Goods sorting equipment

Abstract

To realize an article sorting installation less apt to lower in the efficiency of transporting an article by a carrier.SOLUTION: An article sorting installation includes, provided that an area between a pair of Y-directional routes 62 adjacent to each other in an X direction is taken as a Y-directional inter-route area, an auxiliary Y-directional route 63 set up for a carrier 20 to travel in the Y direction in at least one of a plurality of Y-directional inter-route areas, the auxiliary Y-directional route 63 being a route branching from at least one of the pair of Y-directional routes 62 adjacent to each other in the X direction.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an article sorting facility in which a plurality of transport vehicles transport articles.

Background Art

[0002] Article sorting facilities in which a plurality of transport vehicles transport articles in distribution warehouses and the like are known. For example, Japanese Patent Laid-Open No. 2020-100482 (Patent Document 1) describes an article sorting facility in which a plurality of transport vehicles (V) transport articles from a plurality of supply sections (90) to a plurality of receiving sections (80).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] Incidentally, in the article sorting facility of Patent Document 1, when the transport vehicles travel from the supply sections to the receiving sections, the routes of the plurality of transport vehicles may intersect with each other. In such a case, since a plurality of transport vehicles cannot pass through the same intersection at the same time, it is necessary to allow one transport vehicle to travel and put the other transport vehicle on standby. When such standby of transport vehicles frequently occurs at positions or on routes where congestion is likely to occur, there has been a problem that transport efficiency decreases.

[0005] Therefore, it is desired to realize an article sorting facility in which the efficiency of article transport by transport vehicles is less likely to decrease.

Means for Solving the Problem

[0006] The article sorting equipment according to this disclosure is an article sorting equipment that sorts articles by having multiple transport vehicles each travel across a floor to transport articles, comprising: a supply unit that supplies the articles to the transport vehicles; and a receiving unit that receives the articles from the transport vehicles, wherein a specific direction along the floor is defined as the Y direction, a direction perpendicular to the Y direction along the floor is defined as the X direction, one side of the Y direction is defined as the first Y direction side, the other side of the Y direction is defined as the second Y direction side, one side of the X direction is defined as the first X direction side, and the other side of the X direction is defined as the second X direction side, and a connection area having extensions in the Y direction and the X direction is set on the floor, and a plurality of entry points, which are places into which the transport vehicles supplied with articles by the supply unit enter the connection area, are located on the first Y direction side of the connection area, and Multiple exit sections are arranged in line in the X direction, and are places where the transport vehicle heading towards the receiving section exits the connection area. These exit sections are arranged in line with each other in the X direction on the second side of the connection area in the Y direction. The connection area is set up so that the same number of Y-direction paths, which are the paths of the transport vehicle traveling along the Y direction, are arranged in the X direction as the number of entry sections. Multiple X-direction paths, which are the paths of the transport vehicle traveling along the X direction, are arranged in the Y direction. The area between a pair of adjacent Y-direction paths in the X direction is defined as a Y-direction path inter-path region. At least one of the multiple Y-direction path inter-path regions is defined as an auxiliary Y-direction path for the transport vehicle to travel in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of adjacent Y-direction paths in the X direction.

[0007] With this configuration, at least some of the transport vehicles traveling on one Y-direction path will travel on an auxiliary Y-direction path, thus reducing the number of transport vehicles traveling on that Y-direction path. Furthermore, the path that transport vehicles travel in the X-direction to branch off from the Y-direction path and merge onto the auxiliary Y-direction path can function as a waiting position for transport vehicles before merging onto the auxiliary Y-direction path. Therefore, congestion of transport vehicles heading in the Y-direction can be alleviated, and the efficiency of goods transported by transport vehicles is less likely to decrease. [Brief explanation of the drawing]

[0008] [Figure 1] Top view of the article sorting equipment according to the first embodiment [Figure 2] Front view of the receiving area in Figure 1 [Figure 3] Control block diagram of the goods sorting equipment shown in Figure 1. [Figure 4] Figure 1 shows the first layer of the goods sorting equipment. [Figure 5] Figure 1 shows the second layer of the goods sorting equipment. [Figure 6] Diagram illustrating the corresponding exit route in Figure 4. [Figure 7] A diagram showing the first layer of the article sorting equipment according to the second embodiment. [Figure 8] Top view of the article sorting equipment according to the third embodiment [Figure 9] Front view of the receiving area in Figure 8 [Figure 10] Top view of the article sorting equipment according to the fourth embodiment [Modes for carrying out the invention]

[0009] [First Embodiment] In the following description, the article sorting equipment 10 according to the first embodiment will be explained with reference to the drawings.

[0010] Figure 1 is a top view of an article sorting facility 10 that transports articles W using multiple transport vehicles 20. In this embodiment, the article sorting facility 10 sorts articles W by transporting articles W by having each of the multiple transport vehicles 20 travel on the floor E. In this embodiment, the article sorting facility 10 comprises a floor E, a supply unit 15, and a receiving unit 31. The supply unit 15 is configured to supply articles W to the transport vehicles 20. The receiving unit 31 is configured to receive articles W from the transport vehicles 20. In this embodiment, the article sorting facility 10 comprises multiple transport vehicles 20, a floor E, multiple supply units 15, and multiple receiving units 31.

[0011] In this embodiment, the work unit 16 transfers the goods W to the transport vehicle 20 at the supply unit 15. Here, "work unit" refers to, for example, a worker and / or a work device. The work unit 16 transfers the goods W from the supply and transport device 17, which transports the goods W from an automated warehouse (not shown), to the transport vehicle 20. Examples of the supply and transport device 17 include a belt conveyor, a crane, an arm-type robot, etc. It is also possible to configure the supply unit 15 to have a mounting platform, and the transport vehicle 20 to receive the goods W supplied to the mounting platform by the supply and transport device 17.

[0012] Here, a specific direction along floor E is defined as the Y direction, and a direction perpendicular to the Y direction along floor E is defined as the X direction. Furthermore, one side of the Y direction is defined as the first Y direction side Y1, and the other side of the Y direction is defined as the second Y direction side Y2. Similarly, one side of the X direction is defined as the first X direction side X1, and the other side of the X direction is defined as the second X direction side X2. The vertical direction is defined as the Z direction. Examples of floor E include running surfaces and floors provided in facilities such as buildings and ships. In this embodiment, floor E is a running surface provided on a platform indoors.

[0013] Floor E has a connection area E2 that extends in both the Y and X directions. Floor E also has multiple entry points 19, which are the places where the transport vehicle 20, supplied with goods W from the supply unit 15, enters the connection area E2. These entry points are arranged on the first side Y1 in the Y direction of the connection area E2, aligned with each other in the X direction. Floor E also has multiple exit points 33, which are the places where the transport vehicle 20, heading towards the receiving unit 31, exits the connection area E2. These exit points are arranged on the second side Y2 in the Y direction of the connection area E2, aligned with each other in the X direction.

[0014] In the present embodiment, a supply area E1 provided with a supply unit 15 and a receiving area E3 provided with a receiving unit 31 are set on a floor E. The supply area E1 is arranged on the first Y-direction side Y1 with respect to the receiving area E3. In the illustrated example, a plurality of supply areas E1 are arranged, and each supply area E1 is provided with a supply unit 15. Furthermore, the plurality of supply areas E1 are arranged side by side in the X direction. In addition, the plurality of receiving areas E3 are arranged side by side in the X direction. Further, a plurality of receiving areas E3 are arranged, and each receiving area E3 is provided with a receiving unit 31.

[0015] In the present embodiment, a connection area E2 is set so as to connect the receiving area E3 and the supply area E1. In the illustrated example, the connection area E2 is set so as to connect the plurality of supply areas E1 and the plurality of receiving areas E3 to each other. Further, the connection area E2 connects the supply area E1 and the receiving area E3 so that a transport vehicle 20 can travel therethrough.

[0016] The supply area E1, the connection area E2, and the receiving area E3 set on the floor E may each be an area where the floor E is actually partitioned, or may be a virtual area. In the present embodiment, a boundary between the supply area E1 and the connection area E2 is a virtual boundary set on the floor E. Further, in the present embodiment, both sides of the receiving area E3 in the X direction serve as outer edges of the floor E.

[0017] In the present embodiment, the respective entry portions 19 of the plurality of supply areas E1 are arranged on the floor E so as to line up in the X direction. Further, one entry portion 19 is provided for each of the plurality of supply areas E1.

[0018] In the present embodiment, the respective exit portions 33 of the plurality of receiving areas E3 are arranged on the floor E so as to line up in the X direction. Further, one exit portion 33 is provided for each of the plurality of receiving areas E3.

[0019] In this embodiment, the transport vehicle 20 returns to the supply area E1 via the second layer F2 described later, but the entry section 19 may also serve as an exit section from the connection area E2 to the supply area E1. Alternatively, the exit section 33 may also serve as an entry section from the receiving area E3 to the connection area E2.

[0020] In this embodiment, multiple supply areas E1 are connected to each other via connecting areas E2. Each of the multiple supply areas E1 also includes a passage-like area extending along the Y direction. In the illustrated example, the supply area E1 is a passage-like area extending along the Y direction.

