Article distinguishing device

Abstract

The invention provides an article distinguishing apparatus. The article distinguishing device distinguishes articles (W) by causing each of a plurality of transport vehicles (20) to travel on a floor (E) and transporting the articles (W). The floor (E) is provided with: a passage region (E3) extending in a specific direction along the floor (E); a supply area (E1) provided with a supply unit (15); and a connection region (E2) that connects the passage region (E3) and the supply region (E1). A plurality of receiving parts (31) are arranged along the passage region (E3); a standby area (71) in which the transport vehicle (20) is standby before entering the passage area (E3) is set in an area other than the passage area (E3).

Description

Technical Field

[0001] The invention relates to an article distinguishing device for conveying articles by a plurality of conveying vehicles. Background Art

[0002] In recent years, the automation of article transportation has been progressing in article sorting equipment such as logistics warehouses. For example, Japanese Patent Publication No. 2020-100482 (Patent Document 1) describes an article sorting equipment that transports articles (W) from a supply unit (90) to a receiving unit (80) by a transport vehicle (V). Summary of the invention

[0003] In addition, in the article sorting device of Patent Document 1, when a transport vehicle (V) travels from a supply unit (90) toward a receiving unit (80), for example, when another transport vehicle (V) stops on the travel path of the transport vehicle (V), or when the receiving unit (80) at the transport destination of the transport vehicle (V) is in a state where the article (W) cannot be received, there is a need to stop the transport vehicle (V) on the travel path. Moreover, if such a stop of the transport vehicle occurs frequently, congestion occurs on the travel path. However, Patent Document 1 does not specifically record the problem of such congestion.

[0004] Therefore, it is desirable to realize an article sorting device that is less likely to cause congestion.

[0005] The article distinguishing device disclosed in the present invention distinguishes the aforementioned articles by making each of a plurality of transport vehicles travel on a floor and transport the articles; it comprises: a supply unit, each supplying the aforementioned articles to the aforementioned transport vehicle; and a plurality of receiving units, each configured to receive the aforementioned articles from the aforementioned transport vehicle; on the aforementioned floor, there are set: a passage area, extending along a specific direction along the aforementioned floor; a supply area, in which the aforementioned supply unit is arranged; and a connecting area, connecting the aforementioned passage area with the aforementioned supply area; a plurality of the aforementioned receiving units are arranged along the aforementioned passage area; and in an area outside the aforementioned passage area, there is set a waiting area for the aforementioned transport vehicle to wait before entering the aforementioned passage area.

[0006] According to this structure, when the receiving section that is the destination of the articles to be transported by the transport vehicle is in an unreceivable state and cannot receive the articles, the transport vehicle can be made to wait in the waiting area without entering the passage area. Therefore, the possibility of congestion of the transport vehicles in the passage area due to the waiting of the transport vehicles in the narrow passage area arranged in a manner extending along a specific direction can be reduced. Alternatively, the necessity of the transport vehicle to travel in the passage area multiple times by passing through the receiving section in an unreceivable state in order to avoid congestion in the passage area can be reduced. In this way, according to this structure, the possibility of congestion of the transport vehicles can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a top view of the article sorting device related to the first embodiment.

[0008] Figure 2 yes Figure 1 Front view of the access area.

[0009] Figure 3 yes Figure 1 Control block diagram of an item differentiation device.

[0010] Figure 4 Yes means Figure 1 Figure 1 of the floor of the building.

[0011] Figure 5 Yes means Figure 1 Figure 2 of the floor.

[0012] Figure 6 It is a top view of the article sorting equipment related to the second embodiment.

[0013] Figure 7 yes Figure 6 Front view of the access area. DETAILED DESCRIPTION

[0014] Hereinafter, an article sorting device according to a first embodiment will be described with reference to the drawings.

[0015] Figure 1 1 is a top view of an article sorting device 10 that sorts articles W by causing each of a plurality of transport vehicles 20 to travel on a floor E and transport articles W. The article sorting device 10 includes the transport vehicles 20, the floor E, a supply unit 15 that supplies articles W to the transport vehicles 20, and a plurality of receiving units 31. The plurality of receiving units 31 are configured to receive articles W from the transport vehicles 20, respectively.

[0016] In the supply unit 15, the operator 16 transfers the article W to the transport vehicle 20. Here, the so-called "operator" is, for example, one or both of the operator and the operating device. The operator 16 transfers the article W from the supply conveyor 17 to the transport vehicle 20, and the supply conveyor 17 conveys the article W from the automatic warehouse outside the figure. Examples of the supply conveyor 17 include a belt conveyor, a crane, an arm-type robot, etc.

