Conveying device

Abstract

A plurality of reference points (P) constituting the reference point group (PG) are arranged such that a first route (R1), a second route (R2), a third route (R3), a fourth route (R4), a fifth route (R5), and a sixth route (R6) can be set as travel routes. The first path (R1) and the second path (R2) are paths to a first side (X1) in the first direction, the third path (R3) and the fourth path (R4) are paths to a second side (X2) in the first direction, the fifth path (R5) is a path to a first side (Y1) in the second direction, and the sixth path (R6) is a path to a second side (Y2) in the second direction. In a region (T) surrounded by four paths of the second path (R2), the third path (R3), the fifth path (R5), and the sixth path (R6) in the traveling surface (11), a standby region (W) in which the transport vehicle (1) is standby is formed.

Description

Technical Field

[0001] The present invention relates to a conveying device, which includes: a traveling area in which a group of reference points as a plurality of reference points is set; and a conveying vehicle that travels on a traveling path set so as to connect the plurality of reference points included in the reference point group to convey an article. Background Art

[0002] As an example of a conveying device for conveying an article, an article sorting device is disclosed in Japanese Unexamined Patent Application Publication No. 2020-11790 (Patent Document 1). Hereinafter, in the description of this background art, the symbols in Patent Document 1 are cited in parentheses. In the article sorting device of Patent Document 1, an article conveying vehicle (4) for conveying an article (W) is configured to travel along a preset lane. In the Figure 1 shown manner, there are provided a traveling lane (L1), a branch lane (L2), and a completion lane (L3) along which the article conveying vehicle (4) travels in the same direction (hereinafter, referred to as the "downstream side"), and a return lane (L4) along which the article conveying vehicle (4) travels in the direction opposite to these three lanes (hereinafter, referred to as the "upstream side").

[0003] In the Figure 1 and Figure 2 shown manner, a plurality of work areas (E1) for performing a picking operation on an article (W) are arranged side by side along the traveling lane (L1), and the traveling lane (L1) is provided with a lane area (LE) corresponding to each of the plurality of work areas (E1). The article conveying vehicle (4) sequentially travels in one or more lane areas (LE) where a picking operation is performed on the article conveying vehicle (4). At this time, the article conveying vehicle (4) changes lanes between the traveling lane (L1), the branch lane (L2), and the completion lane (L3), and travels toward the downstream side at the same time. Moreover, after the article conveying vehicle (4) that has completed the picking operation travels to the downstream end, it travels on the return lane (L4) and returns to the upstream end. Prior Art Documents Patent Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-11790 Summary of the Invention Problems to be Solved by the Invention

[0005] However, in the conveying device disclosed in Patent Document 1, a situation is envisioned where the conveyance vehicle cannot enter the portion that is the destination of the travel of the conveyance vehicle (in Patent Document 1, the lane area corresponding to the work area). For example, this may be the case when another conveyance vehicle stops at this portion. In such a situation, if the conveyance vehicle is made to standby on the lane until it can enter this portion, other conveyance vehicles need to avoid this conveyance vehicle that is standby on the lane and travel, which easily hinders the smooth travel of other conveyance vehicles.

[0006] Accordingly, it is desired to realize a conveying device that can suppress the influence on the travel of other conveyance vehicles to a small level and at the same time make the conveyance vehicle standby. Solution to the problem

[0007] The conveying device according to the present disclosure is a conveying device including the following components: a travel area in which a reference point group as a group of a plurality of reference points is set; and a conveyance vehicle that conveys an article while traveling on a travel path set so as to connect the plurality of reference points included in the reference point group. The direction along the travel surface of the conveyance vehicle in the travel area in a specific direction is set as the first direction, the direction along the travel surface that intersects the first direction is set as the second direction, one side of the first direction is set as the first side of the first direction, the other side of the first direction is set as the second side of the first direction, one side of the second direction is set as the first side of the second direction, the other side of the second direction is set as the second side of the second direction. The plurality of reference points constituting the reference point group are arranged so that the first path, the second path, the third path, the fourth path, the fifth path, and the sixth path can be set as the travel path. The first path is a path going to the first side of the first direction, the second path is a path going to the first side of the first direction on the first side of the second direction with respect to the first path, the third path is a path going to the second side of the first direction on the first side of the second direction with respect to the second path, the fourth path is a path going to the second side of the first direction on the first side of the second direction with respect to the third path, the fifth path is a path going to the first side of the second direction in a manner that intersects the second path and the third path and connects the first path and the fourth path, the sixth path is a path going to the second side of the second direction in a manner that intersects the second path and the third path and connects the first path and the fourth path at a position different from the fifth path in the first direction. In the area surrounded by the four paths of the second path, the third path, the fifth path, and the sixth path in the travel surface, a standby area for making the conveyance vehicle standby is formed.