[0021] In this embodiment, multiple receiving areas E3 are connected to each other via connecting areas E2. Each of the multiple receiving areas E3 includes a passage-like area extending along the Y direction. In the illustrated example, the receiving area E3 is a passage-like area extending along the Y direction. The multiple receiving sections 31 are arranged so as to be aligned along the Y direction along each of the multiple receiving areas E3.

[0022] In the illustrated example, the entrance section 19 and the exit section 33 are arranged to overlap in a view along the Y direction. Furthermore, the connecting area E2 connects the entrance section 19 and the exit section 33, allowing the transport vehicle 20 to travel between them.

[0023] Figure 2 is a front view of the receiving area E3. In this embodiment, multiple receiving sections 31 are arranged along the Y direction on each side of the receiving area E3 in the X direction. In this embodiment, the transport vehicle 20 is equipped with a transfer section 21 for transferring articles W from the transport vehicle 20 to the receiving section 31. The transfer section 21 is configured to allow the orientation of the mounting surface 22 on which the articles W are placed to be changed between a "horizontal position" and an "inclined position". Articles W are placed on the mounting surface 22 in the horizontal position and transported, and when the mounting surface 22 is in the inclined position, they are transferred to the receiving section 31. In this embodiment, the transport vehicle 20 is equipped with a running section 25. The running section 25 is provided with multiple wheels 23 that roll on a running surface on the floor E. Examples of transport vehicles 20 include electric vehicles that run on power supplied by a storage battery, fuel cell, contact-type power supply from the floor E, non-contact-type power supply, etc., and vehicles equipped with an internal combustion engine. In this embodiment, a storage battery 27 (see Figure 3) is mounted on the running section 25 of the transport vehicle 20. In this embodiment, the transport vehicle 20 is an electrically powered unmanned transport vehicle.

[0024] In this embodiment, each of the multiple receiving sections 31 is provided with a receiving and conveying device 35. Articles W transferred to the receiving section 31 are conveyed by the receiving and conveying device 35 in a direction along the X direction and placed in containers 38 corresponding to each of the multiple receiving sections 31. In this embodiment, a shipping device 36 is also arranged adjacent to the multiple receiving and conveying devices 35. Containers 38 are arranged in a row on the shipping device 36, and when the type and number of articles W specified in one order information are placed in the containers 38, the shipping device 36 transports the containers 38 to the shipping location. Examples of receiving and conveying devices 35 include belt conveyors, cranes, and robotic arms. Examples of shipping devices 36 include belt conveyors, stacker cranes, and automated guided vehicles.

[0025] Figure 3 is a control block diagram of the goods sorting equipment 10 of this embodiment. In this embodiment, the goods sorting equipment 10 includes a control system 45 that controls the transport vehicle 20. In the illustrated example, the control system 45 includes a control device 46 that controls the transfer unit 21 and the travel unit 25 of the transport vehicle 20, the supply transport device 17, the receiving transport device 35, and the shipping device 36. The control device 46 includes an arithmetic processing unit such as a CPU (Central Processing Unit) and a main memory that the arithmetic processing unit can access, such as RAM (Random Access Memory) or ROM (Read Only Memory). Each function of the control device 46 (for example, the function of controlling the movement of the transport vehicle 20) is realized through the cooperation of the hardware provided by the control device 46 and a program executed on the hardware such as the arithmetic processing unit. Specifically, each function of the control device 46 is realized by the control device 46 executing a program stored in a memory device (main memory or a separately provided memory unit, etc.). In other words, a program (for example, an item transport program) for a computer (the computer of the control system 45) to implement each function of the control device 46 is stored in a storage device accessible to the computer. This program is provided, for example, by a storage medium or via a communication network. The provided program is then stored in a storage device accessible to the computer. In this embodiment, the control device 46 (specifically, the arithmetic processing unit included in the control device 46) functions as a "computer". The control device 46 may not be a single piece of hardware, but rather a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other by wired or wireless means. For example, the control device 46 may be configured to include a higher-level control device located in a control facility (not shown) that controls multiple transport vehicles 20, and control devices mounted on each transport vehicle 20.

[0026] In this embodiment, floor E is divided into multiple virtual unit areas Au that form a grid when viewed in the Z direction. The travel path of the transport vehicle 20 is set to connect multiple arbitrary virtual unit areas Au. In this embodiment, each of the multiple transport vehicles 20 is provided with a location information detection unit 29 (see Figure 3). In addition, each of the virtual unit areas Au is provided with a location information holder. When the transport vehicle 20 travels along the travel path, the location information detection unit 29 of the transport vehicle 20 is configured to detect the location information held by the location information holders located in each of the virtual unit areas Au. Examples of location information holders include barcodes (1D codes), 2D codes, IC tags, etc. The location information detected by the location information detection unit 29 is transmitted from the transport vehicle 20 to the control device 46 of the control system 45. The size of each of the multiple virtual unit areas Au is such that a transport vehicle 20 can fit inside.

[0027] In this embodiment, the control system 45 issues transport commands to each transport vehicle 20. The transport command specifies the "source" and "destination" of the item W. In this embodiment, the source is the supply unit 15, and the destination is the receiving unit 31. The transport command also specifies the travel route of the transport vehicle 20 from the source to the destination. Upon receiving the transport command from the control system 45, the transport vehicle 20 receives the item W at the specified source and transports the item W to the specified destination.

[0028] In this embodiment, the transport command sets up a "forward route" for travel from the supply unit 15 to the end of the receiving area E3. In addition, the transport command sets up a "return route" for travel from the end of the receiving area E3 to the supply unit 15. In this embodiment, the end of the receiving area E3 is the end of the second side Y2 in the Y direction of the receiving area E3.

[0029] In this embodiment, the control system 45 performs batch processing in each of the multiple receiving units 31 to accept the type and number of items W specified in one order information. In this embodiment, one container 38 corresponds to one order information. The control system 45 places the type and number of items W specified in one order information into a container 38 (see Figure 2) located adjacent to the receiving unit 31 through batch processing. Once this batch processing is performed, in other words, once all the type and number of items W specified in one order information have been placed in the container 38, the container 38 is transported to the shipping location. Subsequently, the next container 38 corresponding to the next order information is placed adjacent to the receiving unit 31, and the control system 45 places the type and number of items W specified in another order information into the next container 38 through the next batch processing.

[0030] In this embodiment, floor E comprises multiple levels, each on which a transport vehicle 20 can travel, and located at different heights in the Z direction relative to each other. Figure 4 shows the first layer F1 of the goods sorting equipment 10. Figure 5 shows the second layer F2 of the goods sorting equipment 10. In the examples shown in Figures 4 and 5, floor E comprises the first layer F1 and the second layer F2 adjacent to each other in the Z direction. In this embodiment, the second layer F2 is located above the first layer F1, but the second layer F2 may be located below the first layer F1. In this embodiment, the first layer F1 is provided with a supply area E1, a connection area E2, and a receiving area E3.

[0031] In this embodiment, a charging position 42 is set up in the connection area E2 for charging the transport vehicle 20 using a charger 41. This allows for efficient use of the connection area E2, where the supply unit 15 and receiving unit 31 are not located. In the illustrated example, the charger 41 is positioned adjacent to the connection area E2. The charging position 42 is also positioned to allow multiple transport vehicles 20 to park there.

[0032] In this embodiment, the transport vehicle 20 moves to the charging position 42 and stops when its own charge level is below a specified charge level (for example, less than 50% of the charge level in a fully charged state). At the charging position 42, rapid charging is possible for the battery 27 (see Figure 3) equipped in the transport vehicle 20. The charger 41 may be a non-contact type power supply device or a contact type power supply device. In this embodiment, the control device 46 of the control system 45, which will be described later, acquires the charge level of the battery 27 of each transport vehicle 20 and controls the transport vehicle 20 with a charge level below a specified level to move to the charging position 42.

[0033] In this embodiment, the goods sorting equipment 10 is provided to connect the first layer F1 and the second layer F2 and includes a first lifting device L1 for raising and lowering the transport vehicle 20. In the illustrated example, the first lifting device L1 is located on the second side Y2 in the Y direction of multiple floors E. The first lifting device L1 is also connected to the receiving area E3 of the first layer F1 and the second layer F2. The first lifting device L1 may autonomously transport the transport vehicle 20 or may be controlled by a control system 45. Examples of the first lifting device L1 include a lifting device that circulates the transport vehicle 20 along a predetermined annular path, a lifting device that raises and lowers the transport vehicle 20 along the Z direction, a multicopter capable of transporting the transport vehicle 20, a crane, and the like.

[0034] In this embodiment, the goods sorting equipment 10 is provided to connect the first layer F1 and the second layer F2 and includes a second lifting device L2 for raising and lowering the transport vehicle 20. In the illustrated example, the second lifting device L2 is located on the first side Y1 in the Y direction of a plurality of floors E. The second lifting device L2 is connected to the supply area E1 of the first layer F1 and the second layer F2. The first lifting device L1 and the second lifting device L2 are spaced apart from each other in the horizontal direction. The second lifting device L2 may autonomously transport the transport vehicle 20 or may be controlled by the control system 45. Examples of the second lifting device L2 include a lifting device that circulates the transport vehicle 20 along a predetermined annular path, a lifting device that raises and lowers the transport vehicle 20 along the Z direction, a multicopter capable of transporting the transport vehicle 20, a crane, etc.

