Article conveying facility

Abstract

An article transport facility is provided with a plurality of transport vehicles and a control system for controlling the transport vehicles. When any one of the plurality of transport vehicles has an abnormality, the control system executes an abnormality-time process in which a unit region in which an abnormal transport vehicle in which the abnormality has occurred is likely to be present is set to an entry prohibition region in which entry of another normal transport vehicle is prohibited.

Description

Technical Field

[0001] The invention relates to an article conveying device. Background Art

[0002] For example, in a logistics warehouse, etc., an article conveying device is used to convey articles. An example of such an article conveying device is disclosed in Japanese Patent Publication No. 2020-100482 (Patent Document 1). The article conveying device (article conveying device F) of Patent Document 1 includes a plurality of conveying vehicles (article conveying vehicles V) for conveying articles (articles W) and a control system (unified control device Cf) for controlling the conveying vehicles.

[0003] In the article conveying equipment of patent document 1, the conveying vehicles can freely travel vertically and horizontally on the floor (floor surface 70), and there is a possibility that the conveying vehicles collide with each other. If a collision occurs, the conveying efficiency will be greatly reduced, so it is preferable to implement countermeasures in advance to prevent the conveying vehicles from colliding with each other. In addition, even if certain countermeasures are implemented, in the event of an unexpected event (for example, in the event of some abnormality in any of the multiple conveying vehicles), there is a possibility that it will become a trigger for a collision. However, in patent document 1, avoiding collisions between conveying vehicles, especially avoiding collisions between conveying vehicles even in the event of an unexpected event, is not specifically considered. Summary of the invention

[0004] Therefore, it is desired to realize article transport equipment that can appropriately transport articles while avoiding collisions between transport vehicles.

[0005] The article conveying equipment involved in the present disclosure is an article conveying equipment including a plurality of conveying vehicles that travel on a floor to convey articles and a control system that controls the conveying vehicles. The aforementioned control system: The floor is divided into a plurality of unit areas of a size suitable for accommodating the transport vehicle and managed. The transport vehicle is controlled so that it moves in sequence in the adjacent unit areas from the unit area at the departure point to the unit area at the destination point. The following general processing is performed: the plurality of transport vehicles are controlled so that the plurality of transport vehicles do not enter the same unit area at the same time, and When an abnormality occurs in any one of the plurality of transport vehicles, an abnormality process is performed in which the unit area where an abnormal transport vehicle that may be the transport vehicle having the abnormality occurs is set as a prohibited entry area that prohibits entry of other normal transport vehicles.

[0006] According to this configuration, by executing normal processing, it is possible to avoid collisions between transport vehicles and properly transport articles regardless of the state in which any of the multiple transport vehicles has an abnormality. In addition, when an abnormality occurs in any of the multiple transport vehicles, abnormal processing is executed, and the unit area where there is a possibility of the abnormal transport vehicle being present is set as a prohibited entry area, so that even if the unit area where the abnormal transport vehicle exists cannot be determined, the possibility of the abnormal transport vehicle colliding with other normal transport vehicles can be reduced. Therefore, not only in normal times, but also in the case of sudden abnormalities in some of the transport vehicles, it is possible to avoid collisions between transport vehicles and properly transport articles.

[0007] Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 1 is a top view of an article sorting device including an article transport device according to an embodiment. Figure 2 This is the front view of the access area. Figure 3 It is the block diagram of the control system. Figure 4 Schematic diagram showing an example of a travel path of a transport vehicle. Figure 5 is a schematic diagram showing an example of a general process. Figure 6 is a schematic diagram showing another example of a general process. Figure 7 It is a schematic diagram showing an example of the situation of the first abnormality. Figure 8 This is a schematic diagram showing an example of abnormal processing when the first abnormality occurs. Fig. 9 It is a schematic diagram showing an example of the second abnormal situation. Fig.10 This is a schematic diagram showing an example of abnormal processing when the second abnormality occurs. Fig.11 It is a schematic diagram showing an example of the situation of the third abnormality. Fig.12 This is a schematic diagram showing an example of abnormal processing when the third abnormality occurs. Fig.13 is a schematic diagram showing an example of abnormal processing. DETAILED DESCRIPTION

[0009] An embodiment of an article transport facility will be described with reference to the drawings. The article transport facility 1 of this embodiment is used to transport articles A that are taken out from a warehouse and sorted for each delivery destination in, for example, a logistics center (eg, an article sorting facility).

[0010] like Figure 1 As shown, the article transport facility 1 includes a transport vehicle 10, a supply unit 20, and a receiving unit 30. In addition, the article transport facility 1 includes a control system 40 (see Figure 3 ). The article transport equipment 1 of this embodiment includes a plurality of transport vehicles 10, a plurality of supply units 20, a plurality of receiving units 30, and a control system 40. The transport vehicles 10 travel on the floor 6 to transport articles A. The supply unit 20 supplies the articles A to the transport vehicles 10. The receiving unit 30 receives the articles A from the transport vehicles 10. The control system 40 controls the plurality of transport vehicles 10, the plurality of supply units 20, and the plurality of receiving units 30.

[0011] like Figure 2 As shown, in the present embodiment, the floor 6 on which the transport vehicle 10 travels is a floor with a suspended bottom. The floor 6 has a floor member 61 whose upper surface becomes the travel surface of the transport vehicle 10 and a plurality of pillars 62 that support the floor member 61 from below. The floor 6 is formed in a coplanar manner along a horizontal plane with its upper surface (in the present embodiment, the upper surface of the floor member 61). On the upper surface of the floor 6 (the upper surface of the floor member 61), a position information storage body 65 is provided. The position information storage body 65 is, for example, a one-dimensional code (bar code) or a two-dimensional code (such as a QR code, etc.), an IC tag, etc. The position information storage body 65 is arranged at a plurality of locations, and respectively stores inherent position information.

