Transport system

Abstract

The conveyance system, for example, is provided with: a first passage group comprising a plurality of line-segment-shaped passages that are passages for a plurality of carriages and extend in a first direction; a second passage group comprising a plurality of line-segment-shaped passages which are passages for the plurality of carriages and which extend in a second direction intersecting the first direction; a plurality of transfer units for stopping the trolley for loading and / or unloading; and a control unit that controls the movement of the plurality of carriages in the first path group and the second path group, at least one path of the first path group intersecting with at least one path of the second path group. The control unit controls the movement of the plurality of carriages such that the number of carriages that move in the first direction within a predetermined time is greater than the number of carriages that move in the opposite direction to the first direction within the predetermined time in a first passage included in the first passage group.

Description

Technical Field

[0001] This invention relates to a material handling system. Background Technology

[0002] In the past, lattice-shaped passages that are arranged adjacent to conveyors have been known as passages used for trolleys to transport goods (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-134043 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In such a pathway, it would be beneficial to improve the efficiency of transporting goods, for example.

[0008] Therefore, one of the objectives of the present invention is, for example, to obtain a transport system that can improve the transport efficiency of items in transport paths with multiple intersecting passages.

[0009] Solution for solving the problem

[0010] The handling system of the present invention comprises: a first passage group consisting of a plurality of linear passages extending in a first direction and serving as passages for a plurality of trolleys; a second passage group consisting of a plurality of linear passages extending in a second direction intersecting the first direction and serving as passages for the plurality of trolleys; a plurality of transfer units for stopping the trolleys for at least one of loading and unloading; and a control unit for controlling the movement of the plurality of trolleys in the first and second passage groups, wherein at least one passage of the first passage group intersects at least one passage of the second passage group, and the control unit controls the movement of the plurality of trolleys such that the number of trolleys moving in the first direction within a predetermined time in the first passage included in the first passage group is greater than the number of trolleys moving in the opposite direction to the first direction within the predetermined time. Attached Figure Description

[0011] Figure 1 This is an illustrative and schematic plan view of the transport path applied to the transport system of the first embodiment.

[0012] Figure 2 This is an exemplary block diagram of the centralized control device included in the transport system of the first embodiment.

[0013] Figure 3 This is an exemplary block diagram of the trolley included in the transport system of the first embodiment.

[0014] Figure 4 It shows that it is aimed at Figure 1 A schematic plan view of an example of the movement path of the trolley determined by the transport system of the first embodiment of the transport route.

[0015] Figure 5 It shows that it is aimed at Figure 1 A schematic plan view of another example of the trolley movement path determined by the transport system of the first embodiment of the transport route.

[0016] Figure 6 This is an illustrative and schematic plan view of the transport path applied to the transport system of the second embodiment.

[0017] Figure 7 This is an illustrative and schematic plan view of the transport path applied to the transport system of the third embodiment.

[0018] Figure 8 This is an illustrative and schematic plan view of the transport path applied to the transport system of the fourth embodiment.

[0019] Figure 9 This is an illustrative and schematic plan view of the transport path applied to the transport system of the fifth embodiment.

[0020] Figure 10 This is an exemplary block diagram of the centralized control device included in the transport system of the sixth embodiment.

[0021] Figure 11 This is an illustrative and schematic plan view of a portion of the transport path applied to the transport system of the seventh embodiment. Detailed Implementation

[0022] Hereinafter, exemplary embodiments of the present invention are disclosed. The structure of the embodiments shown below, as well as the effects and results obtained from such structures, are examples. The present invention can also be implemented in ways other than those disclosed in the embodiments below. Furthermore, according to the present invention, at least one of the various effects (including derived effects) obtained by the structures described below can be obtained.

[0023] It should be noted that in this specification, ordinal numbers are assigned for the purpose of distinguishing directions, pathway groups, pathways, etc. It should also be noted that ordinal numbers do not indicate priority, order, or a specific quantity.

[0024] Additionally, in some diagrams, the directions within the transport system are indicated by arrows. The X, Y, and Z directions intersect and are orthogonal to each other. The Z direction is roughly vertical, with the arrow Z pointing vertically upwards. The X and Y directions are roughly horizontal.

[0025] [First Implementation]

[0026] [Structure of the transport path]

[0027] Figure 1 This is a plan view of the transport path CP1 applied to the transport system 1000A (1000) of the first embodiment. (See attached diagram.) Figure 1 As shown, a transport path CP1, comprising multiple passages 111, 121, 131, 132, 201-207 arranged in a grid pattern, is provided on a generally horizontal floor F. Passages 111, 121, 131, and 132, which are generally along the X direction, intersect passages 201-207, which are generally along the Y direction, in a cross or T-shape.

[0028] Multiple conveyors 301-303 face the Y-direction ends of transport path CP1, and multiple conveyors 401-403 face the opposite Y-direction ends of transport path CP1. Furthermore, transfer positions P11-P13 and P21-P23 for item A are provided at positions on transport path CP1 facing each conveyor 301-303 and 401-403. Transfer positions P11-P13 and P21-P23 represent the positions of trolley 10 when item A is transferred between each conveyor 301-303 and 401-403 and trolley 10. The transfer device (not shown) performs the transfer of item A, i.e., loading or unloading item A relative to trolley 10, when trolley 10 is located at transfer positions P11-P13 and P21-P23.