[0035] In this embodiment, a return path 44 is provided on the second layer F2 through which the transport vehicle 20 travels. The first lifting device L1 and the second lifting device L2 are connected on the second layer F2 via the return path 44, allowing the transport vehicle 20 to travel along them. In the illustrated example, the second lifting device L2 is connected to the return path 44 and the first layer F1. The second lifting device L2 and the return path 44 may be directly connected or indirectly connected. The second lifting device L2 and the supply area E1 may also be directly connected or indirectly connected. The return path 44 is part of the return path described above and is a passage through which the transport vehicle 20 travels after transporting the goods W to the receiving section 31 in the receiving area E3. In this embodiment, the return path 44 is a one-way path.

[0036] In this embodiment, the first lifting device L1 is connected to the starting end of the return path 44 and the ending end of the receiving area E3. The second lifting device L2 is connected to the ending end of the return path 44 and the supply area E1. In the illustrated example, multiple return paths 44 are provided on the second layer F2, each extending along the Y direction. In this embodiment, a passage connection area E4 is provided on the second layer F2 that connects the multiple return paths 44 so that the transport vehicle 20 can travel between them. In the illustrated example, the passage connection area E4 is located between adjacent return paths 44 in the X direction. A charging position 42 for charging the transport vehicle 20 is also set in the passage connection area E4.

[0037] In the connection area E2, multiple Y-direction paths 62, which are the paths of the transport vehicle 20 traveling along the Y direction, are arranged in the X direction. The number of Y-direction paths 62 is set to be the same as the number of entrance sections 19 in the X direction. In this embodiment, the Y-direction paths 62 are one-way paths. The number of Y-direction paths 62 may be the same as the number of entrance sections 19, or the same number of Y-direction paths 62 as the number of entrance sections 19 may be arranged in the X direction.

[0038] In the connection area E2, multiple X-direction paths 52, which are the paths of the transport vehicle 20 traveling along the X direction, are arranged in the Y direction. Examples of the number of X-direction paths 52 arranged in the Y direction include three-quarters or less of the number of entrance sections 19, one-half or less of the number of entrance sections 19, one-third or less of the number of entrance sections 19, one-quarter or less of the number of entrance sections 19, etc. In this embodiment, the X-direction paths 52 are one-way paths.

[0039] In this embodiment, the spacing in the X direction between a pair of adjacent Y-direction paths 62 is set to be greater than the spacing in the Y direction between a pair of adjacent X-direction paths 52. The comparison between the spacing in the X direction between a pair of adjacent Y-direction paths 62 and the spacing in the Y direction between a pair of adjacent X-direction paths 52 is, for example, a comparison of their respective average values.

[0040] In this embodiment, one Y-direction path 62 is associated with each of the multiple entry points 19. When a transport vehicle 20 enters the connection area E2 from each entry point 19, it travels along the Y-direction path 62 corresponding to that entry point 19 when traveling along the Y-direction. In the illustrated example, each of the multiple entry points 19 is associated with one different Y-direction path 62 as a "Y-direction corresponding path". In Figure 4, etc., Y-direction paths 62 that can be "Y-direction corresponding paths" are indicated by white arrows extending in the Y-direction.

[0041] Here, the area between a pair of Y-direction paths 62 adjacent to each other in the X direction on floor E is defined as the "Y-direction path inter-region". On floor E, an auxiliary Y-direction path 63 is set up in at least one of the multiple Y-direction path inter-regions, on which the transport vehicle 20 travels in the Y direction. The auxiliary Y-direction path 63 is a path that branches off from at least one of the pair of Y-direction paths 62 adjacent to each other in the X direction. The auxiliary Y-direction path 63 is set up in, for example, two or more of the multiple Y-direction path inter-regions, 25% or more, 50% or more, or 75% or more. In the illustrated example, the auxiliary Y-direction path 63 is a one-way path.

[0042] In this embodiment, a branch X-direction path 51 is set in the connection area E2, which is a path that the transport vehicle 20 travels in the X direction to branch off from the Y-direction path 62 and merge with the auxiliary Y-direction path 63. In the illustrated example, the branch X-direction path 51 is a one-way path.

[0043] In this embodiment, one X-direction path 52 is associated with each of the multiple entry points 19 as an "X-direction corresponding path". When a transport vehicle 20 enters the connection area E2 from each entry point 19 and travels along the X-direction, it changes direction on the X-direction corresponding path corresponding to the entry point 19 toward the first X-direction side X1 or the second X-direction side X2 and travels along that X-direction corresponding path. In Figure 4, etc., only the X-direction paths 52 that can be "X-direction corresponding paths" are shown with white arrows extending in the X-direction.

[0044] In this embodiment, the auxiliary Y-direction path 63 is configured so that a transport vehicle 20 entering the connection area E2 travels from the entry point 19 where the corresponding X-direction path is the X-direction path 52 on the second side Y2 in the Y direction. In addition, in this embodiment, the auxiliary Y-direction path 63 is configured so that a transport vehicle 20 entering the connection area E2 travels from the entry point 19 where the corresponding X-direction path is the second, third, or fourth X-direction path 52 from the second side Y2 in the Y direction.

[0045] In this embodiment, the auxiliary Y-direction path 63 is configured so that the transport vehicle 20 that enters the connection area E2 from the entry point 19, which is the X-direction path 52 on the second side Y2 in the Y-direction, excluding the entry point 19 at the very end of the X-direction. Alternatively, the auxiliary Y-direction path 63 may be configured so that the transport vehicle 20 that enters the connection area E2 from the entry point 19 at the very end of the X-direction does not travel on it.

[0046] In this embodiment, two or more entry points 19 are associated with one X-direction corresponding path. In the illustrated example, one X-direction path 52 is associated with a pair of entry points 19 that are adjacent to each other in the X-direction.

[0047] In this embodiment, the X-direction corresponding path for each of the multiple entry points 19 is set such that as the corresponding entry point 19 approaches both ends of the X-direction in the connection area E2, it becomes the second Y-direction side Y2. Note that if each of the multiple adjacent entry points 19 is associated with a single X-direction corresponding path, the multiple entry points 19 may be treated as a single entry point 19.

[0048] Figure 6 shows the first Y-direction path 62a and the second Y-direction path 62b. Here, the Y-direction path 62 adjacent to the first X-direction side X1 with respect to the auxiliary Y-direction path 63 is defined as the first Y-direction path 62a. The Y-direction path 62 adjacent to the second X-direction side X2 with respect to the auxiliary Y-direction path 63 is defined as the second Y-direction path 62b. Furthermore, a pair of entry points 19 associated with one X-direction corresponding path are defined as an entry point pair. In this embodiment, the auxiliary Y-direction path 63 is set in the Y-direction path inter-path region between the Y-direction paths 62 associated with each of the pair of entry points 19 that constitute the entry point pair.

[0049] In this embodiment, the first Y-direction path 62a is the Y-direction path 62 on the first X-direction side X1, which is associated with each of the pair of entry sections 19 that constitute the entry section pair, and the second Y-direction path 62b is the Y-direction path 62 on the second X-direction side X2, which is associated with each of the pair of entry sections 19 that constitute the entry section pair.

[0050] As shown in Figures 4 and 6, in this embodiment, a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 from the first Y-direction path 62a travels along the auxiliary Y-direction path 63. It is also possible that a portion of the transport vehicles 20 heading towards the exit section 33 travel along the auxiliary Y-direction path 63, or that all of the transport vehicles 20 heading towards the exit section 33 travel along the auxiliary Y-direction path 63. Furthermore, it is also possible that a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the first X-direction side X1 from the first Y-direction path 62a travels along a different auxiliary Y-direction path 63. Additionally, it is possible that no other auxiliary Y-direction path 63 is set up, and the transport vehicle 20 travels along the first Y-direction path 62a toward the X-direction corresponding path.

[0051] In this embodiment, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the first X-direction side X1 beyond the second Y-direction path 62b travels along the auxiliary Y-direction path 63. It is also possible that a portion of the transport vehicles 20 heading towards the exit section 33 travel along the auxiliary Y-direction path 63, or that all of the transport vehicles 20 heading towards the exit section 33 travel along the auxiliary Y-direction path 63. Furthermore, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the second X-direction side X2 beyond the second Y-direction path 62b travels along a different auxiliary Y-direction path 63. Alternatively, no other auxiliary Y-direction path 63 may be set, and the transport vehicle 20 may travel along the second Y-direction path 62b toward the X-direction corresponding path.

[0052] In this embodiment, the auxiliary Y-direction path 63 on which the transport vehicle 20 travels after traveling along the first Y-direction path 62a and then proceeding towards the exit section 33 located on the second X-direction side X2 from the first Y-direction path 62a, and the auxiliary Y-direction path 63 on which the transport vehicle 20 travels after traveling along the second Y-direction path 62b and then proceeding towards the exit section 33 located on the first X-direction side X1 from the second Y-direction path 62b, are the same auxiliary Y-direction path 63.