[0012] Here, in this embodiment, a specific direction along the floor 6 is referred to as the X direction, and a direction along the floor 6 orthogonal to the X direction is referred to as the Y direction. Figure 1 The left and right directions in the X direction are considered as "specific directions", and the Figure 1 The vertical direction in the figure is the Y direction. In addition, the direction perpendicular to both the X direction and the Y direction ( Figure 1 The Z direction is the vertical direction of the article conveying device 1 (see Figure 2 ).

[0013] like Figure 1As shown, the floor 6 is provided with a supply area R1 having a supply portion 20, a connection area R2, and a passage area R3 having a receiving portion 30. In the present embodiment, the supply area R1 and the passage area R3 are linear areas extending along the Y direction, and a plurality of them are provided and are set to be equal in number. At the same position in the X direction, one supply area R1 and one passage area R3 are arranged in a straight line, and a plurality of groups consisting of the supply area R1 and the passage area R3 are intermittently arranged at intervals along the X direction.

[0014] The connection region R2 connects the supply region R1 and the passage region R3. In the present embodiment, the supply region R1 and the passage region R3 are arranged at intervals along the Y direction, and the connection region R2 connects the supply region R1 and the passage region R3 along the Y direction. In addition, the connection region R2 of the present embodiment is a region having a plan view rectangular shape that is widened along the X direction and the Y direction in a manner that extends along the Y direction and simultaneously connects all the supply regions R1 and all the passage regions R3.

[0015] Thus, the floor panel 6 is configured as follows: from the rectangular connection area R2 arranged in the center in the Y direction, on one side ( Figure 1 The supply regions R1 extend intermittently along the X direction and along the Y direction. Figure 1 ), the plurality of passage regions R3 extend along the Y direction at the same position as the corresponding supply region R1.

[0016] like Figure 2 As shown, the transport vehicle 10 running on the floor 6 has a running part 11 and a transfer part 15. The running part 11 has a body 12 and wheels 13 rotatably supported at the lower part of the body 12. The wheels 13 roll on the running surface on the floor 6. A plurality of wheels 13 are provided, at least one of which becomes a driving wheel for transmitting the driving force of a driving force source (such as a driving motor or an internal combustion engine, etc.). The transport vehicle 10 of this embodiment is an electric vehicle having a driving motor as a driving force source, and runs by receiving, for example, power supply based on contact or non-contact power supply from a battery, a fuel cell, the floor 6, etc.

[0017] The transfer unit 15 has a loading platform 16 supported on the top of the vehicle body 12, and a driving mechanism 17. The loading platform 16 is configured to freely change its posture to a horizontal posture along the horizontal direction and an inclined posture inclined relative to the horizontal direction. Furthermore, in the present embodiment, the loading platform 16 is configured to freely change its posture to a first inclined posture inclined with the end on one side of the X direction as an axis and a second inclined posture inclined with the end on the other side of the X direction as an axis in a state facing the Y direction. That is, the loading platform 16 is configured to freely change its posture to a horizontal posture, a first inclined posture and a second inclined posture. The driving mechanism 17 is driven in a manner to change the posture of the loading platform 16 to a horizontal posture and an inclined posture (a first inclined posture and a second inclined posture). The driving mechanism 17 can be, for example, a rod mechanism, a cylinder mechanism, a ball screw mechanism, etc.

[0018] The transport vehicle 10 is also provided with a reading unit 19 for reading information stored in the position information storage body 65 provided on the upper surface of the floor 6. The reading unit 19 uses a reading unit corresponding to the type of the position information storage body 65, for example, a barcode reader, a QR code reader, and an IC tag reader. In addition, the transport vehicle 10 may also be provided with a speed sensor for detecting the travel speed or an acceleration sensor for detecting the acceleration.

[0019] A supply conveyor 21 is provided in each of the plurality of supply sections 20 arranged at intervals from each other in the X direction. In the present embodiment, one supply conveyor 21 is provided corresponding to each of the plurality of supply regions R1. The supply conveyor 21 is formed in a ring shape with an outgoing path and a returning path so that the article A can be conveyed from and to an automatic warehouse (not shown). The supply conveyor 21 is, for example, a conveyor or an automatic conveyor vehicle, or may be a combination of multiple types.

[0020] In the present embodiment, in the supply section 20, the operating subject W transfers the article A to the transport vehicle 10, so that the article A is supplied to the transport vehicle 10. That is, in the supply section 20, the operating subject W transfers the article A transported from the automatic warehouse by the supply conveying device 21 to the transport vehicle 10, so that the article A is supplied to the transport vehicle 10. The operating subject W is, for example, an operator or an operating device (such as an arm-type robot, etc.), or a combination of multiple types. In addition, the transport vehicle 10 receives the article A on the loading platform 16 in a horizontal position, and travels toward the receiving section 30 side in a state where the article A is loaded on the loading platform 16.