[0017] Here, a specific direction along the floor E is set as the Y direction, and a direction along the floor E that is orthogonal to the Y direction is set as the X direction. One side in the Y direction is set as the first side Y1 in the Y direction, and the other side in the Y direction is set as the second side Y2 in the Y direction. One side in the X direction is set as the first side X1 in the X direction, and the other side in the X direction is set as the second side X2 in the X direction. The up and down direction is set as the Z direction. Examples of the floor E include a running surface or a floor provided in facilities such as a building or a ship. In the present embodiment, the floor E is a running surface provided on a platform indoors.

[0018] On the floor E, a supply area E1 provided with a supply portion 15 and a passage area E3 extending along the Y direction are set. The supply area E1 is arranged on the first side Y1 in the Y direction relative to the passage area E3. A plurality of passage areas E3 are arranged in an array in the X direction. On the floor E, a connection area E2 is set to connect the passage area E3 and the supply area E1. The supply area E1, the connection area E2, and the passage area E3 set on the floor E may be areas demarcated by real areas of the floor E, or may be virtual areas. In the present embodiment, the boundary between the supply area E1 and the connection area E2 is a virtual boundary set on the floor E. In the present embodiment, both sides of the passage area E3 in the X direction become the outer edges of the floor E.

[0019] The connection area E2 connects the supply area E1 and the passage area E3 so that the transport vehicle 20 can travel. Here, the end of the passage area E3 on the first side Y1 in the Y direction is referred to as the first end 51. The connection area E2 connects the first end 51 of the passage area E3 and the supply area E1.

[0020] A plurality of passage areas E3 are arranged in the X direction on the floor E, and the first ends 51 of the plurality of passage areas E3 are connected to each other via the connection area E2. A plurality of receiving parts 31 are arranged along the passage area E3. The article sorting device 10 includes a plurality of supply parts 15. A plurality of supply areas E1 each including a supply part 15 are arranged in the X direction on the floor E.

[0021] Figure 2It is a front view of the passage area E3. A plurality of receiving parts 31 are arranged in a manner arranged along the Y direction at respective locations on both sides in the X direction in the passage area E3. The transport vehicle 20 includes a transfer part 21 for transferring articles W from the transport vehicle 20 to the receiving part 31. The transfer part 21 is configured to freely change the posture of a loading surface 22 on which the articles W are loaded to a "horizontal posture" and a "tilted posture". The articles W are loaded on the loading surface 22 in a horizontal posture for transport, and are transferred to the receiving part 31 if the loading surface 22 is set to an inclined posture. The transport vehicle 20 includes a traveling part 25. The traveling part 25 is provided with a plurality of wheels 23 that roll on a traveling surface on the floor E. Examples of the transport vehicle 20 include electric vehicles that travel by means of power supply such as a battery, a fuel cell, contact power supply from the floor E, and non-contact power supply, and vehicles with an internal combustion engine. In the present embodiment, a battery 27 (see Figure 3 ) In the present embodiment, the transport vehicle 20 is an electric unmanned transport vehicle.

[0022] A receiving conveyor 35 is provided at each of the plurality of receiving sections 31. The articles W transferred to the receiving section 31 are conveyed in the direction along the X direction by the receiving conveyor 35 and stored in containers 38 corresponding to each of the plurality of receiving sections 31. A shipping device 36 is arranged adjacent to the plurality of receiving conveyor devices 35. The containers 38 are arranged in an array on the shipping device 36, and if the articles W of the type and quantity specified in one order information are stored in the container 38, the container 38 is transported to the shipping location by the shipping device 36. Examples of the receiving conveyor 35 include a belt conveyor, a crane, an arm-type robot, and the like. Examples of the shipping device 36 include a belt conveyor, a stacking crane, an automatic transport vehicle, and the like.

[0023] Figure 3: is a control block diagram of the article distinguishing device 10 of the present embodiment. The article distinguishing device 10 is provided with a control system 45 for controlling the transport vehicle 20. In the illustrated example, the control system 45 is provided with a control device 46 for controlling the transfer section 21 and the travel section 25 of the transport vehicle 20, the supply conveying device 17, the receiving conveying device 35, and the shipping device 36. The control device 46 is provided with: a computing device such as a CPU (Central Processing Unit); and a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory) that can be referenced by the computing device. The various functions of the control device 46 (for example, the function of controlling the travel of the transport vehicle 20) are realized by the cooperation of the hardware provided by the control device 46 and the program executed on the hardware such as the computing device. Specifically, the various functions of the control device 46 are realized by the control device 46 executing a program stored in a storage device (a main storage device, a separately provided storage unit, etc.). In other words, a program (e.g., an article transport program) for enabling a computer (a computer controlling the system 45) to implement the various functions of the control device 46 is stored in a storage device that can be referenced by the computer. The program is provided, for example, by a storage medium or via a communication network. Then, the provided program is stored in a storage device that can be referenced by the computer. In the present embodiment, the control device 46 (specifically, an arithmetic processing device included in the control device 46) functions as a "computer". The control device 46 may not be a single piece of hardware, but may be composed of a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other by wire or wireless communication. For example, the control device 46 may also be a structure that includes an upper control device that is configured in a control facility not shown in the figure to control multiple transport vehicles 20 and a control device that is mounted on each transport vehicle 20.