[0053] In this embodiment, a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 beyond the first Y-direction path 62a travels along an auxiliary Y-direction path 63, and then travels along the X-direction corresponding path towards the second X-direction side X2. The transport vehicle 20 traveling along the X-direction corresponding path towards the second X-direction side X2 after traveling along the auxiliary Y-direction path 63 may be a part of the transport vehicle 20 heading towards the exit section 33, or it may be all of the transport vehicle 20 heading towards the exit section 33. Alternatively, a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the first X-direction side X1 beyond the first Y-direction path 62a may travel along another auxiliary Y-direction path 63, and then travels along the X-direction corresponding path towards the first X-direction side X1. Alternatively, if no other auxiliary Y-direction path 63 is set, the transport vehicle 20 may travel along the second Y-direction path 62b toward the X-direction corresponding path.

[0054] In this embodiment, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the first X-direction side X1 beyond the second Y-direction path 62b travels along an auxiliary Y-direction path 63, and then travels along the X-direction corresponding path towards the first X-direction side X1. The transport vehicle 20 traveling along the X-direction corresponding path towards the first X-direction side X1 after traveling along the auxiliary Y-direction path 63 may be a part of the transport vehicle 20 heading towards the exit section 33, or it may be all of the transport vehicle 20 heading towards the exit section 33. Alternatively, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the second X-direction side X2 beyond the second Y-direction path 62b may travel along another auxiliary Y-direction path 63, and then travels along the X-direction corresponding path towards the second X-direction side X2. Alternatively, if no other auxiliary Y-direction path 63 is set, the transport vehicle 20 may travel along the second Y-direction path 62b toward the X-direction corresponding path.

[0055] In this embodiment, a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the first X-direction side X1 beyond the first Y-direction path 62a does not travel along the auxiliary Y-direction path 63 set in the Y-direction path inter-path region between the Y-direction paths 62 associated with each of the pair of entrance sections 19 constituting the entrance section pair. Similarly, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the second X-direction side X2 beyond the second Y-direction path does not travel along the auxiliary Y-direction path 63 set in the Y-direction path inter-path region between the Y-direction paths 62 associated with each of the pair of entrance sections 19 constituting the entrance section pair.

[0056] In this embodiment, the branch X-direction path 51, which is the path the transport vehicle 20 travels in the X direction to branch off from the Y-direction path 62 and merge with the auxiliary Y-direction path 63, is located on the first Y-direction side Y1 than the multiple X-direction paths 52. Furthermore, the branch X-direction path 51 is located on the first Y-direction side Y1 than the multiple X-direction corresponding paths.

[0057] Here, the route of the transport vehicle 20 heading towards the entry point 19 in each of the multiple supply areas E1 is defined as the supply route 61. Also, the route of the transport vehicle 20 traveling from the exit point 33 in each of the multiple receiving areas E3 towards the end of the receiving area E3 is defined as the receiving outbound route 67. In this embodiment, the supply route 61 is a route along the Y direction and is linearly connected to the Y-direction route 62. Furthermore, the supply route 61 is a one-way route. Also, the receiving outbound route 67 is a one-way route.

[0058] In this embodiment, the corresponding exit paths 64 are arranged in the X direction so that there are at least as many corresponding exit paths 64 as there are exit sections 33. Furthermore, for each of the multiple exit sections 33, a path along one Y direction is associated as a corresponding exit path 64. Also, for each of the multiple exit sections 33, paths along different Y directions are associated as corresponding exit paths 64. The corresponding exit paths 64 and the incoming entry paths 67 are connected in a straight line. Additionally, the corresponding exit paths 64 are one-way paths.

[0059] In this embodiment, the intersection of the X-direction path 52 and the auxiliary Y-direction path 63 or Y-direction path 62 is the direction change position (75a, 75b) where the transport vehicle 20 that has emerged from the respective entry section 19 into the connection area E2 changes direction toward the first X-direction side X1 or the second X-direction side X2.

[0060] In this embodiment, the direction change position includes both change positions 75a. Both change positions 75a are positions from which the transport vehicle 20 that has emerged from each entry section 19 into the connection area E2 can change direction toward both the first X-direction side X1 and the second X-direction side X2. In the illustrated example, both change positions 75a allow the transport vehicle 20 that has traveled along the branched X-direction path 51 toward the first X-direction side X1 to change direction toward the first X-direction side X1, and allows the transport vehicle 20 that has traveled along the branched X-direction path 51 toward the second X-direction side X2 to change direction toward the second X-direction side X2.

[0061] In this embodiment, the direction change position also includes a one-way change position 75b. The one-way change position 75b is a position in which the transport vehicle 20 can change direction in only one direction, either the first X-direction side X1 or the second X-direction side X2.

[0062] In this embodiment, if a transport vehicle 20 that has emerged from each entry point 19 into the connection area E2 does not need to travel along the corresponding X-direction path to the entry point 19, it will proceed to the exit point 33 without traveling along the branched X-direction path 51. In the illustrated example, when proceeding to the exit point 33 which overlaps with the entry point 19 in a Y-direction view, it will travel along the corresponding exit path 64 to the exit point 33 without traveling along the X-direction path 52 and the corresponding X-direction path.

[0063] Next, the corresponding exit path 64 and exit switching position 76 will be explained using Figure 6. Figure 6 shows only the first Y-direction path 62a, the second Y-direction path 62b, the branch X-direction path 51, and the X-direction path 52, which is the X-direction corresponding path, corresponding to the pair of entry sections 19 that constitute one entry section pair. In this embodiment, if the transport vehicle 20 that has traveled along the Y-direction path 62 does not need to travel along the X-direction corresponding path, it will proceed to the exit section 33 without traveling along the branch X-direction path 51.

[0064] In the example shown in Figure 6, when the transport vehicle 20, which has been traveling along the first Y-direction path 62a, heads towards the first X-direction X1 or the straight-ahead exit 33 relative to the first Y-direction path 62a, it does not travel along the branched X-direction path 51. Also, when the transport vehicle 20, which has been traveling along the first Y-direction path 62a, heads towards the second X-direction X2 exit 33 relative to the first Y-direction path 62a, it travels along the branched X-direction path 51.

[0065] In the example shown in Figure 6, when the transport vehicle 20 traveling along the second Y-direction path 62b is heading towards the exit 33 in the straight direction relative to the second Y-direction path 62b, it does not travel along the branched X-direction path 51. Also, when the transport vehicle 20 traveling along the second Y-direction path 62b is heading towards the exit 33 on the first X-direction side X1 relative to the second Y-direction path 62b, it travels along the branched X-direction path 51 on the first X-direction side X1 relative to the second Y-direction path 62b. When heading towards the exit 33 on the second X-direction side X2, it travels along the branched X-direction path 51 on the second X-direction side X2 relative to the second Y-direction path 62b.

[0066] In this embodiment, the transport vehicle 20, having traveled along the X-direction path 52, changes direction toward the second side Y2 in the Y-direction at the exit turning position 76 corresponding to the receiving area E3 of the destination in the X-direction, and enters the receiving area E3 of the destination. The exit turning position 76 and the exit section 33 are connected by a corresponding exit path 64 that is compatible with the exit section 33, allowing the transport vehicle 20 to travel. In the illustrated example, the exit turning position 76 is located at a position that overlaps with the exit section 33 in a Y-direction view along the Y-direction. Also, as shown in Figure 4, the Y-direction path 62 and the corresponding exit path 64 that is compatible with the exit section 33 are set to overlap in a Y-direction view.

[0067] Returning to Figure 4, in this embodiment, one Y-direction path 62 is associated with each of the multiple exit sections 33. When a transport vehicle 20 traveling along a Y-direction path 62 is heading towards an exit section 33 corresponding to that Y-direction path 62, it does not travel along the auxiliary Y-direction path 63. In the illustrated example, each of the multiple exit sections 33 is associated with one different Y-direction path 62 as a "Y-direction corresponding path". Furthermore, the Y-direction corresponding paths and the corresponding exit paths 64 are set to overlap in the Y-direction view. Also, the number of exit sections 33 and entry sections 19 are the same.

[0068] Here, the number of exit sections 33 is N (where N is a natural number greater than or equal to 2). Furthermore, the exit section 33 corresponding to the first Y-direction path 62a is located at the Mth position from the first X-direction side X1 among the N exit sections 33, and the exit section 33 corresponding to the second Y-direction path 62b is located at the (M+1)th position from the first X-direction side X1 among the N exit sections 33, and the length in the X direction of the Y-direction path inter-path region between the first Y-direction path 62a and the second Y-direction path 62b is D1. In this embodiment, the auxiliary Y-direction path 63 is located at the second X-direction side X2 relative to the first Y-direction path 62a, Distance K=D1×{(NM) / N}···(1) formula It is set to a position at a distance corresponding to the value.

[0069] In this embodiment, the auxiliary Y-direction path 63, which is set in the Y-direction path inter-path region between the Y-direction paths 62 associated with each of the pair of entry sections 19 constituting the entry section pair, is set at a distance corresponding to equation (1) above, on the second X-direction side X2 relative to the first Y-direction path 62a. Alternatively, the auxiliary Y-direction path 63 may be set at a distance K from the first Y-direction path 62a on the second X-direction side X2, at a distance corresponding to equation (1) above.