[0021] A plurality of receiving sections 30 spaced apart from each other along the X direction are provided with receiving conveying devices 31 and discharging devices 32, respectively. Figure 1 and Figure 2As shown, in the present embodiment, a plurality of receiving conveying devices 31 and a plurality of discharging devices 32 are provided corresponding to each of the plurality of passage areas R3. The receiving conveying devices 31 are provided in a manner that a plurality of (in this example, 7 each) are adjacent to one passage area R3 on both sides of the X direction and are arranged side by side in the Y direction. One discharging device 32 is provided in a manner that a receiving conveying device 31 is sandwiched between the receiving conveying devices 31 and is adjacent to one passage area R3 on both sides of the X direction and extends in the Y direction. The receiving conveying device 31 is, for example, a conveyor or a crane, an arm-type robot, etc., or a combination of multiple ones. The discharging device 32 is, for example, a conveyor or an automatic transport vehicle, etc., or a combination of multiple ones.

[0022] In this embodiment, in the receiving section 30, the loading platform 16 of the transport vehicle 10 is changed to an inclined position (a first inclined position or a second inclined position), so that the article A is transferred from the transport vehicle 10 to the receiving conveying device 31, and then the article A is transferred from the receiving conveying device 31 to the corresponding delivery device 32 (see Figure 2 ). By making the mounting table 16 in the first tilted position, the article A is transferred to the delivery device 32 via the receiving conveying device 31 on one side of the X direction, and by making the mounting table 16 in the second tilted position, the article A is transferred to the delivery device 32 via the receiving conveying device 31 on the other side of the X direction.

[0023] The height of the conveying surface of the receiving conveyor 31 is set to be lower than the height of the mounting surface of the mounting platform 16 of the transport vehicle 10 on the floor 6. In addition, a container C is arranged on the unloading device 32, and the difference between the height of the conveying surface of the receiving conveyor 31 and the height of the conveying surface of the unloading device 32 is set to be higher than the height of the container C. The article A transferred from the transport vehicle 10 is put into the container C arranged on the unloading device 32 via the receiving conveyor 31.

[0024] In addition, one container C corresponds to one delivery destination, and the types and quantities of articles A specified by one order information are sequentially put into the container C corresponding to the order information. When all the articles A specified by the order information are contained in the container C, the container C with completed collection is transported by the shipping device 32.

[0025] The transport vehicle 10 that has received the article A in the passage area R3 then returns to the supply area R1 through the return path. The return path may be provided on the floor 6, or may be provided so as to pass through a position in the Z direction different from the floor 6. In addition, in the case where the transport vehicle 10 is battery-driven, a charging station may be provided on the return path.

[0026] like Figure 3As shown, the control system 40 includes a control device 41 for controlling the transport vehicle 10 (travel unit 11 and transfer unit 15). In addition, the control system 40 (control device 41) is configured as follows: in addition to the transport vehicle 10, it also controls the supply transport device 21, the receiving transport device 31, and the delivery device 32. The control device 41 includes a CPU (Central Processing Unit) and other computing devices and RAM (Random Access Memory) or ROM (Read Only Memory) and other main storage devices. The various functions of the control device 41 are realized by the cooperation of the computing device and the program executed on the computing device.

[0027] In addition, the control device 41 may not be composed of a single hardware, but may be composed of a collection of multiple hardware (multiple separate hardware) that can communicate with each other by wire or wirelessly. For example, the control device 41 may also be composed of: a superior control device that is set in a control facility not shown; and a control terminal device that is mounted on each transport vehicle 10 and can communicate with the superior control device.

[0028] like Figure 4 As shown, in the present embodiment, the control system 40 divides the floor 6 into a plurality of unit areas U of a size for accommodating the transport vehicle 10 when viewed in the Z direction and manages the floor 6. Here, in the floor 6 of the present embodiment, as described above, a plurality of supply areas R1 in a straight line along the Y direction, a connection area R2 having a widened rectangular shape along the X direction and the Y direction, and a plurality of passage areas R3 in a straight line along the Y direction are set. The supply area R1 and the passage area R3 are managed by a plurality of unit areas U arranged in a straight line along the Y direction. The connection area R2 is managed by a plurality of unit areas U arranged in a grid shape (orthogonal grid shape) along the X direction and the Y direction. In each unit area U, a position information storage body 65 storing inherent position information is provided. The control system 40 controls the plurality of transport vehicles 10 respectively based on the information obtained from the position information storage body 65.

[0029] The control system 40 controls the transport vehicle 10 to travel in the adjacent unit areas U in sequence from the unit area U of the departure point S to the unit area U of the destination point D. Here, the departure point S corresponds to the point where the transport vehicle 10 concerned receives the article A from the supply conveyor 21 in any supply area R1. In addition, the destination point D corresponds to the point where the transport vehicle 10 that has received the article A is adjacent to the passage area R3 in the X direction with respect to the container C to which the article A is to be delivered and is sandwiched by the conveyor 31.

[0030] like Figure 4As shown, when the X-direction position of the departure point S is the same as the X-direction position of the destination point D, the unit area U of the departure point S, the unit area U of the destination point D, and the set of multiple unit areas U arranged in a straight line between them in the Y direction become the driving path P of the transport vehicle 10.

[0031] On the other hand, when the X-direction position of the departure point S is different from the X-direction position of the destination point D, the unit area U of the departure point S, the unit area U of the first direction change portion, the unit area U of the second direction change portion that is at the same Y-direction position as the first direction change portion and at the same X-direction position as the destination point D, the unit area U of the destination point D, and a plurality of unit areas U arranged in a straight line therebetween in the X-direction or the Y-direction form a set of the travel path P of the transport vehicle 10.

