RACK CONVEYANCE SYSTEM, RACK CONVEYANCE VEHICLE, AND RACK CONVEYANCE METHOD

摘要

The present invention provides an driverless rack conveyance vehicle that is capable of recognizing the layout and orientations of a plurality of racks, even if there is a plurality of racks within the measuring range of a distance sensor. A rack conveyance system wherein racks (30) have a plurality of rack legs, and a rack conveyance vehicle (20) is provided with: a distance sensor (220) that measures the distance to an obstacle; a rack leg candidate detection unit (602) that detects rack leg candidates, which are candidates for being rack legs, from the measurement results (601) from the distance sensor (220); a rack layout candidate calculation unit (603) that calculates, from the rack leg candidates, a plurality of rack layout candidates, which are hypothetical layouts of racks; an excess and deficiency calculation unit (604) that calculates, for each rack layout candidate, the excess number of rack leg candidates or the deficient number of rack leg candidates; a rack layout determination unit (605) that determines the rack layout from the plurality of rack layout candidates on the basis of the excess numbers and the deficient numbers; and a destination determination unit (607) that determines which rack is the destination of the rack conveyance vehicle (20) on the basis of the rack layout.