[0024] The floor E is divided into a plurality of virtual unit areas Au in a grid shape when viewed in the Z direction. The travel path of the transport vehicle 20 is set so as to connect a plurality of arbitrary virtual unit areas Au. In this embodiment, a position information detection unit 29 (see FIG. 1 ) is provided at each of the plurality of transport vehicles 20. Figure 3 ). A position information holding unit is provided at each virtual unit area Au. If the transport vehicle 20 is traveling on the driving path, the position information detection unit 29 of the transport vehicle 20 is configured to detect the position information held by the position information holding body arranged at each virtual unit area Au. Examples of the position information holding body include a bar code (one-dimensional code), a two-dimensional code, an IC tag, etc. The position information detected by the position information detection unit 29 is sent from the transport vehicle 20 to the control device 46 of the control system 45.

[0025] The control system 45 issues a transport instruction to each transport vehicle 20. In the transport instruction, the "transport source" and "transport destination" of the article W are specified. In the present embodiment, the transport source is the supply unit 15. In the present embodiment, the transport destination is the receiving unit 31. In the transport instruction, the travel path from the transport source to the transport destination of the transport vehicle 20 is specified. The transport vehicle 20 that receives the transport instruction from the control system 45 receives the article W at the specified transport source and transports the article W to the specified transport destination.

[0026] In the transport command of this embodiment, an outbound path 81 (see FIG. 1 ) for traveling from the supply unit 15 to the end of the passage area E3 is set. Figure 4 In the transport command of this embodiment, a return path is set for traveling from the end of the passage area E3 to the supply unit 15. In this embodiment, the return path 82 (see Figure 5 ) is a return path. In the present embodiment, the end of the passage area E3 on the second side Y2 in the Y direction is the terminal end of the passage area E3.

[0027] Figure 4 1 is a diagram showing the first layer F1 of the article sorting device 10. In the connection area E2, a charging position 42 for charging the transport vehicle 20 by the charger 41 is set. In this way, the connection area E2 where the supply unit 15 and the receiving unit 31 are not arranged can be efficiently used. In the example shown in the figure, the charger 41 is arranged adjacent to the connection area E2. The charging position 42 is arranged so that a plurality of transport vehicles 20 can be parked.

[0028] When the amount of power stored in the transport vehicle 20 is less than a predetermined amount of power (e.g., less than 50% of the amount of power stored in the fully charged state), the transport vehicle 20 moves to the charging position 42 and stops. At the charging position 42, the battery 27 (see Figure 3 ) for rapid charging. The charger 41 may be a contactless power supply device or a contact power supply device. In this embodiment, a control device 46 of a control system 45 described later acquires the storage capacity of the battery 27 of each transport vehicle 20 and controls the transport vehicle 20 with a storage capacity less than a specified value to move to the charging position 42.

[0029] Figure 51 is a diagram showing the second layer F2 of the article distinguishing device 10. The floor E has a first layer F1 and a second layer F2, and the first layer F1 and the second layer F2 are arranged at different positions in the Z direction (up and down direction). The first layer F1 and the second layer F2 are layers adjacent to each other in the Z direction. In the present embodiment, the second layer F2 is arranged on the upper side of the first layer F1, but the second layer F2 may be arranged on the lower side of the first layer F1. In the present embodiment, a supply area E1 and a passage area E3 are provided on the first layer F1. In the present embodiment, a connection area E2 is provided on the first layer F1.

[0030] The article classification device 10 includes a first lifter L1 for transporting a transport vehicle 20 in the Z direction. The first lifter L1 is connected to the passage area E3 of the first layer F1 and the second layer F2. The article classification device 10 includes a second lifter L2 for transporting a transport vehicle 20 in the Z direction. In the example shown in the figure, the second lifter L2 is connected to the supply area E1 of the first layer F1 and the second layer F2. The first lifter L1 and the second lifter L2 are arranged to be separated from each other in the horizontal direction.