[0032] The control system 40 performs normal processing and abnormal processing when controlling multiple transport vehicles 10. Normal processing is a processing performed when no abnormality occurs in any of the multiple transport vehicles 10. Abnormal processing is a processing performed when an abnormality occurs in any of the multiple transport vehicles 10. Normal processing is performed on the transport vehicles 10 traveling in all areas of the supply area R1, the connection area R2, and the passage area R3. Abnormal processing is mainly performed on the transport vehicles 10 traveling in the connection area R2 having a top-view rectangular shape that is widened in the X direction and the Y direction.

[0033] The control system 40 determines whether an abnormality has occurred in each of the transport vehicles 10 based on the information obtained from each of the plurality of transport vehicles 10. For example, the control system 40 determines whether the transport vehicle 10 is traveling on the travel path P as planned or is correctly stopped at a predetermined position based on the position information read by the reading unit 19 provided in the transport vehicle 10. In this case, the control system 40 determines that an abnormality has occurred in the transport vehicle 10 when it is confirmed that the transport vehicle 10 has deviated from the planned travel path P or has deviated from the planned stop position.

[0034] Alternatively, the control system 40 determines whether the transport vehicle 10 is traveling smoothly without sudden deceleration based on acceleration information obtained by an acceleration sensor provided on the transport vehicle 10. In this case, the control system 40 determines that an abnormality has occurred in the transport vehicle 10 when a negative acceleration exceeding a predetermined value is detected based on an absolute value.

[0035] In the normal process performed when no abnormality occurs in any of the multiple transport vehicles 10, the control system 40 controls the multiple transport vehicles 10 so that the multiple transport vehicles 10 do not enter the same unit area U at the same time. When performing this normal process, the control system 40 sets the unit area U of the set reservation number as the occupied area O of the transport vehicle 10 (refer to Figure 5 and Figure 6 ). The occupied area O can be said to be an area (pre-reserved area) where the transport vehicle 10 is pre-reserved to travel so that other transport vehicles 10 do not enter. The occupied area O also includes the current position of the transport vehicle 10. In addition, if the transport vehicle 10 moves, the occupied area O starting from the current position also moves.

[0036] The preset reservation number that defines the size of the occupied area O may be a fixed value or a variable value that varies according to the state of the transport vehicle 10. The user can appropriately determine the preset reservation number so that the overall transport efficiency of the article transport facility 1 is improved.

[0037] In normal processing, when different transport vehicles 10 intersect each other and occupy areas O (herein, the unit area U of the intersection is called an "overlapping area"), the control system 40 of this embodiment allows the transport vehicle 10 that has set the overlapping area as the occupied area O to travel first. Figure 5 In the example shown, the transport vehicle 10 traveling in the X direction sets the overlapping area shown by the oblique lines in the figure as the occupied area O before the transport vehicle 10 that is about to start traveling in the Y direction. Therefore, the control system 40 allows the transport vehicle 10 traveling in the X direction to travel in the occupied area O of the transport vehicle 10 first.

[0038] In addition, for example, Figure 6 In the example shown, the transport vehicle 10 traveling in the Y direction sets the overlapping area shown by the oblique lines in the figure as the occupied area O before the transport vehicle 10 that is about to start traveling in the X direction. Therefore, the control system 40 allows the transport vehicle 10 traveling in the Y direction to travel in the occupied area O of the transport vehicle 10 with priority.

[0039] In this way, the control system 40 allows the transport vehicle 10 that has set the overlap area as the occupied area O to travel first during normal processing, thereby controlling the plurality of transport vehicles 10 so that the plurality of transport vehicles 10 do not simultaneously enter the same unit area U. In this way, collisions between the transport vehicles 10 can be avoided while the article A can be properly transported.

[0040] However, even if the normal processing is performed to prevent multiple transport vehicles 10 from entering the same unit area U at the same time, there is a possibility that a collision may occur if some abnormality suddenly occurs in any of the transport vehicles 10. Therefore, in the present embodiment, in the abnormal processing performed when any of the multiple transport vehicles 10 has an abnormality, the control system 40 sets the unit area U where there is a possibility that the transport vehicle 10 having the abnormality (hereinafter referred to as "abnormal transport vehicle 10E") exists as a prohibited entry area K that prohibits the entry of other normal transport vehicles 10.

[0041] As described above, each unit area U is provided with a position information storage body 65 storing unique position information, and the transport vehicle 10 is provided with a reading unit 19 for reading the information stored in the position information storage body 65. Therefore, the control system 40 can sometimes grasp one unit area U where the abnormal transport vehicle 10E exists or multiple unit areas U where the abnormal transport vehicle 10E exists across the boundary based on the position information read by the reading unit 19 of each transport vehicle 10. In such a case, the control system 40 sets all of at least one unit area U where the presence of the abnormal transport vehicle 10E can be determined as the prohibited entry area K.

[0042] For example, Figure 7 As shown, the transport vehicle 10 sometimes deviates from the stop target position T in the range of the position information storage body 65 that can read the unit area U (hereinafter referred to as "stop target position T") set at the scheduled stop. The so-called overrun is equivalent to this. In such a case, the transport vehicle 10 can read the position information storage body 65, so that it can determine the one unit area U in which it exists or the multiple unit areas U that exist across the boundary. In this embodiment, such an abnormality is referred to as the "first abnormality".

[0043] When the abnormality occurring in the abnormal transport vehicle 10E is the first abnormality, Figure 8 As shown, the control system 40 takes the unit area U where the abnormal transport vehicle 10E existed immediately before it became abnormal (specifically, the unit area U where the abnormal transport vehicle 10E last read the position information storage body 65; hereinafter referred to as the "immediately preceding area B", in this case, the stop target position T) as the starting point, and sets the range of the L unit areas U existing in the front side of the travel direction of the abnormal transport vehicle 10E as the prohibited entry area K. Here, L is an integer greater than 2. In this embodiment, the control system 40 sets the two unit areas U where the abnormal transport vehicle 10E crosses the boundary due to overrun as the prohibited entry area K, in which case L is "2".

