Conveying system, conveying method, and program

Abstract

This invention provides a novel transport system, transport method, and program that offer improved and less inconvenient allocation of destinations to multiple lanes based on the length of the transported object. [Solution] The transport system includes: an item identification unit that identifies an item being transported by a transporter; a length acquisition unit that obtains a first length in the transport direction of the transporter that transports the item identified by the item identification unit by referring to an item database; a length detection unit that obtains a second length in the transport direction of the transporter based on a detection signal from a sensor that detects the length in the transport direction of the transporter that is transporting the item; a length determination unit that determines a third length in the transport direction of the transporter based on at least one of the first length and the second length; and a lane determination unit that determines which lane to which the multiple transporters will be transported from among a plurality of lanes, each having rails, based on the sum of the third lengths of a plurality of transporters corresponding to a plurality of items.

Description

Technical Field

[0001] The present invention relates to a conveying system, a conveying method, and a program.

Background Art

[0002] Conventionally, when selecting a lane for loading a carrier among a plurality of lanes, a conveying system is known that measures the length of the carrier and determines the lane for loading the carrier based on the length of the carrier with respect to the acceptable length of the plurality of lanes (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this type of conveying system, if the lane for loading the carrier is determined only based on the measured length of the carrier, for example, when the length of the carrier cannot be measured or when the measurement error is large, there is a risk of problems such as too many or too few carriers being loaded into the lane.

[0005] Therefore, one of the problems of the present invention is to provide a novel conveying system, conveying method, and program that are less inconvenient and improved, for example, in the allocation of loading destinations to a plurality of lanes based on the length of the carrier.

Means for Solving the Problems

[0006] The present invention provides a transport system for transporting multiple articles by a plurality of transport bodies that move along rails, each holding an article suspended from it, and comprising: an article identification unit that identifies the article being transported by the transport body; a length acquisition unit that obtains a first length in the transport direction of the transport body transporting the article identified by the article identification unit by referring to an article database that stores data of the article, including the size of the article; a length detection unit that obtains a second length in the transport direction of the transport body based on a detection signal from a sensor that detects the length of the transport body in the transport direction of the transport body transporting the article; a length determination unit that determines a third length in the transport direction of the transport body based on at least one of the first length and the second length; and a lane determination unit that determines the lane into which the plurality of transport bodies are transported from among a plurality of lanes, each having rails, based on the sum of the third lengths of the plurality of transport bodies corresponding to the plurality of articles.

[0007] The present invention provides a transport method for transporting multiple articles by a plurality of transport bodies that move along rails, each holding an article suspended from it, wherein the computer performs the following steps: a first step of identifying the articles being transported by the transport bodies; a second step of obtaining a first length in the transport direction of the transport body that transports the articles identified in the first step by referring to an article database that stores data of the articles, including the size of the articles; a third step of obtaining a second length in the transport direction of the transport body based on a detection signal from a sensor that detects the length of the transport body in the transport direction of the transport body that is transporting the articles; a fourth step of determining a third length in the transport direction of the transport body based on at least one of the first length and the second length; and a fifth step of determining the lane into which the plurality of transport bodies are transported from among a plurality of lanes, each having rails, based on the sum of the third lengths of the plurality of transport bodies corresponding to the plurality of articles.