[0029] The trolley 10 can move between any two of the transfer positions P11-P13 and P21-P23 via the transport path CP1. That is, the trolley 10, via the transport path CP1, can transport item A between any two of the conveyors 301-303 and 401-403. Furthermore, an empty trolley 10 without item A can move between any two of the transfer positions P11-P13 and P21-P23 via the transport path CP1. Additionally, if an empty trolley 10 parking space (not shown) is provided outside the transport path CP1 for the trolley 10 to move between, the trolley 10 can move between that parking space and the transfer positions P11-P13 and P21-P23. It should be noted that... Figure 1 In the diagram, hollow arrows indicate the direction of movement of trolley 10 or item A, and circles indicate that trolley 10 is temporarily stopped.

[0030] In transport path CP1, the multiple passages 111, 121, 131, and 132 extending along the X direction are examples of passages included in the first passage group 100, and the multiple passages 201 to 207 extending along the Y direction are examples of passages included in the second passage group 200. The X direction is an example of the first direction, and the Y direction is an example of the second direction. In addition, the transfer positions P11 to P13 and P21 to P23 are examples of transfer sections.

[0031] In this embodiment, the trolley 10 is, for example, a path-guided automated guided vehicle. In this case, pathways 111, 121, 131, 132, and 201-207 are defined by multiple guide bodies (not shown) installed on the floor F. These guide bodies can be, for example, magnetic guide bodies such as magnetic rods or magnetic tapes, optical guide bodies such as light-reflecting tapes, image recognition guide bodies such as one-dimensional or two-dimensional barcodes, or laser-guided guide bodies such as reflectors. The trolley 10 has sensors corresponding to the type of guide body.

[0032] In this embodiment, the trolley 10, as an example, is controlled by the central control device 1100 (see reference 1100). Figure 2 The wireless indication signal is simultaneously guided by multiple guide bodies along the path indicated by the indication signal on the pathways 111, 121, 131, 132, 201~207 indicated by the indication signal.

[0033] Passages 111 and 121 extend between passages 131 and 132. Passage 111 is designed as a passage for the trolley 10 to move primarily in the X direction, and passage 121 is designed as a passage for the trolley 10 to move primarily in the opposite direction to the X direction. The direction of movement of the trolley 10 is determined by the control of the trolley 10 performed by the centralized control device 1100. Therefore, in this case, the centralized control device 1100 controls the trolley 10 to move primarily in the X direction in passage 111, and controls the trolley 10 to move primarily in the opposite direction to the X direction in passage 121. Passage 111 is an example of a first passage, and passage 121 is an example of a second passage. Furthermore, the centralized control device 1100 is an example of a control unit.

[0034] Passage 131 extends between passage 111 and conveyors 401-403, and passage 132 extends between passage 121 and conveyors 301-303. Passages 131 and 132 are provided as pathways through which the trolley 10 can move in the X direction and the opposite direction. That is, the centralized control device 1100 controls the trolley 10 to move in the X direction or the opposite direction within passages 131 and 132. Passages 131 and 132 are an example of a third passage.

[0035] Furthermore, passageways 201-207 are provided as pathways through which the trolley 10 can move in the Y direction and the opposite direction. That is, the centralized control device 1100 controls the trolley 10 to move in the Y direction or the opposite direction within passageways 201-207.

[0036] As described above, when the main moving directions of the trolleys 10 are set in the passages 111 and 121 and the main moving directions are set in opposite directions to each other, it is possible to prevent multiple trolleys 10 from colliding while moving close to each other in each passage 111 and 121, and to suppress the reduction of the moving speed of each trolley 10 in order to avoid such collision, which would result in a longer transport time for item A.

[0037] Regarding the setting of the main direction of movement of the trolley 10 in passages 111 and 121, it is possible to determine this based on the movement of the trolley 10 through passages 111 and 121 within a specified time. Specifically, if all the trolleys 10 move in the X direction in passage 111 within the specified time, if most of the trolleys 10 (e.g., more than 3 / 4) move in the X direction in passage 111 within the specified time, or if the number of trolleys 10 moving in the X direction in passage 111 within the specified time is greater than the number of trolleys 10 moving in the opposite direction in passage 111, the centralized control device 1100 can determine that the trolley 10 is mainly moving in the X direction in passage 111. Similarly, if all the trolleys 10 move in the opposite direction to the X direction in the passage 121 within a specified time, if most of the trolleys 10 (e.g., more than 3 / 4) move in the opposite direction to the X direction in the passage 121 within a specified time, or if the number of trolleys 10 moving in the opposite direction to the X direction in the passage 121 within a specified time is greater than the number of trolleys 10 moving in the X direction, the centralized control device 1100 can determine that the trolleys 10 are being controlled in the passage 121 in a manner that causes the trolleys 10 to move mainly in the opposite direction to the X direction.

[0038] Here, the specified time can be set, for example, to be a time greater than or equal to the average of the time required for the trolley 10 to move between any two of the transfer positions P11-P13 and P21-P23 in the transport path CP1. Alternatively, the specified time can also be set, for example, to the time from the point when a trolley 10 enters passage 111 or passage 121 when neither passage 111 nor passage 121 has any trolley 10, until the point when neither passage 111 nor passage 121 has any trolley 10. It should be noted that the centralized control device 1100 can switch the main direction of movement of the trolley 10 set for passage 111 with the main direction of movement of the trolley 10 set for passage 121. In this case, the specified time can be set without spanning the switching point.