[0070] In the illustrated example, the auxiliary Y-direction path 63 requires one virtual unit area Au in the X direction. The length of the region between Y-direction paths in the X direction is seven units of the virtual unit area Au (D1 = 7 units). There are also eight exit sections 33 (N = 8). Here, if we consider the first exit section 33 from the first side X1 in the X direction to be the exit section 33 corresponding to the first Y-direction path 62a, and the second exit section 33 from the first side X1 in the X direction to be the exit section 33 corresponding to the second Y-direction path 62b, then M = 1, and the distance K is given by equation (1) above as K = 7 units × {7 / 8} = 6.2 units. Based on this value (specifically, based on an integer value obtained by rounding, etc.), the auxiliary Y-direction path 63 is set at the position 6 units from the first Y-direction path 62a and 2 units from the second Y-direction path 62b.

[0071] In this embodiment, the auxiliary Y-direction path 63 is set up so that at least one transport vehicle 20 can wait between the Y-direction path 62 and the auxiliary Y-direction path 63 in the X direction. In the illustrated example, the auxiliary Y-direction path 63 is set up in a virtual unit area Au at a position at least two squares in the X direction from the first Y-direction path 62a.

[0072] In this embodiment, the ratio of the length of branch X-direction route 51, which is the route taken by the transport vehicle 20 to travel on the second X-direction side X2 in order to branch off from the first Y-direction route 62a and merge with the auxiliary Y-direction route 63, to the length of branch X-direction route 51, which is the route taken by the transport vehicle 20 to travel on the first X-direction side X1 in order to branch off from the second Y-direction route 62b and merge with the auxiliary Y-direction route 63, is set to NM:M, or a ratio corresponding to NM:M. The length of branch X-direction route 51 may be set so that branch X-direction route 51 included in routes with a high degree of congestion is longer. Examples of the degree of congestion include the total time of congestion, the frequency of congestion, and a number calculated using both of the above.

[0073] In the examples shown in Figures 4 and 6, D1 is applied only to the length in the X direction of the Y-direction path inter-path region between the Y-direction paths 62 corresponding to a pair of entrance sections 19 that constitute one entrance section pair. However, even if the pair of entrance sections 19 do not constitute one entrance section pair, the above equation (1) may be applied to the Y-direction paths 62 or the branch X-direction paths 51. For example, in the example shown in Figure 4, in the Y-direction path inter-path region between adjacent Y-direction paths 62 corresponding to a pair of entrance sections 19 that do not constitute one entrance section pair, an auxiliary Y-direction path 63 is set at a distance corresponding to the above equation (1) on the second X-direction side X2 relative to the Y-direction path 62 on the first X-direction side X1.

[0074] In this embodiment, once the entry section 19 and exit section 33 through which the transport vehicle 20 passes are determined, a single travel path for the transport vehicle 20 from the entry section 19 to the exit section 33 is established. This makes it easier to suppress the complexity of controlling the travel of multiple transport vehicles 20.

[0075] [Second Embodiment] In the following description, the article sorting equipment 10 according to the second embodiment will be explained with reference to Figure 7. This embodiment differs from the first embodiment in that the X-direction paths 52 in the connection area E2 are arranged in the Y-direction in a manner equal to or greater than the number of entry points 19. In the following description, the differences from the first embodiment will be the main focus. Points that are not specifically described are the same as in the first embodiment.

[0076] In this embodiment, each of the multiple entry points 19 is associated with a different X-direction path 52 as an X-direction corresponding path. In the illustrated example, the number of X-direction paths 52 in the connection area E2 is set to be the same as the number of entry points 19. Also, the number of X-direction paths 52 in the connection area E2 is the same as the number of X-direction corresponding paths.

[0077] In this embodiment, the intersection of the X-direction path 52 and the auxiliary Y-direction path 63 is a direction change position where the transport vehicle 20 that has emerged from the respective entry section 19 into the connection area E2 changes direction toward the first X-direction side X1 or the second X-direction side X2. Furthermore, this direction change position is a one-way direction change position 75b.

[0078] In this embodiment, there is one auxiliary Y-direction path 63 located between adjacent Y-direction paths 62 corresponding to adjacent entry points 19, but multiple auxiliary Y-direction paths 63 may be arranged between adjacent Y-direction paths 62 corresponding to adjacent entry points 19. Also, among the adjacent entry points 19, the auxiliary Y-direction path 63 to which a transport vehicle 20 traveling along the branched X-direction path 51 toward the second X-direction side X2, which exits the entry point 19 on the first X-direction side X1, merges with the auxiliary Y-direction path 63 to which a transport vehicle 20 traveling along the branched X-direction path 51 toward the first X-direction side X1, which exits the entry point 19 on the second X-direction side X2, merges with the same auxiliary Y-direction path 63, but they may be different from each other.

[0079] [Third Embodiment] In the following description, the article sorting equipment 10 according to the third embodiment will be explained with reference to Figures 8 and 9. This embodiment differs from the first embodiment in that the floor E on which the multiple transport vehicles 20 travel is a single level. The following description will focus on the differences from the first embodiment. Unless otherwise specified, the same principles apply as in the first embodiment.

[0080] Figure 8 is a top view of the goods sorting equipment 10 of this embodiment. Figure 9 is a front view of the receiving area E3 of this embodiment. In this embodiment, the receiving turnaround position 101 is set on the second side Y2 in the Y direction from the exit section 33. In the illustrated example, the receiving turnaround position 101 is set at the end of the receiving area E3, which is the end of the second side Y2 in the Y direction.

[0081] In this embodiment, in the receiving area E3, the receiving outbound path 67 is set so that the transport vehicle 20 travels from the exit section 33 to the receiving turning position 101. Also in the receiving area E3, the receiving return path 68 is set so that the transport vehicle 20, which has made a U-turn at the receiving turning position 101, travels from the receiving turning position 101 to the exit section 33. Furthermore, in the connection area E2, the return path 44 is set so that the transport vehicle 20 travels from the exit section 33 to the supply area E1.

[0082] In this embodiment, the receiving outbound path 67 and the receiving return path 68 are set up side by side in the X direction in the receiving area E3. Also, as shown in Figures 8 and 9, the transport vehicle 20 delivers the goods W to the receiving unit 31 located on the opposite side of the receiving return path 68 in the receiving area E3 in the X direction, using the receiving outbound path 67, and delivers the goods W to the receiving unit 31 located on the opposite side of the receiving return path 67 in the receiving area E3 in the receiving return path 68. In this embodiment, the receiving return path 68 is a one-way path.

[0083] [Fourth Embodiment] In the following description, the goods sorting equipment 10 according to the fourth embodiment will be explained with reference to Figure 10. This embodiment differs from the third embodiment in that the receiving area E3 does not include the aisle area. The following description will focus on the differences from the third embodiment. Points that are not specifically explained are the same as in the third embodiment.

[0084] Figure 10 is a top view of the goods sorting equipment 10 of this embodiment, and corresponds to Figure 8. In this embodiment, multiple receiving sections 31 are provided in each of the multiple receiving areas E3 and are arranged in a line in the X direction. The multiple receiving sections 31 provided in the receiving area E3 are also arranged in a line in the X direction. In addition, a receiving path 102 extending in the X direction is set up in the receiving area E3. The transport vehicle 20 delivers the goods W to the multiple receiving sections 31 arranged adjacent to the receiving path 102 and aligned in the X direction in the receiving path 102. In this embodiment, the receiving path 102 is a one-way path.

[0085] [Other Embodiments] Next, other embodiments of the goods sorting equipment 10 will be described.

[0086] (1) In the above embodiment, a configuration in which a pair of entry points 19 are associated with one X-direction corresponding path was described as an example. However, the invention is not limited to such an example, and for example, three or more entry points 19 may be associated with one X-direction corresponding path. Also, for example, multiple X-direction corresponding paths, either the same number or different numbers, may be associated with each entry point 19. Also, for example, three X-direction corresponding paths may be associated with one entry point 19 and two X-direction corresponding paths with the remaining entry points 19. Also, for example, the X-direction corresponding path, Y-direction corresponding path, or corresponding exit path 64 may be a path that has curved sections rather than being straight. Also, for example, in the goods sorting equipment 10, another area having a dedicated path connecting one entry point 19 in the supply area E1 and one exit point 33 in the receiving area E3 may be set up adjacent to the connection area E2.

[0087] (2) In the above embodiment, a configuration was described as in which the distance in the X direction between a pair of adjacent Y-direction paths 62 is set to be greater than the distance in the Y direction between a pair of adjacent X-direction paths 52. However, the embodiment is not limited to such an example, and for example, the distance in the X direction between a pair of adjacent Y-direction paths 62 may be set to be smaller than or equal to the distance in the Y direction between a pair of adjacent X-direction paths 52.