[0008] Furthermore, the program of the present invention causes a computer to function, for example, as an article identification unit for a transport system in which a plurality of transport bodies move along rails, each holding an article suspended from it, to transport a plurality of articles; a length acquisition unit for obtaining a first length in the transport direction of the transport body that transports the article identified by the article identification unit by referring to an article database that stores data of the article, including the size of the article; a length detection unit for obtaining a second length in the transport direction of the transport body based on a detection signal from a sensor that detects the length of the transport body in the transport direction of the transport body that is transporting the article; a length determination unit for determining a third length in the transport direction of the transport body based on at least one of the first length and the second length; and a lane determination unit for determining the lane into which the plurality of transport bodies are brought, from among a plurality of lanes each having rails, based on the sum of the third lengths of the plurality of transport bodies corresponding to the plurality of articles. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an exemplary and schematic side view showing the rails of the conveying system of the embodiment and a plurality of conveyed objects being conveyed along the rails. [Figure 2] Figure 2 is an illustrative schematic diagram of the transport system according to the embodiment. [Figure 3] Figure 3 is an illustrative schematic diagram of a buffer included in the transport system of the embodiment. [Figure 4] Figure 4 is a schematic side view showing an example of multiple transported objects being transported into a buffer lane included in the transport system of the embodiment. [Figure 5] Figure 5 is an exemplary block diagram of a control device included in the transport system of the embodiment. [Figure 6] Figure 6 is a table showing an example of the transporter ID, item ID, and transporter length that are stored in correspondence with each other in the transporter system of the embodiment. [Figure 7]Figure 7 is a table showing an example of the specifications of each item for each item ID stored in the transport system of the embodiment. [Figure 8] Figure 8 is an exemplary and schematic side view showing multiple orientations of an article housed in a support member in the transport system of the embodiment. [Figure 9] Figure 9 is an exemplary and schematic front view of a sensor for detecting the length of a transported object included in the transport system of the embodiment. [Figure 10] Figure 10 is a flowchart showing an example of the calculation processing procedure by the control device of the transport system in the embodiment. [Figure 11] Figure 11 is an exemplary and schematic side view showing a state in which an overhang occurs at the front of a row of multiple transported objects that have been loaded into a buffer lane included in the transport system of the embodiment. [Modes for carrying out the invention]

[0010] The following describes exemplary embodiments of the present invention. The configurations of the embodiments shown below, as well as the operations and results (effects) obtained from such configurations, are examples only. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derived effects) that can be obtained by the following configurations.

[0011] The X, Y, and Z directions shown in each figure intersect and are also orthogonal to each other. The X direction is the local transport direction, the Z direction is approximately vertically upward, and the Y direction is the width direction intersecting the X and Z directions.

[0012] [Basic structure of a transport system] FIG. 1 is a side view showing a rail 11 and a plurality of carriers 12 of the transport system 10 according to the embodiment. As shown in FIG. 1, the carrier 12 is supported on the rail 11 so as to be movable along the longitudinal direction of the rail 11. The rail 11 is installed, for example, in a state of being suspended from the ceiling of a building or the like. The plurality of carriers 12 each support the article A in a suspended state and move in a state of being arranged in series along the rail 11.

[0013] The carrier 12 has a moving body 12a and a support member 12b. The moving body 12a is supported on the rail 11 so as to be movable in its longitudinal direction. The moving body 12a has rollers that roll along the rail 11. The rollers are configured to roll on the bottom wall of the rail 11 having, for example, a C-shaped cross-sectional shape. As the rollers roll, the moving body 12a moves along the rail 11. The moving body 12a is also referred to as a trolley.

[0014] The carrier 12 moves along the rail 11 by pressing conveyance or gravity conveyance. [[ID=​​​​​​​​​The support member 12b is detachably connected to the moving body 12a and supports the article A in a state of suspending it with respect to the moving body 12a. The support member 12b has a bag portion 12b1 for supporting the article A. The bag portion 12b1 has, for example, a strip-like and cloth-like shape having a substantially constant width, extends downward from the upper end and then folds back at the lower end and extends back to the upper end, and supports the article A in a state of wrapping it at least from the front, below, and rear in the conveyance direction. Note that at least in the lower portion of the bag portion 12b1, a movement restricting portion such as a gather for restricting the movement of the article A in the lateral direction, that is, the width direction, may be provided. The support member 12b is also referred to as a pouch.

[0018] Also, as shown in FIG. 1, the carrier 12 can support and convey articles A in various forms.

[0019] [Conveying System] FIG. 2 is a schematic configuration diagram of the conveying system 10. As shown in FIG. 2, the conveying system 10 includes a loading processing station 100, a first storage unit 200, a second storage unit 300, a sorting unit 400, an unloading processing station 500, a third storage unit 600, and a control device 700.

[0020] [[ID=1十三]] At the loading processing station 100, the article A is placed in the support member 12b of the carrier 12. Between the loading processing station 100 and the first storage unit 200, between the first storage unit 200 and the second storage unit 300, between the second storage unit 300 and the sorting unit 400, and between the sorting unit 400 and the unloading processing station 500, the article A is conveyed by the carrier 12 moving along the rail 11 as shown in FIG. 1.