[0039] Furthermore, when the trolley 10 is controlled to move in the main direction of movement within passages 111 and 121, and is also controlled to move in the X direction and the opposite direction within passages 131 and 132,

[0040] (1) The ratio of the number of trolleys 10 moving in the X direction within a specified time in passage 131 to the total number of trolleys 10 moving within a specified time in passage 131 is lower than the ratio of the number of trolleys 10 moving in the X direction within a specified time in passage 111 to the total number of trolleys 10 moving within a specified time in passage 111, and the ratio of the number of trolleys 10 moving in the opposite direction to the X direction within a specified time in passage 132 to the total number of trolleys 10 moving within a specified time in passage 132 is lower than the ratio of the number of trolleys 10 moving in the opposite direction to the X direction within a specified time in passage 121 to the total number of trolleys 10 moving within a specified time in passage 121. Additionally,

[0041] (2) The absolute value of the average speed of all the trolleys 10 moving in passages 111 and 121 within the specified time is greater than the absolute value of the average speed of all the trolleys 10 moving in passages 131 and 132 within the specified time.

[0042] The above (1) and (2) can serve as evidence that the main direction of movement of the trolley 10 is set for passages 111 and 121, and that passages 131 and 132 are used as passages for the trolley 10 to move in the X direction and in the opposite direction of the X direction.

[0043] [Structure of the centralized control device]

[0044] Figure 2 This is a block diagram of the centralized control device 1100. (For example...) Figure 2As shown, the centralized control device 1100 is configured, for example, as a computer having an arithmetic processing unit 1110, a main storage unit 1120, and an auxiliary storage unit 1130. The arithmetic processing unit 1110 is, for example, a central processing unit (CPU), the main storage unit 1120 is, for example, random access memory (RAM) or read-only memory (ROM), and the auxiliary storage unit 1130 is, for example, a solid-state drive (SSD) or hard disk drive (HDD). The arithmetic processing unit 1110 includes a trolley information acquisition unit 1110a, a transport information acquisition unit 1110b, a current transport information acquisition unit 1110c, a future transport information calculation unit 1110d, a route determination unit 1110e, and a trolley control unit 1110f. The arithmetic processing unit 1110 operates according to the installed program, thereby functioning as the trolley information acquisition unit 1110a, the transport information acquisition unit 1110b, the current transport information acquisition unit 1110c, the future transport information calculation unit 1110d, the route determination unit 1110e, the trolley control unit 1110f, etc., and performs processing according to the algorithm determined by the program.

[0045] The trolley information acquisition unit 1110a acquires, for example, trolley information such as the position and speed of each trolley 10 wirelessly from sensors installed on the floor F and on each trolley 10 via a communication device 1200.

[0046] The transport information acquisition unit 1110b acquires, for example, transport information from a host device via a communication device 1200, such as transport instructions for item A carried by conveyors 301-303 and 401-403.

[0047] The current transport information acquisition unit 1110c acquires, for example, transport information at the current time indicating the configuration of the trolleys 10 in the transport path CP1, the moving speed of each trolley 10, etc., based on the trolley information acquisition unit 1110a for multiple trolleys 10. The current transport information acquisition unit 1110c calculates and updates the transport information at predetermined time intervals.

[0048] The future transport information calculation unit 1110d predicts the configuration and speed of the trolleys 10 in the transport path CP1 at a predetermined time in the future, based on the transport information obtained by the current transport information acquisition unit 1110c and the trolley information acquisition unit 1110a, and calculates the transport information for that time. Furthermore, the future transport information calculation unit 1110d determines whether the transport information for the predetermined time in the future meets permissible conditions. These permissible conditions include, for example, setting the distance between two trolleys 10 that are close to each other to a predetermined distance or greater. If the permissible conditions are not met, the future transport information calculation unit 1110d can adjust the configuration and speed of the two trolleys 10.

[0049] The path determination unit 1110e determines, for example, the allocation and movement path of the trolley 10 based on future transportation information calculated by the future transportation information calculation unit 1110d and the transportation information obtained by the transportation information acquisition unit 1110b. It should be noted that, hereinafter, the conveyors in conveyors 301-303 and 401-403 that move item A into the transportation path CP1 will be referred to as the "inbound conveyor," and the conveyors in conveyors 301-303 and 401-403 that discharge item A from the transportation path CP1 will be referred to as the "outbound conveyor."

[0050] Specifically, the path determination unit 1110e, for example, can determine

[0051] (1) The allocation of trolleys 10 for transporting item A from empty trolleys 10.

[0052] (2) The moving path of the allocated trolley 10 to the transfer position corresponding to the conveyor belt,

[0053] (3) The movement path from the transfer position corresponding to the infeed conveyor to the transfer position corresponding to the outfeed conveyor.

[0054] (4) The subsequent movement path of item A to the empty trolley 10 after being transferred to the conveyor.

[0055] Subsequently, the future transportation information calculation unit 1110d can also calculate the transportation information for the future scheduled time, including the trolley 10 whose movement path has been determined by the path determination unit 1110e, determine whether the allowable conditions are met, and adjust the configuration and movement speed of the trolley 10. If the allowable conditions cannot be met even through this adjustment, the path determination unit 1110e can also change the movement path of the trolley 10.