[0031] The first elevator L1 and the second elevator L2 are connected in the second layer F2 by the return passage 82 described later in a manner that the transport vehicle 20 can travel. In the illustrated example, the second elevator L2 is connected to the return passage 82 and the first layer F1. The first elevator L1 and the second elevator L2 may be directly or indirectly connected to the return passage 82. The first elevator L1 may be directly or indirectly connected to the passage area E3. The second elevator L2 may be directly or indirectly connected to the supply area E1. The first elevator L1 and the second elevator L2 may also transport the transport vehicle 20 autonomously, respectively, or may be controlled by the control system 45. As examples of the first elevator L1 and the second elevator L2, a device for lifting and lowering the transport vehicle 20 by circulating a plurality of lifting platforms along a predetermined annular path, a multi-rotor helicopter capable of transporting the transport vehicle 20, an elevator, etc. may be cited.

[0032] On the second layer F2, a return passage 82 for the transport vehicle 20 to travel is provided. The first elevator L1 is connected to the starting end 82b of the return passage 82 and the terminal end of the passage area E3. The second elevator L2 is connected to the terminal end 82a of the return passage 82 and the supply area E1. In the illustrated example, a plurality of return passages 82 are provided on the second layer F2, extending respectively along the Y direction. The return passage 82 is a passage for the transport vehicle 20 to travel after transporting the article W to the receiving section 31 in the passage area E3. In the present embodiment, the use of the return passage 82 as a waiting place is prohibited. In the illustrated example, the return passage 82 is set to one-way traffic.

[0033] On the second floor F2, a passage connection area E4 is provided to connect a plurality of return passages 82 in a manner that the transport vehicle 20 can travel. In the example shown in the figure, the passage connection area E4 is arranged between adjacent return passages 82 in the X direction. In the passage connection area E4, a charging position 42 for charging the transport vehicle 20 is set. In the passage connection area E4, a standby area 71 described later is set. In the passage connection area E4, a travel-only area 72 described later is set. In the passage connection area E4, a third elevator L3 described later is adjacently connected in a manner that the transport vehicle 20 can travel from the passage connection area E4.

[0034] In the area outside the passage area E3, a waiting area 71 is set for the transport vehicle 20 to wait before entering the passage area E3. On the floor E, a driving-only area 72 is set that is prohibited from being used as a waiting place. In the example shown in the figure, the waiting area 71 is represented as an area with a square in the virtual unit area Au, and the driving-only area 72 is represented as an area with an arrow in the virtual unit area Au. It is also possible that multiple transport vehicles 20 can wait in one waiting area 71, but in this embodiment, one transport vehicle 20 waits in one waiting area 71. The driving-only area 72 is set to one-way traffic. The waiting area 71 and the driving-only area 72 can also be areas that can be changed by the control system 45 or the operator, or they can be areas that cannot be changed. Below, it is set to explain the state in which the transport vehicle 20 is resting in all the waiting areas 71, but of course there can also be a waiting area 71 where the transport vehicle 20 is not resting.

[0035] A waiting area 71 is set in the second layer F2. The waiting area 71 of the second layer F2 is directly or indirectly connected to the return passage 82. In the example shown in the figure, the waiting area 71 of the second layer F2 is connected to the return passage 82 via the travel-only area 72. In the present embodiment, the waiting area 71 is also set in the connection area E2 of the first layer F1.

[0036] Article distinguishing equipment 10 also has the 3rd lifter L3 that transports the transport vehicle 20 in the up-down direction (Z direction). The 3rd lifter L3 is connected to the standby area 71 of the 2nd layer F2 and the connecting area E2 of the 1st layer F1. In the illustrated example, the transport vehicle 20 waiting in the standby area 71 of the 1st layer F1 is transported to the 2nd layer F2 by the 3rd lifter L3. The transport vehicle 20 traveling toward the passage area E3 from the standby area 71 of the 2nd layer F2 is transported to the 1st layer F1 by the 3rd lifter L3, but can also be transported to the 1st layer F1 by the 2nd lifter L2. The 3rd lifter L3 can also be directly connected to the standby area 71 and the connecting area E2, or it can be indirectly connected. The 1st lifter L1, the 2nd lifter L2 and the 3rd lifter L3 can also transport the transport vehicle 20 autonomously respectively, or they can be controlled by the control system 45.

[0037] The third elevator L3 connects the waiting area 71 with the connection area E2. The first elevator L1 connects the terminal portion of the passage area E3 with the second layer F2. The second layer F2 is provided with a return passage 82 for the transport vehicle 20 to travel. The second elevator L2 connects the terminal portion 82a of the return passage 82 with the first layer F1. In the example shown in the figure, the second elevator L2 connects the terminal portion 82a of the return passage 82 with the supply area E1.