[0021] At the unloading processing station 500, the article A is taken out from the support member 12b. Between the unloading processing station 500 and the third storage unit 600, and between the third storage unit 600 and the loading processing station 100, a plurality of empty carriers 12 that do not support the article A move in a state of being arranged in series along the rail 11.

[0022] [Receiving and Processing Station] At the loading and processing station 100, a worker or robot places item A into the support member 12b of an empty transporter 12 that does not support item A. This results in the supported state of item A shown in Figure 1. In the example in Figure 1, one item A is supported by one support member 12b, but this is not limited to this, and multiple items A may be supported by one support member 12b.

[0023] [First storage department] The first storage unit 200 functions as a storage facility for storing various items A in the state shown in Figure 1. The first storage unit 200 has, for example, one or more loop-shaped rails 11, and dynamically stores multiple transporters 12, each supporting an item A, by moving (circling) along the loop-shaped rails 11.

[0024] In response to a request from an external device (higher-level device) to remove item A, the control device 700 determines which transport body 12 to remove from among the transport bodies 12 supporting item A stored in the first storage unit 200. The control device 700 then controls the operation of the first storage unit 200 so that the determined transport body 12 is removed.

[0025] [Second storage department] The second storage unit 300 has, for example, multiple lanes arranged in parallel to each other, i.e., linear rails, and temporarily holds multiple transported objects 12 that have been discharged from the first storage unit 200. The provision of the second storage unit 300 makes it possible to discharge the transported objects 12 from the first storage unit 200 and to load the transported objects 12 into the sorting unit 400 in parallel, that is, independently. This makes it possible to suppress the effect of the processing status of one of the first storage unit 200 and the sorting unit 400 on the processing status of the other. The second storage unit 300 may also be called a pre-sorting storage unit.

[0026] [Sorting Department] In the unloading processing station 500, for example, when multiple items A supported by multiple transporters 12 are packed into a single package, it is preferable that the multiple transporters 12 supporting the items A be packed together are grouped in a row of multiple transporters 12 arranged in series. This is because if the multiple transporters 12 supporting the items A be packed together are located far apart in the row, the waiting time until all the items A be packed together are ready at the unloading processing station 500 will be longer, and the processing speed will decrease. In other words, it is preferable that the row of multiple transporters 12 be appropriately aligned according to the work and sequence of the unloading process at the unloading processing station 500 when they reach the unloading processing station 500. However, when the first storage unit 200 unloads multiple transporters 12 prioritizing the reduction of the unloading time, the multiple transporters 12 are not necessarily appropriately aligned according to the work and sequence of the unloading process. Therefore, the sorting unit 400 rearranges the group of multiple transport bodies 12 that have been unloaded from the first storage unit 200, that is, the row in which multiple transport bodies 12 are lined up in series along the rail 11, and aligns them in a state suitable for the work and sequence of unloading at the unloading processing station 500.

[0027] [Removal and Processing Station] At the unloading station 500, a worker or robot performs the process of removing item A from the transporter 12 that supports item A, as shown in Figure 1. Furthermore, the worker or robot performs predetermined processing on one or more items A, such as packaging, to achieve a specified unloading configuration. The shipment containing one or more items A that have undergone unloading processing is then unloaded from the unloading station 500.

[0028] [Third Storage Department] The third storage unit 600 stores empty transport bodies 12 that do not support item A. Transport bodies 12 that have been released with item A at the discharge processing station 500 are sent to the third storage unit 600. Empty transport bodies 12 are also sent from the third storage unit 600 to the receiving processing station 100. The third storage unit 600 may also be referred to as the empty transport body storage unit.

[0029] [Determining the lane into which the transported items will be brought] Figure 3 is a schematic diagram of the buffer 510 located immediately after the entrance of the unloading processing station 500. The unloading processing station 500 includes the buffer 510 shown in Figure 3 and a plurality of parallel unloading processing units located downstream of the buffer 510. The buffer 510 temporarily holds a plurality of transported objects 12 before they are brought into the unloading processing units.