[0056] The trolley control unit 1110f calculates, for example, control information for controlling each trolley 10 to that configuration and speed based on future scheduled transportation information determined by the future transportation information calculation unit 1110d, i.e., the configuration and speed of each trolley 10, and transmits the control information wirelessly to the trolley 10 via the communication device 1200. The control information can also be called instruction information.

[0057] [Structure of the trolley]

[0058] Figure 3 This is a block diagram of trolley 10. (Example) Figure 3 As shown, the control device 11 of the trolley 10 is configured as, for example, a computer having an arithmetic processing unit 11a, a main storage unit 11b, and an auxiliary storage unit 11c. The arithmetic processing unit 11a is, for example, a central processing unit (CPU), the main storage unit 11b is, for example, RAM or ROM, and the auxiliary storage unit 11c is, for example, an SSD or HDD. The arithmetic processing unit 11a includes a control information acquisition unit 11a1, a detection control unit 11a2, a travel control unit 11a3, and an information output control unit 11a4. The arithmetic processing unit 11a operates according to the installed program, thereby performing the functions of the control information acquisition unit 11a1, the detection control unit 11a2, the travel control unit 11a3, and the information output control unit 11a4.

[0059] The control information acquisition unit 11a1 acquires control information from the centralized control unit 1100 wirelessly, for example, via the communication device 12.

[0060] The detection control unit 11a2 acquires detection information from the sensor 13, for example. The sensor 13 is, for example, a position sensor that detects the position of the trolley 10 in the transport path CP1, and a speed sensor that detects the speed of the trolley 10. The speed sensor detects, for example, the rotational speed of the motor that serves as the drive unit 14.

[0061] The driving control unit 11a3 controls the drive unit 14 of the trolley 10 in a manner indicated by the control information obtained by the control information acquisition unit 11a1 and the detection information obtained by the detection control unit 11a2, for example, so that the trolley 10 is in the state indicated by the control information. The drive unit 14 includes, for example, an electric motor, an inverter that drives the electric motor, a brake, a brake actuator, etc.

[0062] The information output control unit 11a4 controls the communication device 12 by wirelessly transmitting detection information obtained by the detection control unit 11a2 and information indicating the status of the drive unit 14 obtained by the driving control unit 11a3 to the central control unit 1100.

[0063] [Example of setting a movement path (1)]

[0064] Figure 4 This diagram illustrates an example of a movement path Pt1 for a trolley 10 carrying item A, from transfer position P11 to transfer position P23. In this case, the trolley 10 transports item A from conveyor 301 to conveyor 403 along transport path CP1, thus moving from transfer position P11 corresponding to conveyor 301 to transfer position P23 corresponding to conveyor 403. Transfer position P11 is the starting position in movement path Pt1, and transfer position P23 is the arriving position in movement path Pt1. Here, as... Figure 4 As shown, the transfer position P23 is offset in the X direction and in the opposite Y direction relative to the transfer position P11. In this case, the path determination unit 1110e first determines the movement path in a manner that ensures the length of the section moving only in the X direction and the section moving in the opposite Y direction, and the section moving in the X direction, is as long as possible in the passage 111. Figure 4 The movement path is Pt1.

[0065] Furthermore, if the path determination unit 1110e cannot meet the permissible conditions using the movement path Pt1 determined by the above steps, it may also include... Figure 4 The movement path Pt1 is changed by taking a detour path Pt1r as shown by the thick dashed line. In this case, it is preferable that the detour path Pt1r includes a passage 111.

[0066] [Example of setting a movement path (2)]

[0067] Figure 5 This illustrates an example of a movement path Pt2 for a trolley 10 carrying item A, from transfer position P22 to transfer position P12. In this case, the trolley 10 transports item A from conveyor 402 to conveyor 302 along transport path CP1, thus moving from transfer position P22 corresponding to conveyor 402 to transfer position P12 corresponding to conveyor 302. Transfer position P22 is the starting position in movement path Pt2, and transfer position P12 is the arriving position in movement path Pt2. Here, as... Figure 5 As shown, the transfer position P12 is offset in the opposite direction of the X direction relative to the transfer position P22, and also offset in the Y direction. In this case, the path determination unit 1110e first determines the movement path in the passage 121 in a manner that ensures it is as long as possible, including only the interval that moves in the opposite direction of the X direction and the interval that moves in the Y direction, and the interval that moves in the opposite direction of the X direction. Figure 5 The movement path is Pt2.

[0068] Furthermore, if the allowable conditions cannot be met using the movement path Pt2 determined by the above steps, the path determination unit 1110e may also include... Figure 5 The movement path Pt2 is changed in a manner similar to the detour path Pt2r shown by the thick dashed line. In this case, it is preferable that the detour path Pt2r includes a passage 121.

[0069] [The trolley is in standby mode]

[0070] The trolley 10 can standby in the designated standby position.

[0071] In this embodiment, such as Figure 1 As shown, standby positions 511 and 512 are provided. Standby position 511 faces passage 111 or passage 121 extending in the X direction, and also faces passage 204 extending in the Y direction. Standby position 512 faces passage 111 or passage 121 extending in the X direction, and also faces two passages extending in the Y direction (passage 202 and passage 203, or passage 204 and passage 205). In this case, the trolley 10 can enter standby positions 511 and 512 and wait to enter the passage facing those positions. This, for example, suppresses interference with other trolleys 10 in the passages. Furthermore, standby positions 511 and 512 are adjacent to any passage in the transport path CP1. This, for example, allows the trolley 10 to enter the adjacent passage more smoothly and quickly from standby positions 511 and 512. Standby positions 511 and 512 are examples of standby units.