[0008] According to this configuration, by means of a plurality of reference points constituting a reference point group, two paths (specifically, a first path and a second path) can be set to the first side in the first direction, and two paths (specifically, a third path and a fourth path) can be set to the second side in the first direction opposite thereto. Furthermore, two paths (specifically, a fifth path and a sixth path) to the opposite sides in the second direction can be set at different positions in the first direction in a manner of connecting these four paths. In this way, paths to both sides in the first direction and both sides in the second direction can be formed in a manner of being directly or indirectly connected to each other, so that it is easy to appropriately form a traveling path extending to the part that is the destination of the transport vehicle.

[0009] Moreover, according to this configuration, a standby area for allowing the transport vehicle to standby is formed in the area surrounded by the four paths of the second path, the third path, the fifth path, and the sixth path in the traveled surface. By allowing the transport vehicle to standby in the thus formed standby area, the transport vehicle can standby in a manner that does not interfere with the transport vehicles traveling on these four paths. Thereby, the influence on the travel of other transport vehicles can be suppressed to a small level, and at the same time, the transport vehicle can standby.

[0010] From the following description of the embodiments with reference to the drawings, further features and advantages of the transport device become apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a top view showing an example of the layout of the transport device. Figure 2 It is a top view showing an example of the layout of the transport device around the standby area. Figure 3 It is a top view showing another example of the layout of the transport device around the standby area. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0012] An embodiment of the transport device will be described based on the drawings. As Figure 1 and Figure 2 shown, the transport device 100 includes a traveling area 10 and a transport vehicle 1. The transport vehicle 1 is omitted in Figure 1 , but as Figure 2 shown, the transport device 100 includes a plurality of transport vehicles 1. The transport vehicle 1 travels on a traveling path R to transport an article 2. Figure 1 The exemplified traveling path R is a path from a loading section 5 via a later-described transfer target part 3 (here, a plurality of transfer target parts 3) to an unloading section 6. In the loading section 5 and the unloading section 6, conveyors for conveying the article 2 are provided, for example.

[0013] The conveying device 100 also has a transfer target part 3 for transferring the article 2 with the transport vehicle 1 as the transfer starting point or the transfer destination. For example, through the cooperation of the operator 4, the robot, the device provided on the transport vehicle 1, or any two or three of them, the transfer of the article 2 at the transfer target part 3 is performed. In Figure 1 and Figure 2 an example of the transfer of the article 2 at the transfer target part 3 by the operator 4 is illustrated.

[0014] The transport vehicle 1 travels, for example, by rotating the traveling wheels by the driving force of a driving force source such as an electric motor. In the present embodiment, the transport vehicle 1 is configured to be able to turn on the spot around an axis orthogonal to the traveling surface 11 (in the present embodiment, around the axis along the vertical direction Z). The transport vehicle 1 is an unmanned transport vehicle and travels along the traveling path R autonomously or by remote operation. In the present embodiment, the transport vehicle 1 is configured to travel along the traveling path R autonomously. In addition, the transport vehicle 1 is configured to be able to travel while supporting the article 2. In the present embodiment, the transport vehicle 1 is configured to be able to travel while supporting the article 2 from below.

[0015] In Figure 2 the article 2 is simply illustrated, but the article 2 is, for example, set as a tray and the goods (single or multiple goods) placed on the tray, or set as a container (such as a container with an open upper surface) and the goods (single or multiple goods) accommodated in the container. Thus, in the case where the article 2 is set as a support such as a tray or a container and the goods supported by the support, in the present embodiment, at the transfer target part 3, the transfer of the goods with the transport vehicle 1 (specifically, the support supported by the transport vehicle 1) as the transfer starting point or the transfer destination is performed. In Figure 2 In the example shown, the support part S for supporting the article 2 (specifically, the support) is provided at the transfer target part 3, and the transfer of the goods is performed in a state where the support is supported by the support part S. Therefore, the transport vehicle 1 can also leave the transfer target part 3 without waiting for the end of the goods transfer operation at the transfer target part 3.

