehouse No." loaded on the personal transport vehicle 4 is written, and reads the "Pt Check [a-3] whether there is search data Po that matches [a-3], and if no match is detected in [a-3], return to [b-1]. When the stop request signal S is received at [b-1], or Po= at [b-3]
When Pt is detected, that is, when there is loading and unloading at the terminal storage 1a, the traveling drive device 22 and the braking device 23
Instruct the vehicle to “decelerate and stop” [b-4].

On the other hand, when the mobile vehicle 4 enters the premises of the depot 1a and stops by executing [b-4], the depot control device 16 executes the routine shown in FIG. 8. in this case,
Detects that the vehicle has stopped at a predetermined loading/unloading location [a-
11] Then, the clamp device 9 clamps the mobile vehicle 4 [a-12], and various data are exchanged between the mobile vehicle 4 and the terminal storage 1a via the communication devices 10 and 19. [a-13]. At [a-13], the reading of "self-carrying vehicle number", the reporting of "current warehouse number", the reading of "unloading shelf address at current warehouse", and the reading of "empty shelf address" are executed. be done. In addition, in Fig. 9, the parts corresponding to [a-13] are [b-5] and [b-
6] and [b-7], and after the execution of [b-7], the door lock device 20 of the self-propelled vehicle 4 is instructed to unlock [b-8].

In the terminal shed 1a where [a-13] has been completed, the opening/closing device 1
4 to open the door 15 of the vehicle 4 [a-14], and determine the loading shelf to be pulled out by the unloading device 8 based on the data received at [a-13] [a-
15] and unload [a-16].

This unloading is carried out at [a-15] as shown in Figure 5.
Belt conveyor 3 is placed below the shelf A determined by
At the same time, the cylinder 33 pulls out the loading shelf A onto the belt conveyor 31 to place the cargo 3 to be unloaded.
Area containing 4 [Area B ₄ in Figure 5]
Open the bottom plate 17 of the belt conveyor 3 to transport the cargo 34.
After the opened bottom plate 17 is closed, the loaded shelf A that has been pulled out is pushed into its original position by the cylinder 33.

When unloading is completed in this way, [a-13]
Based on the empty shelf address received in , the loading shelf A to be pulled out is determined [a-17] and loading is executed [a-18]. Loading is as shown in Figure 6 [a-17]
Belt conveyor 3 is placed above the shelf A determined by
At the same time, the cylinders 33 pull out the loading shelf A below the belt conveyor 35, and the cargo 34 is dropped onto the loading area (area B ₃ in FIG. 6). The loaded and pulled out shelf A is pushed back into its original position by the cylinder 33.

When loading and unloading is completed in this way, [a-16]
Based on the loading and unloading of [a-18], the data of the empty shelf address memory 26 and the loaded cargo management device 27 of the mobile vehicle 4 is updated [a-20], and
No.” [a-21].

[a-20] [a-21] is the 9th vehicle on the mobile vehicle 4 side.
Corresponding to [b-9] and [b-10] in the figure, the self-propelled vehicle 4 searches the loaded cargo management device 27 based on the data in [b-10] and moves to the next terminal 1b. Search for unloaded cargo [b-10] and go to terminal warehouse 1a to next terminal warehouse 1b
Report contact data to [b-12].

The contact data for [b-12] is the 8th one in terminal storage 1a.
It is received at [a-22] in the figure. The received communication data includes the "current empty shelf", "unloading data at the next terminal", and "car No." of the mobile vehicle 4, and this received data is transmitted to the communication line 29. It is transferred to the terminal storage 1b via [a-23]. Further, the opening/closing device 14 is instructed to close the door 15 [a-24], and a departure command is output [a-25]. At this time, the clamp on the mobile vehicle 4 by the clamp device 9 is also released.

[a-24] [a-25] is [b] on the mobile vehicle 4 side.
-13] Corresponding to [b-14], the braking device 23 and traveling drive device 22 execute the departure [b-15].

In this way, the cargo that has been loaded, transported, and unloaded and has arrived at the delivery depot 1a is unloaded from the transport vehicle 4 to the destination depot 1a.
The unloading data including the "cargo number" is written in the depot control device 16, and an inquiry is made to the cargo management device 5 based on the "cargo number" of the cargo when it is delivered from the depot 1a to the consignee. carried out, cargo management device 5
Delivery operations are executed in accordance with the management information obtained from.

In this way, since the simple loaded cargo management device 27 is provided in the personal transport vehicle 4, the transported cargo can be delivered to the destination without making inquiries to the central cargo management device 5 each time.

In the above embodiment, when the service area expands and the number of terminal warehouses increases, the number of inquiries for management information to the cargo management device 5 increases and prompt processing cannot be expected. However, the configuration shown in FIG. 10 is adopted. This problem can thus be avoided.

In FIG. 10, 37, 38... are distributed service areas distributed over a vast transportation service area 39, and these distributed service areas 37, 38...
The cargo transportation equipment in 38... has the same configuration as in Figure 1. 40 is a distributed service area 37,
This is a main track facility that connects predetermined terminal warehouses 1a, 1a', 38.... 41 is a trunk vehicle that moves on the trunk track facility 40.

Since transportation within each of the distributed service areas 37, 38, etc. is the same as in the above embodiment, we will take the case where cargo loaded in the distributed service area 37 is transported to another distributed service area 38 as an example. Communication processing between cargo management devices 5a and 5b in areas 37 and 38 will be explained.