[0072] In the future, the transportation information calculation unit 1110d can also determine the configuration and moving speed of the trolley 10, including the standby positions 511 and 512, and the path determination unit 1110e can also determine the moving path, including the standby positions 511 and 512.

[0073] Alternatively, the trolley 10 can also standby in passages 131, 132, and 201-207, other than the passages 111 and 121 where the main direction of movement is set. In other words, the standby section can also be included in passages 131, 132, and 201-207. In this case, the trolley 10 can also standby by temporarily stopping or moving at a low speed to the point where it can stop immediately. Furthermore, the standby in passages 131, 132, and 201-207 can be standby before entering passages 111 and 121, or standby before moving to transfer positions P11-P13 and P21-P23. Thus, for example, it is possible to secure more standby positions and secure standby positions in more locations by utilizing passages 131, 132, and 201-207. Passages 131, 132, and 201-207 are an example of a standby section.

[0074] As explained above, in this embodiment, the transport path CP1 has a passage 111 (first passage) or a passage 121 (second passage) with a main direction of movement. Therefore, for example, the trolley 10 can move at a higher speed in these passages 111 and 121. Thus, compared to a transport path CP1 without these passages 111 and 121, the trolley 10 can move more quickly in the transport path CP1, thereby further improving the transport efficiency of item A in the transport path CP1.

[0075] Here, the main movement direction path 111, 121 is set. For example, it can be a path in which the number of trolleys 10 moving in the main movement direction within a specified time is greater than the number of trolleys 10 moving in the opposite direction to the main movement direction within a specified time, or it can be a path through which all the trolleys 10 move in the main movement direction.

[0076] Furthermore, in this embodiment, the transport path CP1 includes passages 131, 132, and 201-207, which are not designated with a primary direction of movement, such as passages 111 and 121. If a primary direction of movement were designated for all passages, the constraints on the movement path of the trolley 10 would increase, potentially reducing its speed. In this embodiment, the transport path CP1 includes passages 131 and 132 (the third passage) and passages 201-207, which are not designated with a primary direction of movement, in addition to passages 111 and 121 (the first and second passages). Therefore, for example, the constraints on the movement path of the trolley 10 are reduced, allowing for more flexible path design. Consequently, the reduction in the movement speed of the trolley 10 is suppressed, thereby further improving the transport efficiency of item A in the transport path CP1.

[0077] Here, the path 131 (third path) without a defined main direction of movement can be, for example, a path where the ratio of the number of trolleys 10 moving in the X direction through the path 131 within a specified time to the total number of trolleys 10 passing through the path 131 within a specified time is lower than the ratio of the number of trolleys 10 moving in the X direction through the path 111 within a specified time to the total number of trolleys 10 passing through the path 111 within a specified time. Alternatively, it can be a path where the absolute value of the average speed of all trolleys 10 passing through the path 131 within a specified time is lower than the absolute value of the average speed of all trolleys 10 passing through the path 111 within a specified time. On the other hand, the passage 132 (third passage) without a set main direction of movement can be a passage in which the ratio of the number of trolleys 10 moving in the opposite direction to the X direction through the passage 132 within a specified time to the total number of trolleys 10 passing through the passage 131 within a specified time is lower than the ratio of the number of trolleys 10 moving in the opposite direction to the X direction through the passage 121 within a specified time to the total number of trolleys 10 passing through the passage 121 within a specified time. Alternatively, it can be a passage in which the absolute value of the average speed of all trolleys 10 passing through the passage 132 within a specified time is lower than the absolute value of the average speed of all trolleys 10 passing through the passage 121 within a specified time.

[0078] In addition, in this embodiment, such as Figure 1 As shown, the transfer positions P11~P13 and P21~P23 are contained in passage 131 or passage 132. Thus, for example, it is possible to obtain the effect that the transfer positions P11~P13 and P21~P23 can be configured more efficiently and effectively by utilizing passages 131 and 132 without having to specifically ensure space on the floor F.

[0079] In addition, in this embodiment, such as Figure 1 As shown, the transfer positions P11 to P13 are respectively arranged along the Y direction with any one of the passages 202 to 204. In other words, passages 201 to 207 include passages 202 to 204 arranged along the Y direction with any one of the transfer positions P11 to P13. Thus, for example, the trolley 10 can move more smoothly and quickly from the transfer positions P11 to P13 to any one of the passages 202 to 204.

[0080] In addition, in this embodiment, such as Figure 1As shown, the transfer positions P21 to P23 are offset relative to passages 201 to 207 in the X direction or the opposite direction to the X direction, respectively. In other words, passages 201 to 207 are all offset relative to transfer positions P21 to P23 in the X direction or the opposite direction to the X direction. As a result, for example, it is possible to prevent the trolleys 10 located at transfer positions P21 to P23 from obstructing the passage of other trolleys 10 between passages 201 to 207 and passage 131.

[0081] [Second Implementation]

[0082] Figure 6 This is a plan view of the transport path CP2 applied to the transport system 1000B (1000) of the second embodiment. (See attached diagram.) Figure 6 As shown, in this embodiment, similar to the first embodiment described above, a transport path CP2 comprising multiple passages 111, 121, 131, 132, 201 to 207 arranged in a grid pattern is provided on a generally horizontal floor F.