[0016] In the case where a sorting operation for collecting the goods from the transport vehicle 1 is performed at the transfer target part 3, as the transfer of the goods with the transport vehicle 1 as the transfer starting point, the goods are taken out from the support supported by the transport vehicle 1. In this case, for example, the support for supporting the goods that are the object of the sorting operation is transported into the loading part 5 by a conveyor or the like, and the transport vehicle 1 transports the support from the loading part 5 to the transfer target part 3. After the transport vehicle 1 successively travels to one or more transfer target parts 3 where the goods are taken out from the support, the support is transported to the unloading part 6.

[0017] When performing a picking operation of collecting goods onto the transport vehicle 1 at the transfer target location 3, as the transfer of the goods with the transport vehicle 1 as the transfer destination, the goods are loaded onto the support body supported by the transport vehicle 1. In this case, for example, an empty support body that does not support goods is transported into the loading section 5 by a conveyor or the like, and the transport vehicle 1 transports the support body from the loading section 5 to the transfer target location 3. After the transport vehicle 1 successively travels to one or more transfer target locations 3 where the goods are loaded onto the support body, the support body is transported to the unloading section 6.

[0018] Here, as Figure 1 and Figure 2 shown, a specific direction in the direction of the traveling surface 11 of the transport vehicle 1 in the traveling area 10 is set as the first direction X, and a direction in the direction of the traveling surface 11 that intersects the first direction X is set as the second direction Y. In the present embodiment, a direction in the direction of the traveling surface 11 that is orthogonal to the first direction X is set as the second direction Y. In addition, one side of the first direction X is set as the first side X1 of the first direction, the other side of the first direction X is set as the second side X2 of the first direction, one side of the second direction Y is set as the first side Y1 of the second direction, and the other side of the second direction Y is set as the second side Y2 of the second direction. In Figure 1 the example shown, the side where the transfer target location 3 is arranged with respect to the loading section 5 and the unloading section 6 in the first direction X is set as the first side X1 of the first direction, and the side where the unloading section 6 is arranged with respect to the loading section 5 in the second direction Y is set as the first side Y1 of the second direction. In the present embodiment, the traveling surface 11 is a surface along the horizontal plane, and both the first direction X and the second direction Y are horizontal directions. The traveling surface 11 is constituted by a floor surface, for example.

[0019] In the traveling area 10, a reference point group PG is set as a group of a plurality of reference points P. The reference point P is arranged at a location that serves as a reference for the traveling of the transport vehicle 1. The reference point P is used as a reference for the stop position or turning position of the transport vehicle 1, for example. In Figure 1 the example shown, a plurality of reference points P are arranged side by side along the first direction X, and a plurality of reference points P are arranged side by side along the second direction Y. Here, a plurality of reference points P are arranged in a lattice shape (for example, a square lattice shape) with the first direction X and the second direction Y as the arrangement directions. In addition, in Figure 1 , in order to avoid becoming complicated, only a part of the reference points P is shown.

[0020] The transporter 1 performs a straight movement between reference points P and a turning movement (an example of a direction change movement) at the reference point P, and travels to the destination at the same time. For example, the transporter 1 performs a straight movement along the first direction X between the reference points P, a straight movement along the second direction Y between the reference points P, and a turning movement (for example, turning 90 degrees) at the reference point P in units of 90 degrees, and travels to the destination at the same time. As shown in Figure 1 an example of the travel path R traveled by the transporter 1, the travel path R is set in a manner that connects a plurality of reference points P included in the reference point group PG. Figure 1 The shown travel path R is set in a manner that reaches the unloading section 6 from the loading section 5 via the transfer target part 3 (here, a plurality of transfer target parts 3). In Figure 1 in order to distinguish the reference point P arranged on the travel path R from other reference points P, the reference point P arranged on the travel path R is represented by being blackened, and the other reference points P are represented by being left blank.

[0021] As Figure 1 shown, the reference point P is arranged at least at locations such as the transfer target part 3, the loading section 5, the unloading section 6, and the standby area W described later, which can be the destinations of the travel of the transporter 1. The transporter 1 is equipped with a detection unit (not shown) for detecting the reference point P. If the reference point P arranged at the destination is detected, the transporter 1 stops. In addition, if the reference point P arranged at the location where turning should be performed is detected, the transporter 1 performs a turning movement.