[0044] On the other hand, the control system 40 may also have the following situation: each transport vehicle 10 cannot read the position information through the reading unit 19, and cannot grasp the one unit area U where the abnormal transport vehicle 10E exists or the multiple unit areas U where the abnormal transport vehicle 10E crosses the boundary. In such a case, the control system 40 sets the prohibited entry area K of different ranges according to the pattern of the abnormality occurring in the abnormal transport vehicle 10E.

[0045] For example, Fig. 9 As shown, the transport vehicle 10 sometimes deviates from the stop target position T to such an extent that the position information storage body 65 provided at the stop target position T cannot be read. This is called derailment. In such a case, the transport vehicle 10 cannot read the position information storage body 65, and thus cannot determine the unit area U in which it exists or the multiple unit areas U that exist across the boundary. In this embodiment, such an abnormality is referred to as the "second abnormality".

[0046] When the abnormality occurring in the abnormal transport vehicle 10E is the second abnormality, Fig.10 As shown, the control system 40 sets the range of M×M unit areas U on the front side of the traveling direction including the immediately preceding area B (in this case, the stop target position T) as the prohibited entry area K. Here, M is an integer greater than 2. In the case of the second abnormality (derailment), the excess to the front of the traveling direction is sometimes larger than that of the first abnormality (overrun), and sometimes it is offset in the width direction relative to the traveling direction. Therefore, the range of M×M unit areas U including the immediately preceding area B (stop target position T) and having a certain margin on the front side of the traveling direction relative to the immediately preceding area B (stop target position T) is set as the prohibited entry area K.

[0047] In addition, for example, Fig.11 As shown, it cannot be said that there is no case where the transport vehicle 10 collides with other transport vehicles 10. In the present embodiment, an abnormality caused by the collision of the transport vehicle 10 with other transport vehicles 10 is referred to as a "third abnormality".

[0048] When the abnormality occurring in the abnormal transport vehicle 10E is the third abnormality, Fig.12 As shown, the control system 40 sets the range of N×N unit areas U centered on the immediately preceding area B as the prohibited entry area K. Here, N is an integer greater than M. In the case of the third abnormality (collision), the direction of the excess or the magnitude of its deviation varies depending on the degree of the collision. Therefore, the range of N×N unit areas U centered on the immediately preceding area B with a certain degree of margin is set as the prohibited entry area K.

[0049] In addition, Fig.12In consideration of easy visibility, only one transport vehicle 10 that has collided is regarded as an abnormal transport vehicle 10E and its entry-prohibited area K is shown, but the other transport vehicle 10 that has collided is also regarded as an abnormal transport vehicle 10E, and the range of N×N unit areas U centered on it is set as the entry-prohibited area K (refer to Fig.13 In the case of multiple collisions, more transport vehicles 10 may become abnormal transport vehicles 10E. Therefore, as a whole, the union of the ranges of N×N unit areas U centered on the immediately preceding area B of all the transport vehicles 10 that have collided is set as the prohibited entry area K.

[0050] Thus, in the present embodiment, the control system 40 distinguishes and identifies three forms of the first abnormality, the second abnormality, and the third abnormality as the abnormalities that may occur in the transport vehicle 10. Moreover, when the abnormality that occurs in the abnormal transport vehicle 10E is the first abnormality, the control system 40 sets the range of L unit areas U existing in the front side of the travel direction of the abnormal transport vehicle 10E with the immediately preceding area B (in this example, the stop target position T) as the entry-prohibited area K. In addition, when the abnormality that occurs in the abnormal transport vehicle 10E is the second abnormality, the control system 40 sets the range of M×M unit areas U in the front side of the travel direction including the immediately preceding area B (in this example, the stop target position T) as the entry-prohibited area K. In addition, when the abnormality that occurs in the abnormal transport vehicle 10E is the third abnormality, the control system 40 sets the range of N×N unit areas U centered on the immediately preceding area B as the entry-prohibited area K.

[0051] The "L" that specifies the size of the prohibited entry area K in the case of the first abnormality is an integer greater than 2, but in the first abnormality, the abnormal transport vehicle 10E can read the position information storage body 65 and can determine the two unit areas U across the boundary, so it is preferably "2". If this is done, the prohibited entry area K can be suppressed to the necessary minimum size based on the determined position of the abnormal transport vehicle 10E that has the first abnormality (overrun). Therefore, the impact on other normal transport vehicles 10 can be suppressed to a minimum, and at the same time, the collision between the abnormal transport vehicle 10E and other normal transport vehicles 10 can be avoided.

[0052] "M" which specifies the size of the prohibited entry area K in the case of the second abnormality is an integer greater than 2, but from the viewpoint of avoiding the prohibited entry area K from becoming excessively large, it is preferably less than 5. In addition, the prohibited entry area K preferably includes 1 column starting from the immediately preceding area B and includes the same number of columns on both sides thereof. From such a viewpoint, M is preferably an odd number. Taking all these into consideration, "M" is preferably "3". If this is done, even if the position of the abnormal transport vehicle 10E where the second abnormality (derailment) has occurred cannot be determined, the prohibited entry area K can be suppressed to a small size as much as possible, and at the same time, the collision between the abnormal transport vehicle 10E and other normal transport vehicles 10 can be properly avoided.