[0038] The waiting areas 71 are arranged in a plurality of rows, and travel-only areas 72 through which the transport vehicle 20 can pass are set between adjacent rows of the waiting areas 71. All the waiting areas 71 set in each row are set adjacent to at least one travel-only area 72.

[0039] The standby area 71 and the travel area 72 are set so that the transport vehicle 20 supplied with the article W in the supply unit 15 can transport the article W to the plurality of receiving units 31. The standby area 71 and the travel area 72 are set so that the transport vehicle 20 can return to the supply unit 15 after transporting the article W to the receiving unit 31 in the passage area E3.

[0040] When a certain receiving unit 31 is in an unreceivable state where it cannot receive the article W, the control system 45 executes a "first standby process" to make all transport vehicles 20 that have the receiving unit 31 in the unreceivable state as the transport destination of the article W standby in the standby area 71.

[0041] The control system 45 performs batch processing to receive the articles W of the type and quantity specified in one order information at each of the plurality of receiving units 31. In the present embodiment, one container 38 corresponds to one order information. The control system 45 stores the articles W of the type and quantity specified in one order information in the container 38 (see FIG. 1 ) disposed adjacent to the receiving unit 31 through batch processing. Figure 2 ). If the batch processing is performed, in other words, if all the articles W of the type and quantity specified in one order information are contained in the container 38, the container 38 is transported to the shipping location. Then, the next container 38 corresponding to the next order information is arranged adjacent to the receiving unit 31, and the control system 45 contains the articles W of the type and quantity specified in another order information in the next container 38 through the next batch processing.

[0042] The control system 45 is configured to perform a second batch process of receiving the articles W of the type and quantity specified in one order information, after performing a first batch process of receiving the articles W of the type and quantity specified in another order information at each of the plurality of receiving units 31. When the state of a certain receiving unit 31 is an unfinished state where the first batch process has not been completed, the control system 45 performs a "second standby process" of causing all the transport vehicles 20 that transport the articles W to the receiving unit 31 in the unfinished state as the transport destination of the articles W to stand by in the standby area 71 for the second batch process.

[0043] The second batch processing mentioned above may be the next batch processing of the first batch processing for one receiving unit 31, or the next batch processing for the receiving unit 31. For example, the following structure may be adopted: in the second standby process, the control system 45 makes all the transport vehicles 20 that transport the articles W for all batch processing after the next batch processing of the first batch processing with the receiving unit 31 in the unfinished state as the transport destination of the articles W stand by in the standby area 71. For example, the following structure may be adopted: in the case where the number of transport vehicles 20 that transport the articles W for the first batch processing or the transport vehicles 20 that transport the articles W for the next batch processing of the first batch processing is less than the prescribed number, in the second standby process, the transport vehicles 20 that transport the articles W for the first batch processing and the transport vehicles 20 that transport the articles W for the next batch processing of the first batch processing are allowed to enter the passage area E3.

[0044] When the unfinished state of the receiving unit 31 is eliminated, the control system 45 causes the transport vehicle 20 that transports the articles W for the second batch process to the receiving unit 31 after the unfinished state is eliminated to move from the standby area 71 toward the receiving unit 31. In addition, in the second standby process, when the transport vehicle 20 is put on standby for a plurality of batch processes, the transport vehicle 20 starts from the standby area 71 for the batch process that is closest to the first batch process and moves toward the receiving unit 31.

[0045] Hereinafter, the article sorting device 10 according to the second embodiment will be described with reference to the accompanying drawings. In this embodiment, the floor E on which the plurality of transport vehicles 20 travel is one layer, which is different from the first embodiment. Hereinafter, the description will be centered on the differences from the first embodiment. In addition, for the points not particularly described, it is assumed to be the same as the first embodiment.

[0046] Figure 6 It is a top view of the article sorting device 10 according to the present embodiment. Figure 71 is a front view of the passage area E3 of the present embodiment. In the present embodiment, a direction change position 53 is set at the second side Y2 in the Y direction relative to the first end 51. In the example shown in the figure, the direction change position 53 is set at the end of the passage area E3 at the second side Y2 in the Y direction, that is, the terminal portion.

[0047] In this embodiment, the outward path 81 in the transport instruction is set so that the transport vehicle 20 travels from the first end 51 to the direction change position 53 in the passage area E3. The return path (return path 82) in the transport instruction is set so that the transport vehicle 20 that has made a U-turn at the direction change position 53 in the passage area E3 travels from the direction change position 53 to the first end 51. These outward paths 81 and return paths (return paths 82) are arranged in the X direction in the passage area E3. Figure 6 and Figure 7 As shown, in this embodiment, the transport vehicle 20 transfers the article W in the passage area E3 in the outgoing path 81 to the receiving unit 31 configured on the side opposite to the return path (return path 82) in the X direction, and in the return path (return path 82), transfers the article W in the passage area E3 to the receiving unit 31 configured on the side opposite to the outgoing path 81 in the X direction.