[0022] In the present embodiment, the reference point P is constituted by a detected part provided on the floor surface. The detected part constituting the reference point P is, for example, set as a one-dimensional code, a two-dimensional code, an RF (Radio Frequency) tag, or the like. The detected part constituting the reference point P stores inherent identification information. The above-described detection unit of the transporter 1 grasps the current position of the transporter 1 by reading the identification information stored in the detected part constituting the reference point P. The identification information is, for example, set as address information indicating the position where the reference point P is arranged. In addition, it can also be configured as follows: The reference point P is not constituted by a detected part, and the transporter 1 identifies the current position of the transporter 1 based on a detection signal of a GNSS (Global Navigation Satellite System) receiver or the like, and stops or performs a turning movement when reaching the reference point P at the current position.

[0023] As described above, the travel path R is set in such a way as to connect a plurality of reference points P included in the reference point group PG. Specifically, the travel path R is formed by a path connecting two or more reference points P arranged side by side in the first direction X, a path connecting two or more reference points P arranged side by side in the second direction Y, or a combination thereof. In the present embodiment, except for the path connecting the reference point P disposed at the transfer target portion 3 and the reference point P adjacent to the reference point P (in the example shown in Figure 1 , the reference point P adjacent in the second direction Y), the traveling direction of the transport vehicle 1 in each path is set to one direction. Figure 1 The arrows shown beside each path in

[0024] represent an example of the traveling direction of the transport vehicle 1. Figure 1 , Figure 2 ), in the present embodiment, it further includes a seventh path R7 and an eighth path R8 (refer to Figure 2 ). Of course, the travel path R capable of setting a plurality of reference points P constituting the reference point group PG also includes a path that combines a plurality of paths included in these eight paths (R1 to R8) (specifically, a path that combines at least a part of each of these plurality of paths). Figure 1 The illustrated travel path R is set as a path that combines all of the above eight paths.

[0025] As shown in Figure 1 , a plurality of reference points P constituting the reference point group PG are arranged in such a way that the first path R1, the second path R2, the third path R3, the fourth path R4, the fifth path R5, and the sixth path R6 can be set as the travel path R. As shown in Figure 2 , in the present embodiment, further, a plurality of reference points P constituting the reference point group PG are arranged in such a way that at least one (here, both) of the seventh path R7 and the eighth path R8 can be set as the travel path R.

[0026] As shown in Figure 1 and Figure 2 , the first path R1 is a path going to the first side X1 in the first direction, the second path R2 is a path going to the first side X1 in the first direction on the first side Y1 in the second direction with respect to the first path R1, the third path R3 is a path going to the second side X2 in the first direction on the first side Y1 in the second direction with respect to the second path R2, and the fourth path R4 is a path going to the second side X2 in the first direction on the first side Y1 in the second direction with respect to the third path R3.

[0027] In this embodiment, the reference point P forming the first path R1 and the reference point P forming the second path R2 are adjacent to each other along the second direction Y. Further, the reference point P forming the third path R3 and the reference point P forming the fourth path R4 are adjacent to each other along the second direction Y. On the other hand, between the reference point P forming the second path R2 and the reference point P forming the third path R3 in the second direction Y, at least one row (here, one row) of a group of a plurality of reference points P arranged side by side along the first direction X is disposed. The group of the plurality of reference points P arranged side by side along the first direction X forms a later-described eighth path R8.

[0028] The fifth path R5 is a path that goes to the first side Y1 in the second direction in a manner of crossing the second path R2 and the third path R3 to connect the first path R1 and the fourth path R4, and the sixth path R6 is a path that goes to the second side Y2 in the second direction at a position different from the fifth path R5 in the first direction X in a manner of crossing the second path R2 and the third path R3 to connect the first path R1 and the fourth path R4. In Figure 1 the illustrated example, a group of the fifth path R5 and the sixth path R6 (specifically, the group of the fifth path R5 and the sixth path R6 that sandwiches a later-described standby area W from both sides in the first direction X, in other words, the group of the fifth path R5 and the sixth path R6 that forms a later-described object area T) is disposed in a manner of being arranged side by side in three in the first direction X. Hereinafter, unless otherwise clearly stated, the fifth path R5 and the sixth path R6 mean the fifth path R5 and the sixth path R6 that constitute the same group.