[0053] "N" which specifies the size of the prohibited entry area K in the case of the third abnormality is an integer greater than M. Although there is a possibility that the abnormal transport vehicle 10E moves significantly due to a collision, it is preferably 8 or less from the viewpoint of avoiding excessive enlargement of the prohibited entry area K. In addition, it is preferred that the prohibited entry area K is set in a manner that extends in equal numbers in each direction with the immediately preceding area B as the center. From such a viewpoint, N is preferably an odd number. Taking these and the preferred value of "M" which serves as a benchmark into consideration, "N" is preferably 7 or less, and more preferably "5". If this is done, even if the position of the abnormal transport vehicle 10E in which the third abnormality (collision) has occurred cannot be determined, a secondary collision between the abnormal transport vehicle 10E and other normal transport vehicles 10 can be properly avoided.

[0054] The control system 40 sets a prohibited entry area K when the abnormal transport vehicle 10E stops, and when the travel path P of other transport vehicles 10 overlaps with the prohibited entry area K, as shown in FIG. Fig.13 As shown, the transport vehicle 10 is controlled so as to bypass the prohibited entry area K. In this case, it is preferred that the control system 40 redraws the travel path P for each of the transport vehicles 10 whose travel path P is changed so that the extension of the path length is shortened as much as possible and the number of direction change portions is reduced. In addition, in the case where the occupied areas O of the changed travel paths P of each transport vehicle 10 intersect, the control system 40 gives priority to the transport vehicle 10 that first sets the overlapping area as the occupied area O, as in the case described in the normal processing. In addition, if the abnormal transport vehicle 10E starts to travel again, the control system 40 cancels the prohibited entry area K.

[0055] By performing the abnormality processing as described above, when an abnormality occurs in any of the multiple transport vehicles 10, the prohibited entry area K is set, so that even if a sudden abnormality occurs in some of the transport vehicles 10, collisions between the transport vehicles 10 can be avoided and the articles A can be properly transported. The technology disclosed in this embodiment is particularly suitable for a configuration in which each transport vehicle 10 of the article transport facility 1 does not have an anti-collision sensor.

[0056] [Other implementation methods] (1) In the above-mentioned embodiment, the configuration is mainly assumed to be used for setting the set reservation number of the occupied area O as a fixed value in normal processing. However, it is not limited to such a configuration, and the set reservation number for setting the occupied area O may be a variable value corresponding to the state of the transport vehicle 10. For example, the set reservation number (first set reservation number) when the direction of travel of the transport vehicle 10 is along the Y direction may be greater than the set reservation number (second set reservation number) when the direction of travel of the transport vehicle 10 is along the X direction. In addition, in the case where the travel path P of the transport vehicle 10 includes a direction change portion, the set reservation number may be a number that decreases as the transport vehicle 10 travels from the current position of the transport vehicle 10 to the direction change portion.

[0057] (2) In the above-mentioned embodiment, the following configuration is used as an example for explanation: overrun is exemplified as an example of the first abnormality, and when the abnormality occurring in the abnormal transport vehicle 10E is the first abnormality, a unit area U of two grids (2 ma) starting from the immediately preceding area B (stop target position T) is set as the prohibited entry area K. However, the configuration is not limited to this, and in the first abnormality, the abnormal transport vehicle 10E may be contained in one unit area U. In this case, the control system 40 sets only one grid of the immediately preceding area B (stop target position T) as the prohibited entry area K.

[0058] (3) In the above-mentioned embodiment, the following case is assumed and described: derailment is exemplified as an example of the second abnormality, and when derailment occurs, it is impossible to identify the multiple unit areas U where the abnormal transport vehicle 10E crosses the boundary. However, the present invention is not limited to such a configuration, and even when derailment occurs, when the multiple unit areas U where the abnormal transport vehicle 10E crosses the boundary can be identified, the control system 40 may set all (2 or 4) unit areas U where the presence of the abnormal transport vehicle 10E can be identified as the prohibited entry area K.

[0059] (4) In the above-mentioned embodiment, the following configuration is used as an example for explanation: when the abnormality occurring in the abnormal transport vehicle 10E is the second abnormality, the prohibited entry area K is a range of M×M unit areas U on the front side of the traveling direction relative to the immediately preceding area B. However, the configuration is not limited to this, and for example, the range of M×M unit areas U centered on the immediately preceding area B may be the prohibited entry area K. In addition, the prohibited entry area K does not necessarily have to be a square, and for example, it may be a rectangular range consisting of M×(M+1) or M×(M+2) unit areas U. Alternatively, the prohibited entry area K may be a range of other shapes such as a triangle or a trapezoid.

[0060] (5) In the above-mentioned embodiment, the following configuration is used as an example for explanation: when the abnormality occurring in the abnormal transport vehicle 10E is the third abnormality, the prohibited entry area K is a range of N×N unit areas U centered on the immediately preceding area B. However, the configuration is not limited to this, and for example, the range of N×N unit areas U on the front side of the immediately preceding area B in the traveling direction may be the prohibited entry area K. In addition, the prohibited entry area K does not necessarily have to be a square, and for example, it may be a rectangular range consisting of N×(N+1) or N×(N+2) unit areas U. Alternatively, the prohibited entry area K may be a range of other shapes such as a rhombus, a circle, or an ellipse.