[0083] If Figure 6 and Figure 1 A comparison reveals that, in this embodiment, the spacing in the Y direction between the multiple pathways 111, 121, 131, and 132 extending along the X direction is narrower. This, for example, allows the transport path CP2 to also be applied to the floor F, which is narrower in the Y direction.

[0084] However, in this embodiment, it is difficult to set standby positions 511 and 512 between passages 111, 121, 131 and 132, and it is difficult to use passages 201 to 207 extending along the Y direction as standby positions.

[0085] Therefore, standby positions 521 and 522 facing passage 131 or passage 132 are provided in transport path CP2. As a result, for example, the effect of ensuring more standby positions is achieved.

[0086] Furthermore, standby positions 521 and 522 are each adjacent to at least one conveyor. Standby position 521 is adjacent to one conveyor (conveyor 303 or conveyor 403), and standby position 522 is adjacent to two conveyors (conveyors 301, 302, or conveyors 401, 402) adjacent in the X direction. In this case, for example, by providing transfer devices corresponding to standby positions 521 and 522 respectively, item A can be transferred between the trolley 10 located at standby positions 521 and 522 and conveyors 301-303, 401-403. Thus, for example, the efficiency of handling item A can be further improved. In this case, standby positions 521 and 522 are an example of a transfer unit.

[0087] [Third Implementation]

[0088] Figure 7 This is a plan view of the transport path CP3 applied to the transport system 1000C (1000) of the third embodiment. In this embodiment, a transport path CP3, excluding passages 131 and 132 (see reference 1000C), is provided on a generally horizontal floor F. Figure 1 The transport path CP3 comprises multiple passages 111, 121, and 201-207 arranged in a ladder-like configuration. Specifically, the first passage group 100 of the transport path CP3 has passages 111 and 121 that define the main direction of movement of the trolley 10, but does not have passages 131 and 132 that allow the trolley 10 to move in both the X direction and the opposite direction. In this case, for example, fewer passages are managed, resulting in a reduction in the processing burden on the centralized control device 1100.

[0089] like Figure 7 As shown, in this embodiment, a passageway 600 is provided that protrudes from passageways 111 and 121 toward each conveyor 301-303 and 401-403 in the Y direction or the opposite direction to the Y direction. Transfer positions P11-P13 and P21-P23 are provided in this passageway 600. That is, the transfer positions P11-P13 and P21-P23 are offset relative to passageways 111 and 121 in the Y direction or the opposite direction to the Y direction. Therefore, for example, it is possible to prevent the trolleys 10 located at transfer positions P11-P13 and P21-P23 from obstructing the passage of other trolleys 10 in passageways 111 and 121.

[0090] Furthermore, in this embodiment, as Figure 7As shown, standby positions 521 and 522 are provided. Standby position 521 faces passage 111 or passage 121 and also faces one passage 600. Standby position 522 faces passage 111 or passage 121 and also faces two passages 600. In this case, the trolley 10 can enter these standby positions 521 and 522 and wait to enter passages 111, 121, and 600. Thus, for example, the effect of suppressing interference with other trolleys 10 in passages 111, 121, and 600 is achieved. Furthermore, standby positions 521 and 522 are arranged adjacent to passages 111, 121, and 600. Thus, for example, the effect of allowing the trolley 10 to enter the adjacent passages 111, 121, and 600 more smoothly and quickly from standby positions 521 and 522 is achieved. Furthermore, the standby positions 521 and 522 are adjacent to the passageway 600 where transfer positions P11~P13 and P21~P23 are provided. Therefore, the following effect is also obtained: when other trolleys 10 are in the transfer positions P11~P13 and P21~P23, and when trolleys 10 are in the standby positions 521 and 522 waiting to move to the transfer positions P11~P13 and P21~P23, they can move to the transfer positions P11~P13 and P21~P23 immediately after the other trolleys 10 move from the transfer positions P11~P13 and P21~P23.

[0091] It should be noted that the passages 600 for setting the transfer positions P11~P13 and P21~P23 can also be set in the transport paths CP1 and CP2 of the first and second embodiments described above (see...). Figure 1 , 6 In this case, passage 600 is provided between passage 131 and each of conveyors 401-403, and passage 132 is provided between each of conveyors 301-303. In this structure, passage 131 is provided between passage 111 and transfer positions P21-P23, and passage 132 is provided between passage 121 and transfer positions P11-P13. In this case, for example, it is possible to prevent the trolleys 10 located at transfer positions P11-P13 and P21-P23 from obstructing the passage of other trolleys 10 in passages 131 and 132.

[0092] [Fourth Implementation]

[0093] Figure 8 This is a plan view of the transport path CP4 applied to the transport system 1000D (1000) of the fourth embodiment. If... Figure 8 and Figure 1A comparison reveals that the transport path CP4 of this embodiment differs from the transport path CP1 of the first embodiment in that it includes a passage 133 extending in the X direction between the two passages 111 and 121, which have a primary direction of movement. This passage 133 is an X-direction passage that is generally not defined by a primary direction of movement; that is, a passage in which the trolley 10 can move in both the X direction and the opposite direction, and it is an example of a third passage. In this case, for example, the trolley 10 may standby by temporarily stopping in passage 133 before entering passages 111 and 121, or by moving at a low speed to the point where it can stop immediately. In other words, passage 133 is an example of a standby unit.