[0029] As Figure 2 illustrated, in this embodiment, the sixth path R6 is disposed on the first side X1 in the first direction with respect to the fifth path R5. Further, between the reference point P forming the fifth path R5 and the reference point P forming the sixth path R6 in the first direction X, at least one row (here, two rows) of a group of a plurality of reference points P arranged side by side along the second direction Y is disposed. The group of the plurality of reference points P arranged side by side along the second direction Y forms a later-described seventh path R7.

[0030] In this embodiment, the transfer object part 3 is disposed on the second side Y2 in the second direction with respect to the first path R1. Here, in the area on the second side Y2 in the second direction with respect to the first path R1, a plurality of transfer object parts 3 are arranged side by side along the first direction X. In Figure 2In the illustrated example, transfer target parts 3 are arranged at respective positions in the first direction X corresponding to the fifth path R5, the sixth path R6, and the seventh path R7 (here, two seventh paths R7) in the region on the second side Y2 in the second direction with respect to the first path R1. The reference point P of the transfer target part 3 arranged on the second side Y2 in the second direction with respect to the first path R1 is arranged so as to be adjacent to the reference point P arranged on the first path R1 on the second side Y2 in the second direction. Moreover, the transport vehicle 1 enters the transfer target part 3 and exits from the transfer target part 3 through a path connecting these two reference points P adjacent in the second direction Y.

[0031] In the present embodiment, the transfer target part 3 is arranged on the first side Y1 in the second direction with respect to the fourth path R4. Here, in the region on the first side Y1 in the second direction with respect to the fourth path R4, a plurality of transfer target parts 3 are arranged side by side in the first direction X. In Figure 2 the illustrated example, transfer target parts 3 are arranged at respective positions in the first direction X corresponding to the fifth path R5, the sixth path R6, and the seventh path R7 (here, two seventh paths R7) in the region on the first side Y1 in the second direction with respect to the fourth path R4. The reference point P of the transfer target part 3 arranged on the first side Y1 in the second direction with respect to the fourth path R4 is arranged so as to be adjacent to the reference point P arranged on the fourth path R4 on the first side Y1 in the second direction. Moreover, the transport vehicle 1 enters the transfer target part 3 and exits from the transfer target part 3 through a path connecting these two reference points P adjacent in the second direction Y.

[0032] As Figure 2 shown, a standby area W for allowing the transport vehicle 1 to standby is formed in an object area T which is an area surrounded by four paths, namely the second path R2, the third path R3, the fifth path R5, and the sixth path R6, in the traveled surface 11. The standby area W is formed in such a manner that the transport vehicle 1 standby in the standby area W and the article 2 supported thereby do not interfere with the transport vehicle 1 traveling on the above four paths and the article 2 supported thereby. In Figure 2 the illustrated example, two transport vehicles 1 can standby side by side in the first direction X in the standby area W. In this example, the transport vehicle 1 stands by in the standby area W while supporting the article 2.

[0033] The seventh path R7 is a path that goes to the first side Y1 in the second direction or the second side Y2 in the second direction by passing through the standby area W and connecting the second path R2 and the third path R3. The eighth path R8 is a path that goes to the first side X1 in the first direction or the second side X2 in the first direction by passing through the standby area W and connecting the fifth path R5 and the sixth path R6. Moreover, the location where the seventh path R7 and the eighth path R8 intersect (in the example shown in Figure 2 , two locations) becomes the standby place of the transport vehicle 1 in the standby area W.

[0034] In the example shown in Figure 2 , it is assumed that the seventh path R7 going to the first side Y1 in the second direction, the seventh path R7 going to the second side Y2 in the second direction, and the eighth path R8 going to the first side X1 in the first direction can be formed. Additionally, in the example shown in Figure 2 , the seventh path R7 further extends from the connection part with the second path R2 to the first path R1, and further extends from the connection part with the third path R3 to the fourth path R4. Although not shown in the figure, the eighth path R8 can also further extend along the first direction X from the connection part with the fifth path R5 or the sixth path R6.

[0035] The transfer target parts 3 are respectively arranged at multiple positions in the first direction X. In the present embodiment, in each of the area on the second side Y2 in the second direction with respect to the first path R1 and the area on the first side Y1 in the second direction with respect to the fourth path R4, a plurality of transfer target parts 3 are arranged side by side in the first direction X. Moreover, when the transport vehicle 1 is on standby without being able to enter the transfer target part 3 that is the destination (for example, when there is another transport vehicle 1 at the transfer target part 3), it preferentially selects the standby area W closer to the transfer target part 3 as the standby place. Specifically, the transport vehicle 1 selects the standby area W closest to the transfer target part 3 that is the destination among the standby areas W where there is no other transport vehicle 1 on standby. Here, being close to the transfer target part 3 means that the length of the driving path R from the standby area W to the transfer target part 3 is short. Additionally, when the standby area W includes multiple standby places, the transport vehicle 1 preferentially selects the standby place closer to the transfer target part 3.