[0061] (6) In the above-mentioned embodiment, the following configuration is described as an example: a position information storage body 65 is provided in each unit area U, and a reading unit 19 for reading information stored in the position information storage body 65 is provided in the transport vehicle 10, and the control system 40 controls the plurality of transport vehicles 10 based on the information obtained from the position information storage body 65. However, the configuration is not limited to this, and for example, a sensor or a camera may be provided in each transport vehicle 10 or on the equipment side, and the control system 40 may control the plurality of transport vehicles 10 based on the information obtained from the sensors or cameras.

[0062] (7) In the above-mentioned embodiment, the supply area R1, the connection area R2, and the passage area R3 are mainly assumed and described as areas divided by the actual outer edge of the floor 6. However, the present invention is not limited to such a configuration, and the supply area R1, the connection area R2, and the passage area R3 may be simply virtual areas set on the floor 6.

[0063] (8) In the above-mentioned embodiment, the following configuration is used as an example for explanation: the supply area R1 and the passage area R3 are linear areas extending along the Y direction, and the connection area R2 is an area having a rectangular shape when viewed from above and extending along the X direction and the Y direction. However, it is not limited to such a configuration. For example, at least one of the supply area R1 and the passage area R3 may also be an area having a rectangular shape when viewed from above and extending along the X direction and the Y direction, and the supply area R1, the connection area R2, and the passage area R3 as a whole may also be an area having a rectangular shape when viewed from above and extending along the X direction and the Y direction. In these cases, abnormal processing can be performed in an area having a rectangular shape when viewed from above and extending along the X direction and the Y direction (supply area R1+connection area R2 / connection area R2+passage area R3 / supply area R1+connection area R2+passage area R3).

[0064] (9) In the above-mentioned embodiment, the following configuration is mainly assumed and described: the control device 41 constituting the control system 40 includes an upper control device and a control terminal device mounted on each transport vehicle 10 and capable of communicating with the upper control device. However, the control system 40 is not limited to such a configuration. For example, the control system 40 may be a system in which the control terminal devices mounted on the plurality of transport vehicles 10 communicate with each other and independently judge and perform actions at the same time. In this case, the control terminal devices mounted on the plurality of transport vehicles 10 communicate with each other and perform normal processing and abnormal processing.

[0065] (10) In the above-mentioned embodiment, each transport vehicle 10 is mainly described as having no anti-collision sensor. However, the present invention is not limited to such a configuration, and the technology involved in the present disclosure can also be applied to an article transport facility 1 having a plurality of transport vehicles 10 equipped with anti-collision sensors.

[0066] (11) The configurations disclosed in the above-mentioned embodiments (including the above-mentioned embodiments and other embodiments; the same applies below) can also be combined and applied with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are also illustrative in all aspects and can be appropriately changed within the scope of the present disclosure.

[0067] [Summary of implementation methods] If the above is summarized, it is appropriate that the article transport facility according to the present disclosure includes the following structures.

[0068] An article conveying device is provided, which is an article conveying device comprising a plurality of conveying vehicles that travel on a floor to convey articles and a control system for controlling the conveying vehicles. The aforementioned control system: The floor is divided into a plurality of unit areas of a size suitable for accommodating the transport vehicle and managed. The transport vehicle is controlled so that it moves in sequence in the adjacent unit areas from the unit area at the departure point to the unit area at the destination point. The following general processing is performed: the plurality of transport vehicles are controlled so that the plurality of transport vehicles do not enter the same unit area at the same time, and When an abnormality occurs in any one of the plurality of transport vehicles, an abnormality process is performed in which the unit area where an abnormal transport vehicle that may be the transport vehicle having the abnormality occurs is set as a prohibited entry area that prohibits entry of other normal transport vehicles.

[0069] According to this configuration, by executing normal processing, it is possible to avoid collisions between transport vehicles and properly transport articles regardless of the state in which any of the multiple transport vehicles has an abnormality. In addition, when an abnormality occurs in any of the multiple transport vehicles, abnormal processing is executed, and the unit area where there is a possibility of the abnormal transport vehicle being present is set as a prohibited entry area, so that even if the unit area where the abnormal transport vehicle exists cannot be determined, the possibility of the abnormal transport vehicle colliding with other normal transport vehicles can be reduced. Therefore, not only in normal times, but also in the case of abnormalities in some of the transport vehicles, it is possible to avoid collisions between transport vehicles and properly transport articles.

[0070] As a solution, it is preferred that In the above-mentioned abnormal processing, when the above-mentioned control system can determine the presence of one of the above-mentioned unit areas or the above-mentioned unit areas where the above-mentioned abnormal transport vehicle exists across the boundary, all of at least one of the above-mentioned unit areas where the presence of the abnormal transport vehicle can be determined are set as the above-mentioned prohibited entry areas.

[0071] According to this configuration, when one or more unit areas where abnormal transport vehicles exist can be identified, the prohibited entry area can be minimized based on the identification result. Therefore, the impact of an abnormality in any transport vehicle on the travel of other normal transport vehicles can be suppressed to a minimum.

[0072] As a solution, it is preferred that In the above-mentioned abnormal processing, when the above-mentioned control system cannot determine the one above-mentioned unit area where the above-mentioned abnormal transport vehicle exists or the above-mentioned unit areas where the above-mentioned abnormal transport vehicle crosses the boundary, the above-mentioned prohibited entry area with different ranges is set according to the pattern of the abnormality occurring in the above-mentioned abnormal transport vehicle.