First, the depot 1a is loaded onto a decentralized service area vehicle 4a and the main track equipment 40 is pulled in.
When the main transport vehicle 41 is transported to the terminal shed 1a, unloading is performed once from the transport vehicle 4a at the terminal shed 1a, and when the main transport vehicle 41 with empty shelves arrives at the terminal shed 1a, the trunk transport vehicle 4
1 is loaded again. In addition, it is loaded from the terminal warehouse 1a onto the main transport vehicle 41 and transported to the distributed service area 37.
When the cargo moves outside, that fact is added to the management information of the cargo management device 5a as passing position information. Further, in the loaded cargo management device 27 of the trunk vehicle 41, the "cargo number" and "delivery front warehouse number" are written from the terminal warehouse 1a at the time of cargo loading.

When the main vehicle 41 transports the cargo to the depot 1a' in the distributed service area 38 to which the delivery depot 1b' belongs, it is unloaded from the main vehicle 41 to the depot 1a'. be done. The fact that the cargo has been unloaded to the terminal warehouse 1a' is also added to the management information of the cargo management device 5a at an appropriate time as passing position information. Also,
"Cargo No." and "Delivery front warehouse No." are transferred together with the cargo from the loaded cargo management device 27 of the trunk vehicle 41 to the terminal warehouse 1a'. The cargo transported to terminal warehouse 1a' is
The cargo is transported to the delivery warehouse 1b' by the distributed service area vehicle 4b, and the arrived cargo is unloaded at the delivery warehouse 1b'. When the cargo is unloaded, it queries the cargo management device 5a in the reception distributed service area 37 for management information according to the "cargo number" of the cargo.
The management information is transferred to the cargo management device 5b at the delivery destination.

With this configuration, when the cargo that has arrived at the terminal warehouse 1b' is delivered to the consignee, management information is transferred from the terminal warehouse 1b' to the cargo management device 5b installed at a short distance from the terminal warehouse 1b'. Inquiries are made, and delivery operations are performed according to the obtained management information.

Note that the same effect can be obtained even if the management information is transferred when the cargo reaches the distributed service area 38 to which the delivery end warehouse belongs.

Effects of the Invention As explained above, according to the cargo transportation equipment of the present invention, since the loaded cargo management device is mounted on the automatic guided vehicle, the cargo can be transported to the destination without making inquiries to the central cargo management device each time. This is effective when handling many shipments to different destinations.

In addition, each distributed service area is connected with main track equipment to enable transportation to a distributed service area different from the loading distributed service area, and management information registered in the cargo management device of the loading distributed service area is appropriately transferred. Since the system is structured so that the information is transferred to the cargo management device in the distributed service area of the delivery destination at the same time, there is no need to contact the remote loading and distributed service area for management information each time, and even if the service area is vast, prompt delivery operations can be expected. It is something.

[Brief explanation of the drawing]

Fig. 1 is a plan view of an embodiment of the freight transportation equipment of the present invention, Fig. 2 is a detailed view of the main parts of Fig. 1, Fig. 3 is a perspective view of an automatic guided vehicle, and Fig. 4 is a schematic diagram of an automated guided vehicle. The configuration diagram, Figures 5 and 6 are explanatory diagrams of the operation of the loading and unloading device,
7 and 8 are flowcharts of an automatic warehouse control device, FIG. 9 is a flowchart of a self-propelled vehicle control device, and FIG. 10 is a plan view of another embodiment of the cargo transportation equipment of the present invention. be. 1a to 1d...Automated warehouse, 2...Service area,
3...Track equipment, 4...Automatic guided vehicle, 5...Cargo management device, 7...Loading device, 8...Unloading device, 16...Automatic warehouse control device, _A1 to _A25 ...Placement shelf, _B1 to _B4 ...Area, 18...Personnel vehicle control device, 27...Loaded cargo management device, 37, 38...Distributed service area, 39...
Transportation service area, 40... Main track equipment, 41
...Automatic transport vehicle for main line, 4a, 4b...Automatic transport vehicle for distributed area, 5a, 5b... Cargo management device.

Claims (1)

[Claims] 1. Automated warehouses that are distributed in multiple distributed service areas within the transportation service area, and track equipment that connects these automated warehouses;
and an automated guided vehicle for distributed areas that loads transport cargo and moves on the track of the track facility,
In addition to providing trunk track equipment that connects predetermined automated warehouses in each of the distributed service areas and trunk automatic transport vehicles that move on the tracks of this trunk track equipment,
A cargo management device is provided for each distributed service area, and when loading onto an automatic guided vehicle for the distributed area, the cargo management device of the distributed service area sends the loading position information and delivery destination to the loaded cargo management device of the loaded automatic guided vehicle. When the automated warehouse information and specific information specific to the transported cargo are written, and the delivery destination is moved from the loading distribution service area to the distribution service area to which the delivery destination belongs via the trunk automatic guided vehicle, the loading distribution specified by the loading position information is performed. The management information of the corresponding transport cargo is transferred from the cargo management device in the service area to the cargo management device in the delivery destination distributed service area at an appropriate time, and the automated warehouse for the distributed area matches the delivery destination automated warehouse information. Freight transportation equipment configured to unload the transported cargo upon arrival and read management information of the unloaded transported cargo from the cargo management device in the delivery destination distributed service area.