[0088] (3) In the above embodiment, a configuration was described as in which a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 from the first Y-direction path 62a travels along the auxiliary Y-direction path 63. However, the configuration is not limited to such an example, and for example, a configuration may be described in which a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 from the first Y-direction path 62a enters the corresponding X-direction path that intersects the first Y-direction path 62a without going through the auxiliary Y-direction path 63.

[0089] (4) In the above embodiment, a configuration in which the branch X-direction path 51 is located on the first Y-direction side Y1 than the multiple X-direction paths 52 was described as an example. However, the example is not limited to such an example, and for example, the branch X-direction path 51 may be located between the multiple X-direction paths 52 in the Y-direction.

[0090] (5) In the above embodiment, an example was described in which the auxiliary Y-direction path 63 is set to be traveled by a transport vehicle 20 that enters the connection area E2 from an entry point 19 where the X-direction corresponding path is the X-direction path 52 on the second side Y2 in the Y direction. However, the embodiment is not limited to such an example, and for example, a transport vehicle 20 that enters the connection area E2 from an entry point 19 where the X-direction corresponding path is the first and second X-direction paths 52 from the second side Y2 in the Y direction does not travel on the auxiliary Y-direction path 63. Alternatively, for example, a transport vehicle 20 may change direction toward the first side X1 or the second side X2 in the X direction before entering the X-direction corresponding path.

[0091] (6) In the above embodiment, a configuration was described as in which a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 beyond the first Y-direction path 62a, and a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the first X-direction side X1 beyond the second Y-direction path 62b, both travel along an auxiliary Y-direction path 63 located between the first Y-direction path 62a and the second Y-direction path 62b. However, the embodiment is not limited to such an example, and for example, a transport vehicle 20 traveling along the first Y-direction path 62a and then heading towards the exit section 33 located on the second X-direction side X2 beyond the first Y-direction path 62a does not have to travel along the auxiliary Y-direction path 63 located between the first Y-direction path 62a and the second Y-direction path 62b. Furthermore, for example, a transport vehicle 20 traveling along the second Y-direction path 62b and then heading towards the exit section 33 located on the first X-direction side X1 from the second Y-direction path 62b does not need to travel along the auxiliary Y-direction path 63 located between the first Y-direction path 62a and the second Y-direction path 62b.

[0092] (7) In the above embodiment, an example was described in which the auxiliary Y-direction path 63 is set at a distance corresponding to the distance K shown in equation (1) on the second X-direction side X2 relative to the first Y-direction path 62a. However, the example is not limited to such an example, and for example, the position of the auxiliary Y-direction path 63 may be set such that the distance in the X-direction is longer to the route that is included in the travel route with a higher congestion time among the first Y-direction path 62a and the second Y-direction path 62b, depending on the degree of congestion.

[0093] (8) In the above embodiment, the supply area E1 was described as an area with a passage shape extending along the Y direction. However, the embodiment is not limited to such an example, and for example, the supply area E1 may have a planar shape extending in the Y direction and the X direction, with one entry section 19 provided in each supply area E1.

[0094] (9) In the above embodiment, the receiving area E3 was described as a passage area extending along the Y direction. However, the embodiment is not limited to such an example, and for example, the receiving area E3 may have a planar shape extending in the Y direction and the X direction, with one receiving section 31 provided in each receiving area E3. Also, for example, the receiving area E3 may have a passage area and an area other than the passage area.

[0095] (10) In the above embodiment, a configuration in which floor E comprises a first layer F1 and a second layer F2 adjacent to each other in the Z direction was described as an example. However, the configuration is not limited to such an example, and for example, the first layer F1 and the second layer F2 do not have to be adjacent to each other in the Z direction. Also, for example, floor E may comprise three or more floors aligned in the Z direction. Also, for example, a supply area E1, a connection area E2 and a receiving area E3 may be provided in the second layer F2, and a return path 44 may be provided in the first layer F1.

[0096] (11) In the above embodiment, a configuration in which different Y-direction paths 62 are associated with each of the multiple exit sections 33 was described as an example. However, the embodiment is not limited to such an example, for example, the same Y-direction path 62 may be associated with multiple exit sections 33. Also, for example, the exit section 33 and the Y-direction path 62 may not be associated with each other.

[0097] (12) In the above embodiment, an example configuration was described in which each of the entry points 19 of the multiple supply areas E1 overlaps with the exit points 33 of the receiving area E3 in a Y-direction view along the Y direction, and the connecting area E2 connects the entry points 19 and the exit points 33 so that the transport vehicle 20 can travel between them. However, the embodiment is not limited to such an example, for example, the number of entry points 19 of the supply area E1 and the number of exit points 33 of the receiving area E3 do not have to be the same, and any of the entry points 19 may not overlap with the exit points 33 in a Y-direction view. Also, for example, the connecting area E2 may connect the supply area E1 and the receiving area E3 so that the transport vehicle 20 cannot travel between them, and the transport vehicle 20 may be transferred between the supply area E1 and the receiving area E3 by a transfer device.

[0098] (13) In the above embodiment, a configuration was described as in which the supply area E1 and the connection area E2 are separated by a virtual boundary, and both sides of the receiving area E3 in the X direction are the outer edges of the floor E. However, the embodiment is not limited to such an example, and for example, the supply area E1, the connection area E2, and the receiving area E3 may be separated by the actual outer edges of the floor E and may be areas in which the transport vehicles 20 can move. Alternatively, for example, the supply area E1, the connection area E2, and the receiving area E3 may all be virtual areas set on a large floor E. Alternatively, for example, areas different from the supply area E1, the connection area E2, and the receiving area E3 may be provided on the floor E, such as a buffer area where multiple transport vehicles 20 can be lined up.

[0099] (14) In the above embodiment, the control system 45 was described as having a configuration that includes a higher-level control device that controls a plurality of transport vehicles 20 and a control device mounted on each transport vehicle 20. However, the control system 45 is not limited to such an example, and may be a system in which, for example, the control devices mounted on each transport vehicle 20 communicate with the control devices of other transport vehicles 20 and each makes autonomous decisions and operates. Also, for example, a location information holder may not be provided on the floor E, and the location information of the transport vehicles 20 may be acquired by image sensors provided on the transport vehicles 20 or the facility. Also, for example, the goods sorting equipment 10 may not be equipped with the control system 45.

[0100] (15) In the above embodiment, a configuration in which the control system 45 controls the transfer unit 21 and the travel unit 25 of the transport vehicle 20 was described as an example. However, the invention is not limited to such an example, and for example, the control device 46 may be a control device that controls only the travel unit 25 of the transport vehicle 20. Also, for example, the transport vehicle 20 may not have a transfer unit 21, and the work unit 16 may transfer the articles W on the transport vehicle 20. Also, the articles W may be stored in a storage compartment provided in the transport vehicle 20. Also, the control system 45 may be configured to control the work device which is the work unit 16.

[0101] (16) In the above embodiment, the article sorting equipment 10 was described as having a configuration comprising a supply conveying device 17, a receiving conveying device 35, and a shipping device 36. However, the invention is not limited to such an example, and for example, the article sorting equipment 10 may not have a supply conveying device 17, a receiving conveying device 35, and a shipping device 36, and a worker or a vehicle operated by a worker may transport the articles W or containers 38.

[0102] (17) In the above embodiment, the article sorting equipment 10 was described as having a configuration in which it includes a first lifting device L1 and a second lifting device L2. However, the invention is not limited to such an example, and for example, the article sorting equipment 10 may not have a first lifting device L1, and the transport vehicle 20 may be transported by a lifting device, passage, etc. that connects the connection area E2 of the first layer F1 and the second layer F2. Alternatively, for example, the second lifting device L2 may connect the connection area E2 of the first layer F1 and the passage connection area E4 of the second layer F2.

[0103] (18) In the above embodiment, a configuration in which the return path 44, branch X-direction path 51, X-direction path 52, supply path 61, Y-direction path 62, auxiliary Y-direction path 63, receiving outbound path 67, receiving return path 68, and receiving path 102 are each one-way paths has been described as an example. However, the system is not limited to such an example, and for example, part or all of the return path 44, branch X-direction path 51, X-direction path 52, supply path 61, Y-direction path 62, auxiliary Y-direction path 63, receiving outbound path 67, receiving return path 68, and receiving path 102 may be paths that can travel in both directions.

[0104] (19) The configurations disclosed in the embodiments described above can also be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0105] [Summary of the above embodiments] The sorting equipment for goods described above will be explained below.

[0106] The article sorting equipment according to this disclosure is an article sorting equipment that sorts articles by having multiple transport vehicles each travel across a floor to transport articles, comprising: a supply unit that supplies the articles to the transport vehicles; and a receiving unit that receives the articles from the transport vehicles, wherein a specific direction along the floor is defined as the Y direction, a direction perpendicular to the Y direction along the floor is defined as the X direction, one side of the Y direction is defined as the first Y direction side, the other side of the Y direction is defined as the second Y direction side, one side of the X direction is defined as the first X direction side, and the other side of the X direction is defined as the second X direction side, and a connection area having extensions in the Y direction and the X direction is set on the floor, and a plurality of entry points, which are places into which the transport vehicles supplied with articles by the supply unit enter the connection area, are located on the first Y direction side of the connection area, and Multiple exit sections are arranged in line in the X direction, and are places where the transport vehicle heading towards the receiving section exits the connection area. These exit sections are arranged in line with each other in the X direction on the second side of the connection area in the Y direction. The connection area is set up so that the same number of Y-direction paths, which are the paths of the transport vehicle traveling along the Y direction, are arranged in the X direction as the number of entry sections. Multiple X-direction paths, which are the paths of the transport vehicle traveling along the X direction, are arranged in the Y direction. The area between a pair of adjacent Y-direction paths in the X direction is defined as a Y-direction path inter-path region. At least one of the multiple Y-direction path inter-path regions is defined as an auxiliary Y-direction path for the transport vehicle to travel in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of adjacent Y-direction paths in the X direction.