[0036] In the example shown in Figure 1 , the first standby area W1, the second standby area W2, and the third standby area W3 are formed as three standby areas W. Moreover, three different transfer target parts 3 are set as the first transfer target part 31, the second transfer target part 32, and the third transfer target part 33. Figure 1The illustrated travel path R is a travel path in the following case: standby at the first standby area W1 which is the standby area closest to the first transfer target part 31 until it is possible to enter the first transfer target part 31, standby at the second standby area W2 which is the standby area closest to the second transfer target part 32 until it is possible to enter the second transfer target part 32, and further, standby at the third standby area W3 which is the standby area closest to the third transfer target part 33 until it is possible to enter the third transfer target part 33.

[0037] Here, the area surrounded by the four paths of the first path R1, the fourth path R4, the fifth path R5, and the sixth path R6 is set as the "unit area". The unit area is an area that is substantially the same as the Figure 2 shown area, and is an area that expands the object area T to the second side Y2 in the second direction to the arrangement position of the first path R1 and expands it to the first side Y1 in the second direction to the arrangement position of the fourth path R4. In Figure 1 the shown example, a plurality of unit areas (here, three unit areas) are arranged side by side in a straight line in a top view (viewed in a direction orthogonal to the travel surface 11). This straight line is the straight line extending left and right in the figure when viewed in the orientation of the readable symbol. Moreover, the first direction X and the second direction Y can be defined for each unit area. In Figure 1 the shown example, the orientation of the first direction X is the same among the plurality of unit areas, and the orientation of the second direction Y is the same among the plurality of unit areas. Figure 1 shown example, the orientation of the first direction X is the same among the plurality of unit areas, and the orientation of the second direction Y is the same among the plurality of unit areas.

[0038] In this way, in Figure 1 the shown example, a plurality of unit areas are arranged side by side in a straight line in a top view, but it is also possible to configure the plurality of unit areas to be arranged side by side on a curve or a broken line in a top view. In this case, the first path R1, the second path R2, the third path R3, and the fourth path R4 are formed to follow the curve or the broken line in a top view, and the orientation of the first direction X may be different among the plurality of unit areas (the same applies to the second direction Y). For example, it is possible to configure the plurality of unit areas to be arranged side by side on an L-shaped broken line bent at 90 degrees in a top view. In this case, the unit area arranged on one side of the L is set as the first unit area, and the unit area arranged on the other side of the L is set as the second unit area. The first direction X of the first unit area is the same as the second direction Y of the second unit area, and the second direction Y of the first unit area is the same as the first direction X of the second unit area.

[0039] 〔Other Embodiments〕 (1) In the above-described embodiments, the following configuration was exemplified: two seventh paths R7 and one eighth path R8 that are arranged side by side in the first direction X can be formed, and the number of locations where the seventh path R7 intersects the eighth path R8 (in other words, the number of standby locations of the transporter 1 in the standby area W) is "2". However, the present disclosure is not limited to such a configuration. For example, as shown in Figure 3 , the number of locations where the seventh path R7 intersects the eighth path R8 can be configured to be other than "2". In the example shown in Figure 3 , four seventh paths R7 that are arranged side by side in the first direction X and two eighth paths R8 that are arranged side by side in the second direction Y can be formed, and the number of locations where the seventh path R7 intersects the eighth path R8 becomes "8".

[0040] (2) In the above-described embodiments, the following configuration was exemplified: the seventh path R7 is a path going to the first side Y1 in the second direction or the second side Y2 in the second direction, and the eighth path R8 is a path going to the first side X1 in the first direction or the second side X2 in the first direction. However, the present disclosure is not limited to such a configuration. The seventh path R7 only needs to be a path extending in the second direction Y, and can also be configured such that the seventh path R7 includes an interval going to the first side Y1 in the second direction and an interval going to the second side Y2 in the second direction. In addition, the eighth path R8 only needs to be a path extending in the first direction X, and can also be configured such that the eighth path R8 includes an interval going to the first side X1 in the first direction and an interval going to the second side X2 in the first direction.