[0094] Furthermore, passage 133 connects to passages 111 and 121 via multiple passages 201-207, is located between passages 111 and 121, and is situated relatively close to passages 111 and 121. Therefore, for example, if the number of trolleys 10 passing through either passage 111 or 121 increases, passage 133 can be used as an auxiliary passage to passage 111 or 121, where the number of trolleys 10 increases. Specifically, if the number of trolleys 10 moving in the X direction in passage 111 increases, passage 133 can be temporarily used as a passage for trolleys 10 to move primarily in the X direction; similarly, if the number of trolleys 10 moving in the opposite direction in passage 121 increases, passage 133 can be temporarily used as a passage for trolleys 10 to move primarily in the opposite direction. Thus, for example, the effect of suppressing trolley 10 congestion and improving the handling efficiency of item A is achieved.

[0095] [Fifth Implementation]

[0096] Figure 9 This is a plan view of the transport path CP5 applied to the transport system 1000E (1000) of the fifth embodiment. In the transport paths CP1 to CP4 of the first to fourth embodiments described above, the trolley 10, which is approximately rectangular in shape when viewed in plan view, moves with a longer position in the X direction and a shorter position in the Y direction. In contrast, in this embodiment, the trolley 10 can move in the transport path CP5 with a shorter position in the X direction and a longer position in the Y direction, that is, with a 90° rotation in plan view relative to the position of the trolley 10 in transport paths CP1 to CP4. Thus, for example, it is possible to achieve the effect that the transport path CP5 is shorter in the X direction compared to the transport paths CP1 to CP4. That is, the layout of the transport paths CP1 to CP5 and the posture of the trolley 10 can be appropriately selected according to the width, shape, etc. of the floor F on which the transport paths CP1 to CP5 are set.

[0097] [Sixth Implementation Method]

[0098] Figure 10 This is a block diagram of the centralized control device 1100 of the transport system 1000F (1000) according to the sixth embodiment. In this embodiment, it has a transport path CP1 (see reference 1100) that includes a grid-like passage, the same as in the first embodiment. Figure 1 However, in this embodiment, the transport system 1000F includes a drive system 1400 comprising multiple linear motors. The trolley 10 does not move autonomously, but rather moves under the action of the linear motors installed in the transport path CP1. The linear motors are arranged at predetermined intervals in the extension directions of passages 111, 121, 131, 132, and 201-207, respectively. The centralized control device 1100 changes the orientation of the magnetic flux by appropriately switching the current supply direction to the multiple linear motors, thereby changing the attraction or repulsion relationship with the magnets installed on the trolley 10, and thus changing the position and speed of the trolley 10. In this case, the sensor 1300 is installed, for example, on the floor F, and may be a position sensor for detecting the position of the trolley 10 in the transport path CP1, a speed sensor for detecting the speed of the trolley 10, or an identification sensor for detecting the identifier of each trolley 10, etc. The trolley information acquisition unit 1110a acquires, for example, trolley information representing the position, speed, etc. of each trolley 10 from the sensor 1300. Furthermore, the trolley control unit 1110f, for example, calculates control information for each linear motor used to control each trolley 10 to that configuration and speed based on future scheduled transportation information calculated by the future transportation information calculation unit 1110d, i.e., the configuration and speed of each trolley 10, and controls the linear motor accordingly.

[0099] With this structure, the same transport paths CP1 to CP5 as those in the above embodiments can be constructed, achieving the same effects as in the above embodiments. Furthermore, according to this embodiment, for example, the structure of the trolley 10 applied to the transport system 1000F can be simplified.

[0100] [Seventh Implementation]

[0101] Figure 11 This is a plan view of a portion of the transport path CP7 of the transport system 1000G (1000) applied in the seventh embodiment. Figure 11In the example, at the intersection of passage 111 extending in the X direction and passage 202 extending in the Y direction, a passage 700 is provided for the trolley 10 to move diagonally relative to both the X and Y directions. Passage 700 has a shape in which the corners of passage 111 and passage 202 are chamfered. By setting such a passage 700, a diagonally moving interval Pts can be included in the movement path Pt of the trolley 10. Thus, for example, it is possible to achieve the effect of allowing the trolley 10 to move more smoothly and quickly between the two intersecting passages at the intersection, or to suppress abrupt changes in the acceleration of the trolley 10, thereby suppressing the positional displacement of item A in the trolley 10. Passage 700 can also be referred to as a shortcut passage.

[0102] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other ways, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications (construction, type, orientation, model, size, length, width, thickness, height, quantity, configuration, position, material, etc.) of each structure, shape, etc., can be appropriately modified for implementation.

[0103] For example, the layout and specifications of the pathways in the transport path can be changed in various ways. For example, the length of the multiple pathways included in the first pathway group, the spacing in the second direction, and the position in the first direction can be changed in various ways, as can the length of the multiple pathways included in the second pathway group, the spacing in the first direction, and the position in the second direction.