[0107] With this configuration, at least some of the transport vehicles traveling on one Y-direction path will travel on an auxiliary Y-direction path, thus reducing the number of transport vehicles traveling on that Y-direction path. Furthermore, the path that transport vehicles travel in the X-direction to branch off from the Y-direction path and merge onto the auxiliary Y-direction path can function as a waiting position for transport vehicles before merging onto the auxiliary Y-direction path. Therefore, congestion of transport vehicles heading in the Y-direction can be alleviated, and the efficiency of goods transported by transport vehicles is less likely to decrease.

[0108] In one embodiment, it is preferable that the distance in the X direction between a pair of adjacent Y-direction paths is set to be greater than the distance in the Y direction between a pair of adjacent X-direction paths.

[0109] In this configuration, the X-direction spacing between adjacent Y-direction paths is set to be larger than the Y-direction spacing between adjacent X-direction paths. Therefore, the spacing between intersections between multiple X-direction paths on a Y-direction path is narrower than the spacing between multiple Y-direction paths on an X-direction path, making congestion more likely to occur in the Y-direction path than in the X-direction path. Consequently, this configuration effectively alleviates congestion in transport vehicles.

[0110] In one embodiment, it is preferable that the Y-direction path adjacent to the first X-direction side of the auxiliary Y-direction path is designated as the first Y-direction path, and that the transport vehicle traveling along the first Y-direction path and then heading towards the exit section located on the second X-direction side of the first Y-direction path travels along the auxiliary Y-direction path.

[0111] This configuration avoids the need for the transport vehicle to move to the second side in the X direction, travel along the auxiliary Y-direction path, and then return to the first side in the X direction. Therefore, it is possible to avoid unnecessarily increasing the travel distance of the transport vehicle, and also to avoid having an unnecessarily large number of transport vehicles intersecting the first Y-direction path. Consequently, it is easier to improve the efficiency of transporting goods by the transport vehicle.

[0112] In one embodiment, it is preferable that the branch X-direction path, which is a path on which the transport vehicle travels in the X-direction to branch off from the Y-direction path and merge with the auxiliary Y-direction path, is located on the first side in the Y-direction than the plurality of X-direction paths.

[0113] This configuration reduces the number of transport vehicles that are unable to exit the entry point and have to wait. Therefore, it is easier to improve the efficiency of transporting goods by transport vehicles.

[0114] In one embodiment, one X-direction path is associated with each of the multiple entry points as an X-direction corresponding path, and when a transport vehicle enters the connection area from each of the entry points and travels along the X-direction, it changes direction on the X-direction corresponding path corresponding to the entry point toward the first X-direction side or the second X-direction side and travels along the X-direction corresponding path, and the auxiliary Y-direction path is set up so that the transport vehicle that enters the connection area from the entry point where the X-direction corresponding path is the X-direction path furthest toward the second Y-direction side travels along it.

[0115] With this configuration, since the X-direction route is located furthest from the entry point, there are many intersections before reaching the X-direction route, making the Y-direction route prone to congestion. However, the number of transport vehicles traveling along the Y-direction route can be reduced by the auxiliary Y-direction route, thereby alleviating congestion for transport vehicles heading in the Y direction. Consequently, it is easier to improve the efficiency of goods transport by transport vehicles.

[0116] In one embodiment, one X-direction path is associated with a pair of adjacent entry points in the X-direction, and when a transport vehicle enters the connection area from each of the entry points and travels along the X-direction, it changes direction toward the first or second side of the X-direction on the X-direction corresponding path corresponding to the entry point and travels along the X-direction corresponding path, and an auxiliary Y-direction path is set in the Y-direction path inter-region between the Y-direction paths associated with each of the pair of entry points constituting the entry point pair, and the Y-direction paths are associated with each of the pair of entry points constituting the entry point pair It is preferable that, among the directional paths, the Y-direction path adjacent to the first X-direction side with respect to the auxiliary Y-direction path is designated as the first Y-direction path, and the Y-direction path adjacent to the second X-direction side with respect to the auxiliary Y-direction path is designated as the second Y-direction path, and that a transport vehicle traveling along the first Y-direction path and then heading towards the exit section located on the second X-direction side of the first Y-direction path travels along the auxiliary Y-direction path and then travels along the X-direction corresponding path toward the second X-direction side, and that a transport vehicle traveling along the second Y-direction path and then heading towards the exit section located on the first X-direction side of the second Y-direction path travels along the auxiliary Y-direction path and then travels along the X-direction corresponding path toward the first X-direction side.

[0117] This configuration avoids the transport vehicle moving to the second side in the X direction, passing through the auxiliary Y-direction path, and then returning to the first side in the X direction, or moving to the first side in the X direction, passing through the auxiliary Y-direction path, and then returning to the second side in the X direction. Therefore, it is possible to avoid unnecessarily increasing the travel distance of the transport vehicle, and also to avoid having an unnecessarily large number of transport vehicles intersecting the first Y-direction path and the second Y-direction path. Consequently, it is easier to improve the efficiency of transporting goods by the transport vehicle.

[0118] In one embodiment, it is preferable that the number of exit sections is N (where N is a natural number of 2 or more), the exit section corresponding to the first Y-direction path is located as the Mth exit section from the first X-direction side out of the N exit sections, the exit section corresponding to the second Y-direction path is located as the (M+1)th exit section from the first X-direction side out of the N exit sections, and the length in the X-direction of the Y-direction path inter-path region between the first Y-direction path and the second Y-direction path is D1, and the auxiliary Y-direction path is set at a distance K = D1 × {(NM) / N} on the second X-direction side relative to the first Y-direction path.

[0119] According to this configuration, assuming that the destinations of transport vehicles entering the connection area from each entry point are evenly distributed among N exit points, the ratio of the distance in the X direction between the first Y-direction path and the auxiliary Y-direction path and the distance in the X direction between the second Y-direction path and the auxiliary Y-direction path is set according to the ratio of the number of transport vehicles that branch off to the auxiliary Y-direction path from among the transport vehicles that enter the 1Y-direction path and the number of transport vehicles that branch off to the auxiliary Y-direction path from among the transport vehicles that enter the second Y-direction path. Therefore, congestion of transport vehicles at the entrance of the auxiliary Y-direction path can be made less likely to be unevenly distributed between the first Y-direction path side and the second Y-direction path side. Consequently, congestion of transport vehicles can be alleviated, and the efficiency of transporting goods by transport vehicles can be easily increased. [Explanation of Symbols]

[0120] 10: Goods sorting equipment 15: Supply section 19: Entrance section 20: Transport vehicle 31:Reception Department 33: Exit section 51: Branch X-direction path 52: X-direction path 62: Y-direction path 62a: First side Y direction path 62b: Second side Y direction path 63: Auxiliary Y-direction path E: Floor E2: Connection Area W:Goods

Claims

1. An article sorting system that sorts articles by having multiple transport vehicles travel across the floor and transport the articles, A supply unit that supplies the articles to the transport vehicle, A receiving section for receiving the articles from the transport vehicle, Equipped with, Let a specific direction along the floor be the Y direction, and a direction perpendicular to the Y direction along the floor be the X direction, and let one side of the Y direction be the first Y direction side, and the other side of the Y direction be the second Y direction side, and let one side of the X direction be the first X direction side, and the other side of the X direction be the second X direction side, A connecting area having an extension in the Y direction and the X direction is set on the floor. Multiple entry points, which are places where the transport vehicle supplied with the articles at the supply unit enters the connection area, are arranged on the first side in the Y direction of the connection area so as to be aligned with each other in the X direction. Multiple exit points, which are the places where the transport vehicle heading toward the receiving section exits the connection area, are arranged on the second side of the connection area in the Y direction so as to be aligned with each other in the X direction. In the aforementioned connection area, the Y-direction paths, which are the paths of the transport vehicle traveling along the Y-direction, are arranged in the X-direction in the same number as the number of entry points, and the X-direction paths, which are the paths of the transport vehicle traveling along the X-direction, are arranged in the Y-direction in multiple locations. The region between a pair of Y-direction paths adjacent to each other in the X direction is defined as the Y-direction path inter-path region, and an auxiliary Y-direction path is set in at least one of the plurality of Y-direction path inter-path regions, on which the transport vehicle travels in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of Y-direction paths adjacent to the X-direction. Each of the multiple Y-direction paths is a path associated with one of the multiple entry sections and a path associated with one of the multiple exit sections. With respect to the aforementioned auxiliary Y-direction path, the Y-direction path adjacent to the first side in the X direction is designated as the first side Y-direction path. The transport vehicle, moving from the entry point corresponding to the first Y-direction path to the exit point corresponding to the first Y-direction path, does not travel on the other Y-direction paths and the auxiliary Y-direction paths. The transport vehicle, which travels from the entry point corresponding to the first Y-direction path to the exit point located on the second X-direction side of the first Y-direction path, is an item sorting facility that travels along the auxiliary Y-direction path.