[0048] Next, another embodiment of the article sorting device 10 will be described.

[0049] (1) In the first and second embodiments, a structure in which a plurality of supply areas E1, a connection area E2, and a plurality of passage areas E3 are arranged on the floor E is described as an example. However, the present invention is not limited to such an example. For example, there may be only one passage area E3. For example, there may be only one supply area E1. For example, there may be only one supply unit 15.

[0050] (2) In the first and second embodiments, the supply area E1 and the connection area E2 are separated by a virtual boundary, and the two sides of the passage area E3 in the X direction are the outer edges of the floor E. However, the present invention is not limited to such an example. For example, the supply area E1, the connection area E2, and the passage area E3 may be areas divided by the actual outer edges of the floor E and in which the transport vehicle 20 can move. For example, all of the supply area E1, the connection area E2, and the passage area E3 may be virtual areas set on a larger floor E. For example, an area different from the supply area E1, the connection area E2, and the passage area E3 may be set on the floor E, such as a buffer area where a plurality of transport vehicles 20 can be arranged.

[0051] (3) In the first and second embodiments, the control system 45 includes a host control device for controlling 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 the control system 45 may be a system in which the control device mounted on each transport vehicle 20 communicates with the control device of other transport vehicles 20 and performs judgments and operations independently. For example, the position information holder may not be provided on the floor E, and the position information of the transport vehicle 20 may be obtained by an image sensor or the like provided on the transport vehicle 20 or a facility.

[0052] (4) In the first embodiment and the second embodiment, the control system 45 controls the transfer unit 21 and the travel unit 25 of the transport vehicle 20. However, the present invention is not limited to such an example. For example, the control device 46 may be a control device that controls only the travel unit 25 of the transport vehicle 20. For example, the transport vehicle 20 may not include the transfer unit 21, and the working body 16 may transfer the article W on the transport vehicle 20. For example, the article W may be stored in the storage room provided in the transport vehicle 20. For example, the control system 45 may control the working device as the working body 16.

[0053] (5) In the first and second embodiments, the control system 45 performs the first standby process and the second standby process as an example. However, the present invention is not limited to such an example, and the control system 45 may not perform the first standby process or the second standby process. For example, the control system 45 may not perform the first batch process or the second batch process, and the operator may specify the receiving unit 31 for each transport vehicle 20.

[0054] (6) In the first and second embodiments, the control system 45 has been described as an example in which the transport vehicle 20 is driven toward the receiving unit 31 when the unfinished state of the receiving unit 31 is eliminated. However, the present invention is not limited to such an example, and for example, the transport vehicle 20 may be driven toward the receiving unit 31 before the unfinished state of the receiving unit 31 is eliminated. For example, the transport vehicle 20 that has been waiting in the waiting area 71 for a predetermined time may be driven toward the receiving unit 31.

[0055] (7) In the first and second embodiments, the article sorting equipment 10 is described as an example in which the article sorting equipment 10 includes the supply conveyor 17, the receiving conveyor 35, and the delivery device 36. However, the present invention is not limited to such an example, and for example, the article sorting equipment 10 may be a structure in which the article W or the container 38 is transported by an operator or a vehicle operated by the operator without the supply conveyor 17, the receiving conveyor 35, and the delivery device 36.

[0056] (8) In the first and second embodiments, the configuration in which the charging position 42 for charging the transport vehicle 20 by the charger 41 is set in the connection area E2 is described as an example. However, the present invention is not limited to such an example, and for example, the charging position 42 may be set in another area that is accessible to the supply area E1, the passage area E3, and the connection area E2.

[0057] (9) In the first embodiment, the third elevator L3 is described as an example in which the third elevator L3 is arranged adjacent to the return passage 82. However, the present invention is not limited to such an example. For example, a branching portion and a confluence portion may be provided in the return passage 82, and the third elevator L3 may be arranged between the branching portion and the confluence portion. For example, the third elevator L3 may be arranged adjacent to the waiting area 71. For example, the article sorting device 10 may not include the third elevator L3.

[0058] (10) In the first and second embodiments, the configuration in which the waiting area 71 is set in the connection area E2 of the first floor F1 is described as an example. However, the present invention is not limited to such an example, and the waiting area 71 may be set in the supply area E1. For example, the waiting area 71 may be set in another area that is provided on the floor E and connected to the supply area E1 or the connection area E2. For example, the waiting area 71 may be set only in the second floor F2.