[0073] According to this configuration, when one or more unit areas where an abnormal transport vehicle exists cannot be determined, it is easy to make the prohibited entry area an appropriate size according to the pattern of the abnormality occurring in the abnormal transport vehicle. Therefore, the possibility of the abnormal transport vehicle colliding with other normal transport vehicles can be appropriately reduced according to the pattern of the abnormality occurring in the abnormal transport vehicle, and at the same time, the impact on the travel of other normal transport vehicles can be suppressed to a small extent.

[0074] Specifically, it is preferred that Each of the aforementioned unit areas is provided with a position information storage body that stores position information of the unit area. The transport vehicle includes a reading unit that reads the position information stored in the position information storage body. The abnormalities of the transport vehicle include: a first abnormality caused by the transport vehicle deviating from the stop target position within a range where the position information storage body provided at the stop target position can be read; a second abnormality caused by the transport vehicle deviating from the stop target position to such an extent that the position information storage body provided at the stop target position cannot be read; and a third abnormality caused by the transport vehicle colliding with another transport vehicle. The aforementioned control system: In the case where the abnormality of the abnormal transport vehicle is the first abnormality, the range of L (L is an integer greater than or equal to 2) unit areas existing in the front side of the traveling direction of the abnormal transport vehicle is set as the prohibited entry area, with the unit area existing immediately before the abnormal transport vehicle becomes abnormal as the starting point. When the abnormality of the abnormal transport vehicle is the second abnormality, a range of M×M (M is an integer greater than or equal to 2) unit areas in front of the unit area in the traveling direction where the abnormal transport vehicle existed immediately before the abnormality occurred is set as the prohibited entry area. When the abnormality occurring in the abnormal transport vehicle is the third abnormality, a range of N×N (N is an integer greater than M) unit areas centered on the unit area where the abnormal transport vehicle existed immediately before becoming abnormal is set as the prohibited entry area.

[0075] According to this configuration, the reference position for setting the prohibited entry area is appropriately determined in accordance with the pattern of the abnormality, and the range of the prohibited entry area is set wider as the degree of the abnormality becomes more serious. Thus, the range of the prohibited entry area can be appropriately set in accordance with whether the abnormality occurring in the abnormal transport vehicle is the first abnormality, the second abnormality, or the third abnormality. Therefore, the possibility of the abnormal transport vehicle colliding with other normal transport vehicles can be appropriately reduced, and at the same time, the impact on the travel of other normal transport vehicles can be suppressed to a small extent.

[0076] The article transport facility according to the present disclosure only needs to achieve at least one of the above-mentioned effects. Explanation of symbols

[0077] 1Item conveying equipment 6 Floor 10Conveyor vehicle 10E Abnormal Transport Vehicle 19 Reading unit 40Control System 65 Location information storage U unit area K No entry area B Immediately before area P Driving Path Departure Point D Destination T stop target position AItem.

Claims

1. An article conveying device, comprising a plurality of conveying vehicles that travel on a floor to convey articles and a control system for controlling the conveying vehicles, The article conveying device has the following characteristics: The control system: The floor is divided into a plurality of unit areas of a size that can accommodate the transport vehicle and managed. The transport vehicle is controlled so that it moves in sequence in the adjacent unit areas from the unit area at the departure point to the unit area at the destination point. The following general processing is performed: the plurality of transport vehicles are controlled so that the plurality of transport vehicles do not enter the same unit area at the same time, and When an abnormality occurs in any one of the plurality of transport vehicles, an abnormality process is performed in which the unit area where an abnormal transport vehicle that may be the transport vehicle having the abnormality occurs is set as a prohibited entry area that prohibits entry of other normal transport vehicles.

2. The article conveying device according to claim 1, wherein: In the abnormal processing, the control system sets all of at least one of the unit areas where the abnormal transport vehicle can be determined to exist as the prohibited entry areas, if there is one of the unit areas where the abnormal transport vehicle can be determined to exist or a plurality of the unit areas where the abnormal transport vehicle crosses a boundary.

3. The article conveying device according to claim 1 or 2, wherein: In the abnormal processing, when one unit area where the abnormal transport vehicle exists cannot be determined or a plurality of unit areas where the abnormal transport vehicle exists across boundaries cannot be determined, the control system sets the prohibited entry areas of different ranges according to the pattern of the abnormality occurring in the abnormal transport vehicle.

4. The article conveying device according to claim 1, wherein: Each of the unit areas is provided with a position information storage body that stores position information of the unit area. The transport vehicle includes a reading unit that reads the position information stored in the position information storage body. The abnormalities of the transport vehicle include: a first abnormality caused by the transport vehicle deviating from the stop target position within a range where the position information storage body provided at the stop target position can be read; a second abnormality caused by the transport vehicle deviating from the stop target position to such an extent that the position information storage body provided at the stop target position cannot be read; and a third abnormality caused by the transport vehicle colliding with another transport vehicle. The control system: When the abnormality of the abnormal transport vehicle is the first abnormality, the range of L (L is an integer greater than or equal to 2) unit areas existing in the front side of the abnormal transport vehicle in the direction of travel is set as the prohibited entry area, with the unit area existing immediately before the abnormal transport vehicle becomes abnormal as a starting point, When the abnormality occurring in the abnormal transport vehicle is the second abnormality, a range of M×M (M is an integer greater than or equal to 2) unit areas in front of the unit area in the traveling direction where the abnormal transport vehicle existed immediately before the abnormality occurred is set as the prohibited entry area, When the abnormality occurring in the abnormal transport vehicle is the third abnormality, a range of N×N (N is an integer greater than M) unit areas centered on the unit area where the abnormal transport vehicle existed immediately before the abnormality occurred is set as the prohibited entry area.

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