2. Each of the plurality of Y-direction paths is a path that overlaps with the corresponding entry and exit sections in a Y-direction view along the Y-direction, The article sorting equipment according to claim 1, wherein the auxiliary Y-direction path is a path that does not overlap with the entry section and the exit section in a Y-direction view along the Y-direction.

3. The article sorting equipment according to Claim 1, wherein the auxiliary Y-direction path is a path that does not overlap with at least one of the entry section and the exit section in a Y-direction view along the Y-direction.

4. An article sorting system that sorts articles by having multiple transport vehicles travel across the floor and transport the articles, A supply unit that supplies the articles to the transport vehicle, A receiving section for receiving the articles from the transport vehicle, Equipped with, Let a specific direction along the floor be the Y direction, and a direction perpendicular to the Y direction along the floor be the X direction, and let one side of the Y direction be the first Y direction side, and the other side of the Y direction be the second Y direction side, and let one side of the X direction be the first X direction side, and the other side of the X direction be the second X direction side, A connecting area having an extension in the Y direction and the X direction is set on the floor. Multiple entry points, which are places where the transport vehicle supplied with the articles at the supply unit enters the connection area, are arranged on the first side in the Y direction of the connection area so as to be aligned with each other in the X direction. Multiple exit points, which are the places where the transport vehicle heading toward the receiving section exits the connection area, are arranged on the second side of the connection area in the Y direction so as to be aligned with each other in the X direction. In the aforementioned connection area, the Y-direction paths, which are the paths of the transport vehicle traveling along the Y-direction, are arranged in the X-direction in the same number as the number of entry points, and the X-direction paths, which are the paths of the transport vehicle traveling along the X-direction, are arranged in the Y-direction in multiple locations. The region between a pair of Y-direction paths adjacent to each other in the X direction is defined as the Y-direction path inter-path region, and an auxiliary Y-direction path is set in at least one of the plurality of Y-direction path inter-path regions, on which the transport vehicle travels in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of Y-direction paths adjacent to the X-direction. Each of the multiple entry points is associated with one of the X-direction paths as the X-direction corresponding path. When a transport vehicle enters the connection area from each of the aforementioned entry points and travels along the X direction, it changes direction on the X-direction corresponding path to the entry point toward the first X-direction or the second X-direction and travels along the X-direction corresponding path. The auxiliary Y-direction path is configured such that the transport vehicle, which enters the connection area from the entry point where the X-direction corresponding path is the second X-direction path on the Y-direction side, travels along this auxiliary Y-direction path in the goods sorting equipment.

5. An article sorting system that sorts articles by having multiple transport vehicles travel across the floor and transport the articles, A supply unit that supplies the articles to the transport vehicle, A receiving section for receiving the articles from the transport vehicle, Equipped with, Let a specific direction along the floor be the Y direction, and a direction perpendicular to the Y direction along the floor be the X direction, and let one side of the Y direction be the first Y direction side, and the other side of the Y direction be the second Y direction side, and let one side of the X direction be the first X direction side, and the other side of the X direction be the second X direction side, A connecting area having an extension in the Y direction and the X direction is set on the floor. Multiple entry points, which are places where the transport vehicle supplied with the articles at the supply unit enters the connection area, are arranged on the first side in the Y direction of the connection area so as to be aligned with each other in the X direction. Multiple exit points, which are the places where the transport vehicle heading toward the receiving section exits the connection area, are arranged on the second side of the connection area in the Y direction so as to be aligned with each other in the X direction. In the aforementioned connection area, the Y-direction paths, which are the paths of the transport vehicle traveling along the Y-direction, are arranged in the X-direction in the same number as the number of entry points, and the X-direction paths, which are the paths of the transport vehicle traveling along the X-direction, are arranged in the Y-direction in multiple locations. The region between a pair of Y-direction paths adjacent to each other in the X direction is defined as the Y-direction path inter-path region, and an auxiliary Y-direction path is set in at least one of the plurality of Y-direction path inter-path regions, on which the transport vehicle travels in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of Y-direction paths adjacent to the X-direction. One X-direction path is associated with a pair of adjacent entry points in the X-direction as an X-direction corresponding path. When a transport vehicle enters the connection area from each of the aforementioned entry points and travels along the X direction, it changes direction on the X-direction corresponding path to the entry point toward the first X-direction or the second X-direction and travels along the X-direction corresponding path. A pair of entry points associated with one of the X-direction corresponding paths are considered as an entry point pair, and the auxiliary Y-direction path is set in the Y-direction path inter-path region between the Y-direction paths associated with each of the pair of entry points constituting the entry point pair. Of the Y-direction paths associated with each of the pair of entry sections constituting the entry section pair, the Y-direction path adjacent to the first X-direction side with respect to the auxiliary Y-direction path is designated as the first Y-direction path, and the Y-direction path adjacent to the second X-direction side with respect to the auxiliary Y-direction path is designated as the second Y-direction path. The transport vehicle, which travels along the first Y-direction path and then proceeds toward the exit section located on the second X-direction side of the first Y-direction path, travels along the auxiliary Y-direction path and then travels toward the second X-direction side along the X-direction corresponding path. A sorting facility for goods, wherein a transport vehicle traveling along the second Y-direction path and then heading towards the exit section located on the first X-direction side of the second Y-direction path travels along the auxiliary Y-direction path and then travels along the X-direction corresponding path toward the first X-direction side.

6. The number of exit sections is N (where N is a natural number of 2 or more), the exit section corresponding to the first Y-direction path is located as the Mth exit section from the first X-direction side out of the N exit sections, and the exit section corresponding to the second Y-direction path is located as the (M+1)th exit section from the first X-direction side out of the N exit sections. Let D1 be the length in the X direction of the region between the Y-direction paths on the first side and the second side Y-direction path. The aforementioned auxiliary Y-direction path is located on the second X-direction side relative to the first Y-direction path. Distance K=D1×{(NM) / N} The article sorting equipment according to claim 5, which is set at a distance corresponding to the specified distance.

7. An article sorting system that sorts articles by having multiple transport vehicles travel across the floor and transport the articles, A supply unit that supplies the articles to the transport vehicle, A receiving section for receiving the articles from the transport vehicle, Equipped with, Let a specific direction along the floor be the Y direction, and a direction perpendicular to the Y direction along the floor be the X direction, and let one side of the Y direction be the first Y direction side, and the other side of the Y direction be the second Y direction side, and let one side of the X direction be the first X direction side, and the other side of the X direction be the second X direction side, A connecting area having an extension in the Y direction and the X direction is set on the floor. Multiple entry points, which are places where the transport vehicle supplied with the articles at the supply unit enters the connection area, are arranged on the first side in the Y direction of the connection area so as to be aligned with each other in the X direction. Multiple exit points, which are the places where the transport vehicle heading toward the receiving section exits the connection area, are arranged on the second side of the connection area in the Y direction so as to be aligned with each other in the X direction. In the aforementioned connection area, the Y-direction paths, which are the paths of the transport vehicle traveling along the Y-direction, are arranged in the X-direction in the same number as the number of entry points, and the X-direction paths, which are the paths of the transport vehicle traveling along the X-direction, are arranged in the Y-direction in multiple locations. The region between a pair of Y-direction paths adjacent to each other in the X direction is defined as the Y-direction path inter-path region, and an auxiliary Y-direction path is set in at least one of the plurality of Y-direction path inter-path regions, on which the transport vehicle travels in the Y direction. The auxiliary Y-direction path is a path that branches off from at least one of a pair of Y-direction paths adjacent to the X-direction. The auxiliary Y-direction path is a path associated with some of the multiple entry points, and is a path on which the transport vehicles do not travel from the remaining entry points, in an article sorting facility.

8. The Y-direction path adjacent to the first X-direction side with respect to the auxiliary Y-direction path is designated as the first Y-direction path. The article sorting equipment according to claim 7, wherein the transport vehicle, which travels along the first Y-direction path and then proceeds toward the exit section located on the second X-direction side of the first Y-direction path, travels along the auxiliary Y-direction path and then travels along the X-direction path toward the second X-direction side.

9. The article sorting equipment according to any one of claims 1 to 8, wherein the distance in the X direction between a pair of adjacent Y-direction paths is set to be greater than the distance in the Y direction between a pair of adjacent X-direction paths.

10. Each of the plurality of X-direction paths is a path associated with some of the plurality of entry points, and is a path on which the transport vehicle does not travel from the remaining entry points. The article sorting equipment according to any one of claims 1 to 8, wherein the branch X-direction path, which is a path on which the transport vehicle travels in the X-direction to branch off from the Y-direction path and merge with the auxiliary Y-direction path, is located on the first side in the Y-direction than the plurality of X-direction paths.

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