[0059] (11) In addition, the structure disclosed in the above-mentioned embodiment can also be combined with the structure disclosed in other embodiments and applied as long as there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are also only illustrative in all aspects. Therefore, various changes can be appropriately made within the scope of the main purpose of the present disclosure.

[0060] Hereinafter, the article sorting device according to the present disclosure will be described.

[0061] As one form, an article distinguishing device is an article distinguishing device that distinguishes the aforementioned articles by causing each of a plurality of transport vehicles to travel on a floor and transport the aforementioned articles; it comprises: a supply unit, each supplying the aforementioned articles to the aforementioned transport vehicle; and a plurality of receiving units, each configured to receive the aforementioned articles from the aforementioned transport vehicle; on the aforementioned floor, there are set: a passage area, extending along a specific direction along the aforementioned floor; a supply area, in which the aforementioned supply unit is provided; and a connecting area, connecting the aforementioned passage area with the aforementioned supply area; a plurality of the aforementioned receiving units are arranged along the aforementioned passage area; and in an area outside the aforementioned passage area, a waiting area is set for the aforementioned transport vehicle to wait before entering the aforementioned passage area.

[0062] According to this structure, when the receiving section that is the destination of the articles to be transported by the transport vehicle is in an unreceivable state and cannot receive the articles, the transport vehicle can be made to wait in the waiting area without entering the passage area. Therefore, the possibility of congestion of the transport vehicles in the passage area due to the waiting of the transport vehicles in the narrow passage area arranged in a manner extending along a specific direction can be reduced. Alternatively, the necessity of the transport vehicle to travel in the passage area multiple times by passing through the receiving section in an unreceivable state in order to avoid congestion in the passage area can be reduced. In this way, according to this structure, the possibility of congestion of the transport vehicles can be reduced.

[0063] As one form, a control system is provided for controlling the aforementioned transport vehicles; when the state of a certain aforementioned receiving unit is an unreceivable state where the aforementioned article cannot be received, the aforementioned control system executes a first standby process for making all the aforementioned transport vehicles that use the aforementioned receiving unit in the unreceivable state as the transport destination of the aforementioned article standby in the aforementioned standby area.

[0064] According to this structure, when there is a receiving unit that cannot receive, all the transport vehicles with the receiving unit as the transport destination can be made to wait in the waiting area. Therefore, even if a part of the receiving units becomes unable to receive, the supply of articles to the transport vehicles by the supply unit can be continued without stopping. In addition, the possibility of congestion of transport vehicles in the passage area can be reduced. Therefore, it is easy to improve the efficiency of the sorting operation in the article sorting device.

[0065] As one form, there is a control system for controlling the aforementioned transport vehicles; the aforementioned control system is configured to, after performing a first batch process of receiving the aforementioned articles of a type and quantity specified in one order information at each of the plurality of aforementioned receiving units, perform a second batch process of receiving the aforementioned articles of a type and quantity specified in another order information; when the state of a certain aforementioned receiving unit is an incomplete state where the aforementioned first batch process has not been completed, the aforementioned control system executes a second standby process of making all the aforementioned transport vehicles that transport the aforementioned articles with the aforementioned receiving unit in the incomplete state as the transport destination for the aforementioned second batch process standby in the aforementioned standby area.

[0066] According to this configuration, batch processing can be performed at a plurality of receiving units, and the possibility of congestion of transport vehicles in the passage area due to the waiting of transport vehicles caused by the batch processing can be reduced. Therefore, the efficiency of the sorting operation in the article sorting device can be easily improved.

[0067] As one aspect, when the incomplete state of the receiving section is eliminated, the control system causes the transport vehicle that transports the articles for the second batch processing to move from the waiting area toward the receiving section with the receiving section after the incomplete state is eliminated as the transport destination of the articles.

[0068] According to this structure, when the receiving section becomes capable of receiving articles, the transport vehicle can be driven from the waiting area toward the receiving section and transport the articles. Therefore, compared with the case where the transport vehicle passes through the receiving section that cannot receive and drives in the passage area multiple times, the driving distance of the transport vehicle can be suppressed to be shorter, and the waste of energy and time used for the driving of the transport vehicle can be reduced.