[0104] Explanation of reference numerals in the attached figures

[0105] 10 cars

[0106] 11 Control device

[0107] 11a Computational Processing Unit

[0108] 11a1 Control Information Acquisition Department

[0109] 11a2 Inspection and Control Department

[0110] 11a3 Driving Control Unit

[0111] 11a4 Information Output Control Department

[0112] 11b Main Storage Section

[0113] 11c Auxiliary Storage Unit

[0114] 12 Communication devices

[0115] 13 Sensors

[0116] 14. Drive unit

[0117] 100 First Pathway Group

[0118] Pathway 111 (First Pathway)

[0119] Pathway 121 (Second Pathway)

[0120] Paths 131, 132, and 133 (Third Path, Standby Section)

[0121] 200 Second Pathway Group

[0122] Channels 201-207 (Standby Section)

[0123] Conveyors 301~303 and 401~403

[0124] 511, 512, 521, 522 Standby positions (standby section)

[0125] 600 access

[0126] 700 access

[0127] 1000, 1000A~1000G material handling system

[0128] 1100 Centralized Control Device (Control Unit)

[0129] 1110 Computing and Processing Unit

[0130] 1110a Trolley Information Acquisition Department

[0131] 1110b Transport Information Acquisition Department

[0132] 1110c Current Transportation Information Acquisition Department

[0133] 1110d Future Transportation Information Calculation Department

[0134] 1110e Path Determination Department

[0135] 1110f Car Control Department

[0136] 1120 Main Storage Unit

[0137] 1130 Auxiliary Storage Unit

[0138] 1200 communication device

[0139] 1300 sensor

[0140] 1400 drive system

[0141] Item A

[0142] Transport routes CP1~CP5, CP7

[0143] F Floor

[0144] P11~P13, P21~P23 Transfer positions (transfer parts)

[0145] Movement paths for Pt, Pt1, and Pt2

[0146] detour paths for Pt1r and Pt2r

[0147] Pts interval

[0148] X direction (first direction)

[0149] Y direction (second direction)

[0150] Z direction.

Claims

1. A transport system, wherein the transport system is provided with: a first passage group constituted by a plurality of passages that are passages for a plurality of vehicles and extend in a first direction; a second passage group constituted by a plurality of passages that are passages for the plurality of vehicles and extend in a second direction that intersects the first direction; a plurality of transfer sections at which the vehicles stop for at least one of loading and unloading; and a control section that controls movement of the plurality of vehicles in the first passage group and the second passage group, at least one passage of the first passage group intersects at least one passage of the second passage group, the control section controls movement of the plurality of vehicles in such a manner that the number of vehicles moving in the first direction within a prescribed time in a first passage included in the first passage group is greater than the number of vehicles moving in the opposite direction of the first direction within the prescribed time.

2. The transport system according to claim 1, wherein the control section controls movement of the plurality of vehicles in such a manner that all of the vehicles passing through the first passage move in the first direction.

3. The transport system according to claim 1, wherein the control section controls movement of the plurality of vehicles in such a manner that the number of vehicles moving in the opposite direction of the first direction within a prescribed time in a second passage that is a passage included in the first passage group and is other than the first passage is greater than the number of vehicles moving in the first direction within the prescribed time.

4. The transport system according to claim 3, wherein the control section controls movement of the plurality of vehicles in such a manner that all of the vehicles passing through the second passage move in the opposite direction of the first direction.

5. The transport system according to claim 3, wherein the first passage group is provided with the first passage and a third passage that is other than the second passage.

6. The transport system according to claim 5, wherein the ratio of the number of vehicles moving in the first direction within a prescribed time in the third passage to the total number of vehicles moving within the prescribed time in the third passage is lower than the ratio of the number of vehicles moving in the first direction within a prescribed time in the first passage to the total number of vehicles moving within the prescribed time in the first passage, and the ratio of the number of vehicles moving in the opposite direction of the first direction within a prescribed time in the third passage to the total number of vehicles moving within the prescribed time in the third passage is lower than the ratio of the number of vehicles moving in the opposite direction of the first direction within a prescribed time in the second passage to the total number of vehicles moving within the prescribed time in the second passage.

7. The transport system according to claim 5, wherein the absolute value of the average speed of the total number of vehicles moving within a prescribed time in the third passage is smaller than the absolute value of the average speed of the total number of vehicles moving within the prescribed time in the first passage, and is smaller than the absolute value of the average speed of the total number of vehicles moving within the prescribed time in the second passage.

8. The transport system according to claim 5 or 6, wherein The third passage includes the plurality of transfer portions.

9. The conveyance system according to claim 5 or 6, wherein The third passage is provided between the first passage or the second passage and the plurality of transfer portions.

10. The conveyance system according to claim 1 or 3, wherein At least a portion of the plurality of transfer portions is provided at a position offset in the second direction or the opposite direction of the second direction with respect to the passages included in the first passage group.

11. The conveyance system according to claim 1 or 3, wherein The conveyance system is provided with a standby portion in which the trolley waits for advancement to any of the passages and the transfer portions.

12. The conveyance system according to claim 11, wherein The standby portion is provided adjacent to at least one of the transfer portions and the passages.

13. The conveyance system according to claim 1 or 3, wherein The control portion controls the trolley in such a manner that the trolley waits for advancement to any of the passages and the plurality of transfer portions in the passages included in the second passage group.

14. The conveyance system according to claim 1 or 3, wherein The second passage group includes passages arranged in the second direction with respect to any of the plurality of transfer portions.

15. The conveyance system according to claim 1 or 3, wherein The second passage group includes passages offset in the first direction with respect to any of the plurality of transfer portions.

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