Object to be transported and automatic guided transportation system

Patent metadata

Field	Value
Publication number	US-11999569-B2
Application number	US-202017004077-A
Country	US
Kind code	B2
Filing date	Aug 27, 2020
Priority date	Mar 18, 2020
Publication date	Jun 4, 2024
Grant date	Jun 4, 2024

Abstract

According to one embodiment, an object to be transported by an automatic guided transportation vehicle includes: a housing having an entry route through which the automatic guided transportation vehicle enters; a marker that can be recognized by a sensor provided in the automatic guided transportation vehicle; and a marker holder configured to hold the marker retractably at an initial position where the marker contacts with the automatic guided transportation vehicle in the entry route.

First claim

What is claimed is:

1. An object to be transported by an automatic guided transportation vehicle, comprising:
a housing having an entry route through which the automatic guided transportation vehicle enters;
a marker that can be recognized by a sensor provided in the automatic guided transportation vehicle; and
a marker holder configured to hold the marker at an initial position where the marker contacts with the automatic guided transportation vehicle in the entry route, the marker holder being configured to retract the marker from the entry route.

2. The object to be transported according to claim 1 , wherein
the marker holder is configured to hold the marker rotatably, and
the marker is configured to be retracted from the entry route by rotating in contact with the automatic guided transportation vehicle.

3. The object to be transported according to claim 2 , wherein
the initial position is an equilibrium position where the marker is stopped by gravity, and
the marker returns to the initial position when the automatic guided transportation vehicle exits from the entry route.

4. The object to be transported according to claim 1 , wherein the marker is formed in a plate shape.

5. The object to be transported according to claim 4 , wherein
the marker has a first marker and a second marker separated with each other, and
the first marker and the second marker are arranged in a left-right direction perpendicular to an entry direction in which the automatic guided transportation vehicle enters in the entry route.

6. The object to be transported according to claim 5 , wherein
the first marker and the second marker are arranged in the left-right direction with a central axis along the entry direction of the entry route interposed therebetween,
the first marker and the second marker are arranged at positions symmetrical with respect to the central axis,
the first marker has a first plate surface,
the second marker has a second plate surface, and
an angle formed by the first plate surface and the second plate surface is smaller than 180 degrees.

7. The object to be transported according to claim 1 , wherein the entry route of the housing is formed below the bottom surface of the housing.

8. An automatic guided transportation system comprising:
the object to be transported according to claim 1 ; and
the automatic guided transportation vehicle.

9. The automatic guided transportation system according to claim 8 , wherein the sensor of the automatic guided transportation vehicle is a laser range sensor.

10. The automatic guided transportation system according to claim 8 , wherein the sensor of the automatic guided transportation vehicle is a camera.

11. The automatic guided transportation system according to claim 8 , wherein the object to be transported is a carriage having wheels.

12. The automatic guided transportation vehicle system according to claim 8 , wherein
the entry route has a first opening into which the automatic guided transportation vehicle enters, and a second opening on a side opposite to the first opening in an entry direction in which the automatic guided transportation vehicle enters,
the automatic guided transportation vehicle has a sensor at a distal end in the entry direction, and
the sensor of the automatic guided transportation vehicle that has entered the entry route is exposed from the second opening.

Assignees

• Toshiba Kk

Inventors

• Tanaka Junya
• Ogawa Hideki
• Yamamoto Daisuke
• Sonoura Takafumi
• Tokura Seiji

Classifications

• B65G1/065 Primary

  with self propelled cars · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J11/008

  Manipulators for service tasks · CPC title

• B65G2203/0216

  Codes or marks on the article · CPC title