[0069] As one form, it is also equipped with a first elevator and a second elevator, and the first elevator and the second elevator transport the aforementioned transport vehicle in the up and down direction; the aforementioned floor has a first layer and a second layer, and the first layer and the second layer are arranged at different positions in the up and down direction; on the aforementioned first layer, the aforementioned passage area and the aforementioned supply area are provided; on the aforementioned second layer, a return passage for the aforementioned transport vehicle is provided; the aforementioned first elevator connects the end portion of the aforementioned passage area with the aforementioned second layer; the aforementioned second elevator connects the end portion of the aforementioned return passage with the aforementioned first layer; and the aforementioned waiting area is set on the aforementioned second layer.

[0070] According to this configuration, a waiting area can be ensured while ensuring a large area of ​​the path of the transport vehicle for receiving articles and transporting them to the receiving unit.

[0071] As one form, it is also equipped with a third elevator, which transports the aforementioned transport vehicle in the up and down directions; the aforementioned connection area is set on the aforementioned first floor; the aforementioned second elevator connects the end portion of the aforementioned return passage with the aforementioned supply area; and the aforementioned third elevator connects the aforementioned waiting area with the aforementioned connection area.

[0072] According to this configuration, the transport vehicle waiting in the waiting area on the second floor can be quickly transported to the connection area by the third elevator without causing it to pass through the supply section again.

[0073] The article distinguishing device of the present disclosure only needs to achieve at least one of the above-mentioned effects. The technical features of the article distinguishing device of the present disclosure can also be applied to an article distinguishing method and an article distinguishing program.

[0074] Description of Reference Numerals

[0075] 10: Item classification equipment

[0076] 15: Supply Department

[0077] 20: Transport vehicle

[0078] 31: Receiving Department

[0079] 45: Control System

[0080] 71: Standby area

[0081] 82: Return Passage

[0082] 82a: terminal end

[0083] E: Floor

[0084] E1: Supply Zone

[0085] E2: Connection area

[0086] E3: Access area

[0087] F1: Layer 1

[0088] F2: Layer 2

[0089] L1: Elevator No. 1

[0090] L2: Second elevator

[0091] L3: Elevator No. 3

[0092] W: Items

Claims

1. An article sorting device, which is an article sorting device that sorts the articles by making a plurality of transport vehicles respectively travel on the floor and transport the articles, characterized in that: have: a supply unit for supplying the aforementioned articles to the aforementioned transport vehicles; and A plurality of receiving units, each configured to receive the aforementioned article from the aforementioned transport vehicle; In the above floor, the following are set: a passage area extending in a specific direction along the aforementioned floor; a supply area, provided with the aforementioned supply part; and a connection area, connecting the passage area with the supply area; A plurality of the aforementioned receiving parts are arranged along the aforementioned passage area; In an area other than the passage area, a waiting area is set for the transport vehicle to wait before entering the passage area.

2. The article distinguishing device according to claim 1, characterized in that: A control system for controlling the aforementioned transport vehicle; When a certain receiving unit is in an unreceivable state where the article cannot be received, the control system executes a first standby process of making all the transport vehicles having the receiving unit in the unreceivable state as a transport destination of the article standby in the standby area.

3. The article distinguishing device according to claim 1, characterized in that: A control system for controlling the aforementioned transport vehicle; The control system is configured to, after performing a first batch process of receiving the articles of a type and quantity specified in one order information at each of the plurality of receiving units, perform a second batch process of receiving the articles of a type and quantity specified in another order information; When the state of a certain receiving unit is an incomplete state where the first batch processing has not been completed, the control system executes a second standby processing of making all the transport vehicles that transport the articles with the receiving unit in the incomplete state as the transport destination of the articles for the second batch processing standby in the standby area.

4. The article distinguishing device according to claim 3, characterized in that: When the incomplete state of the receiving unit is resolved, the control system causes the transport vehicle that transports the articles for the second batch processing to move from the waiting area toward the receiving unit with the receiving unit after the incomplete state is resolved as the transport destination of the articles.

5. The article distinguishing device according to any one of claims 1 to 4, characterized in that: The invention also comprises a first elevator and a second elevator, wherein the first elevator and the second elevator transport the transport vehicle in a vertical direction; The floor comprises a first layer and a second layer, wherein the first layer and the second layer are arranged at different positions in the vertical direction; The aforementioned passage area and the aforementioned supply area are provided on the aforementioned first layer; On the second floor, a return passage for the transport vehicle is provided; The first elevator connects the terminal portion of the passage area to the second floor; The second elevator connects the terminal end of the return passage to the first floor; The aforementioned standby area is set on the aforementioned second floor.

6. The article distinguishing device according to claim 5, characterized in that: A third elevator is further provided, and the third elevator transports the transport vehicle in a vertical direction; The aforementioned connection area is provided on the aforementioned first layer; The second elevator connects the terminal end of the return passage to the supply area; The third elevator connects the waiting area with the connecting area.

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