[0041] (3) In the above-described embodiments, the following configuration was exemplified: the transfer target part 3 is arranged on both sides in the second direction Y with respect to the four paths of the first path R1, the second path R2, the third path R3, and the fourth path R4. However, the present disclosure is not limited to such a configuration, and can also be configured such that the transfer target part 3 is arranged only on one side in the second direction Y with respect to these four paths.

[0042] (4) In addition, as long as there is no contradiction, the configurations disclosed in the above-described respective embodiments can also be combined and applied with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made without departing from the spirit of the present disclosure.

[0043] 〔Summary of the Above Embodiments〕 Hereinafter, a summary of the conveying device described above will be described.

[0044] A conveying device is a conveying device including the following components: a traveling area in which a set of reference points as a group of a plurality of reference points is set; and a conveying vehicle that travels on a traveling path set in a manner of connecting the plurality of reference points included in the set of reference points to convey an article. A specific direction in the direction along the traveling surface of the conveying vehicle in the traveling area is set as the first direction, a direction in the direction along the traveling surface that intersects the first direction is set as the second direction, one side of the first direction is set as the first side of the first direction, the other side of the first direction is set as the second side of the first direction, one side of the second direction is set as the first side of the second direction, and the other side of the second direction is set as the second side of the second direction. The plurality of reference points constituting the set of reference points are arranged in such a manner that the first path, the second path, the third path, the fourth path, the fifth path, and the sixth path can be set as the traveling path. The first path is a path leading to the first side of the first direction, the second path is a path leading to the first side of the first direction on the first side of the second direction with respect to the first path, the third path is a path leading to the second side of the first direction on the first side of the second direction with respect to the second path, the fourth path is a path leading to the second side of the first direction on the first side of the second direction with respect to the third path, the fifth path is a path leading to the first side of the second direction in a manner of intersecting the second path and the third path and connecting the first path and the fourth path, and the sixth path is a path leading to the second side of the second direction in a manner of intersecting the second path and the third path and connecting the first path and the fourth path at a position different from the fifth path in the first direction. In an area surrounded by four paths of the second path, the third path, the fifth path, and the sixth path in the traveling surface, a standby area for allowing the conveying vehicle to standby is formed.

[0045] According to this configuration, two paths (specifically, the first path and the second path) leading to the first side of the first direction can be set by the plurality of reference points constituting the set of reference points, and two paths (specifically, the third path and the fourth path) leading to the second side of the first direction on the opposite side thereof can be set. Furthermore, two paths (specifically, the fifth path and the sixth path) leading to the opposite sides of the second direction can be set in a manner of connecting these four paths at different positions in the first direction. In this way, paths leading to both sides of the first direction and both sides of the second direction can be formed in a manner of being directly or indirectly connected to each other, and thus it is easy to appropriately form a traveling path extending to a part that is the destination of the conveying vehicle.

[0046] Moreover, according to this configuration, a standby area for the carrier vehicle is formed in the area surrounded by the four paths of the second path, the third path, the fifth path, and the sixth path on the traveled surface. By having the carrier vehicle standby in the standby area thus formed, the carrier vehicle can standby in a manner that does not interfere with the carrier vehicles traveling on these four paths. Thereby, the influence on the travel of other carrier vehicles can be suppressed to a small level, and at the same time, the carrier vehicle can standby.

[0047] Herein, it is appropriate that the plurality of the reference points constituting the reference point group are arranged in such a manner that at least one of the seventh path and the eighth path can be set as the travel path. The seventh path is a path that goes to the first side of the second direction or the second side of the second direction in such a way that it connects the second path and the third path through the standby area. The eighth path is a path that goes to the first side of the first direction or the second side of the first direction in such a way that it connects the fifth path and the sixth path through the standby area.

[0048] According to this configuration, when the carrier vehicle is on standby in the standby area, at least one of the seventh path and the eighth path can be used to appropriately form a travel path through the standby area. In addition, similar to the fifth path and the sixth path, the seventh path is a path that goes to any one side in the second direction, and similar to the first path, the second path, the third path, and the fourth path, the eighth path is a path that goes to any one side in the first direction. Therefore, a conveying device capable of forming a travel path through the standby area can be realized without significantly changing the arrangement mode of the plurality of reference points constituting the reference point group or the travel control mode of the carrier vehicle.

[0049] In addition, it is appropriate that the conveying device includes a transfer target part that transfers the article for which the carrier vehicle is the transfer starting point or the transfer destination. The transfer target parts are respectively arranged at a plurality of positions in the first direction. When the carrier vehicle cannot enter the transfer target part that is the destination and is on standby, the standby area closer to the transfer target part is preferentially selected as the standby place.

[0050] According to this configuration, the standby area for the carrier vehicle can be selected in such a way that the time until the carrier vehicle reaches the transfer target part where it can enter is suppressed to be short. Thus, an improvement in the conveying efficiency of the article can be achieved.

[0051] In the above configuration, it is appropriate that a plurality of the transfer target parts are arranged side by side in the first direction in each of the area on the second side of the second direction with respect to the first path and the area on the first side of the second direction with respect to the fourth path.

[0052] According to this configuration, the first path and the fourth path can be used as paths for accessing the transfer target part, and at the same time, the second path and the third path can be used as paths for vehicles such as transfer carts that bypass the access to the transfer target part. Therefore, it is easy for multiple transfer carts to drive smoothly, and it is easy to improve the transfer efficiency of the entire equipment for items.

[0053] The transfer equipment according to the present disclosure only needs to be able to obtain at least one of the above effects. Symbol Explanation

[0054] 1: Transfer cart 2: Item 3: Transfer target part 10: Driving area 11: Driving surface 100: Transfer equipment P: Reference point PG: Reference point group R: Driving path R1: First path R2: Second path R3: Third path R4: Fourth path R5: Fifth path R6: Sixth path R7: Seventh path R8: Eighth path T: Target area (area surrounded by four paths of the second path, the third path, the fifth path, and the sixth path in the driving surface) W: Standby area X: First direction X1: First side of the first direction X2: Second side of the first direction Y: Second direction Y1: First side of the second direction Y2: Second side of the second direction

Claims

1. A conveying device, which is a conveying device including the following components: a traveling area where a group of reference points as a group of multiple reference points is set; and a conveying vehicle that travels on a traveling path set in a manner of connecting the multiple reference points included in the group of reference points to convey articles. Let the specific direction in the direction along the traveling surface of the conveying vehicle in the traveling area be the first direction, the direction crossing the first direction in the direction along the traveling surface be the second direction, one side of the first direction be the first side of the first direction, the other side of the first direction be the second side of the first direction, one side of the second direction be the first side of the second direction, and the other side of the second direction be the second side of the second direction. The multiple reference points constituting the group of reference points are arranged in a manner that enables the first path, the second path, the third path, the fourth path, the fifth path, and the sixth path to be set as the traveling path. The first path is a path going to the first side of the first direction. The second path is a path going to the first side of the first direction on the first side of the second direction with respect to the first path. The third path is a path going to the second side of the first direction on the first side of the second direction with respect to the second path. The fourth path is a path going to the second side of the first direction on the first side of the second direction with respect to the third path. The fifth path is a path going to the first side of the second direction in a manner of crossing the second path and the third path to connect the first path and the fourth path. The sixth path is a path going to the second side of the second direction in a manner of crossing the second path and the third path to connect the first path and the fourth path at a position different from the fifth path in the first direction. In the area surrounded by the four paths of the second path, the third path, the fifth path, and the sixth path in the traveling surface, a standby area for the conveying vehicle to standby is formed.

2. The conveying device according to claim 1, wherein, the multiple reference points constituting the group of reference points are arranged in a manner that enables at least one of the seventh path and the eighth path to be set as the traveling path, the seventh path is a path going to the first side of the second direction or the second side of the second direction in a manner of connecting the second path and the third path through the standby area, the eighth path is a path going to the first side of the first direction or the second side of the first direction in a manner of connecting the fifth path and the sixth path through the standby area.

3. The conveying device according to claim 1 or 2, wherein, the conveying device includes a transfer target part for transferring the articles with the conveying vehicle as the transfer starting point or the transfer destination, the transfer target parts are respectively arranged at multiple positions in the first direction. When the transporter cannot enter the transfer target part that becomes the destination and is on standby, it preferentially selects the standby area closer to the transfer target part as the standby location.

4. The conveying device according to claim 3, wherein In each of the area on the second side in the second direction with respect to the first path and the area on the first side in the second direction with respect to the fourth path, a plurality of the transfer target parts are arranged side by side along the first direction.

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