[0030] Buffer 510 has multiple parallel lanes Ln1, Ln2, ..., Lnm. m is the number of lanes and is an integer greater than or equal to 2. The entrance to each lane Ln1, Ln2, ..., Lnm is a turnout 21 and the exit is a merger 22. Each lane Ln1, Ln2, ..., Lnm has a rail 11b from the turnout 21 to the merger 22.

[0031] In the buffer 510, multiple transport bodies 12 are brought in one by one from the entrance rail 11i, branched at the turnout 21 and brought into one of the lanes Ln1, Ln2, ..., Lnm, where they are temporarily held. The transport bodies 12 held in each lane Ln1, Ln2, ..., Lnm are then discharged from the merging device 22 to the exit rail 11o. Each lane Ln1, Ln2, ..., Lnm is also provided with a stopper 23 that can restrict the movement of the transport bodies 12. The stopper 23 is located behind the merging device 22, near the merging device 22 located at the front end of each lane Ln. The operation of these turnout 21, merging device 22, and stopper 23 is controlled by the control device 700. The turnout 21, junction 22, and stopper 23 are examples of the transport mechanism 903 (see Figure 5).

[0032] Furthermore, as shown in Figure 3, a sensor 902 for detecting the length of the transport body 12 in the transport direction is provided just before the entrance to the buffer 510. The sensor 902 is, for example, a retroreflective photoelectric sensor having a light-emitting / receiving unit 902a and a reflecting unit 902b. When there is no transport body 12, the detection light output from the light-emitting / receiving unit 902a is reflected by the reflecting unit 902b and returns to the light-emitting / receiving unit 902a. When the transport body 12 passes over the part of the rail 11 where the sensor 902 is provided, the detection light is blocked by the transport body 12. When the transport body 12 moving at a constant speed Vc blocks the detection light, the longer the length Ld of the transport body 12, the longer the time Tc during which the detection light is blocked, that is, the time Tc during which the detection light output from the light-emitting / receiving unit 902a does not return to the light-emitting / receiving unit 902a. This makes it possible to detect the length Ld of the transport body 12. In this case, the length Ld can be calculated using the formula Ld = Vc × Tc. Note that the location, configuration, and detection method of the sensor 902 are not limited to those shown in Figure 3. For example, the sensor 902 may be a through-beam photoelectric sensor. The length Ld is the detected length of the transport body 12 and is an example of a second length.

[0033] Figure 4 is a side view showing an example of multiple transport bodies 12 loaded into one lane Ln of the buffer 510. As shown in Figure 4, the stopper 23 has a body 23a and a movable member 23b supported by the body 23a. The movable member 23b is configured to move between a limiting position that protrudes from the body 23a toward the rail 11 to prevent the movement of the movable body 12a of the transport body 12, and a permissible position that retracts toward the body 23a to allow the movement of the movable body 12a. The movable member 23b is driven by an actuator, such as an electromagnetic solenoid.

[0034] Multiple conveyors 12 are subjected to a moderate thrust in the conveying direction (X direction, leftward in the example of Figure 4) during press conveying or gravity conveying. As a result, the multiple conveyors 12 are arranged in a jammed state, with the conveyor 12 in contact with the movable member 23b of the stopper 23 at the front. Figure 4 shows a state in which the thrust acting on the multiple conveyors 12 is relatively small.

[0035] In Figure 4, Lt is the sum of the lengths of the multiple transport bodies 12 temporarily held in lane Ln. As shown in Figure 4, in the transport control by the control device 700, for the leading transport body 12 that abuts the movable member 23b of the stopper 23, approximately half of the length Ls of that transport body 12 (Ls / 2) may be added to the sum of the lengths of the transport bodies 12 Lt.

[0036] [Control device] Figure 5 is an exemplary block diagram of the control device 700. Note that Figure 5 only shows the functional blocks related to the operation of the buffer 510. As shown in Figure 5, the control device 700 is configured as a computer having, for example, an arithmetic processing unit 701, a main memory unit 702, an auxiliary storage unit 703, etc. The arithmetic processing unit 701 is, for example, a processor (circuit) such as a central processing unit (CPU). The main memory unit 702 is, for example, random access memory (RAM) or read-only memory (ROM), and the auxiliary storage unit 703 is, for example, a solid state drive (SSD) or a hard disk drive (HDD).

[0037] The arithmetic processing unit 701 operates according to the installed program, executing processing using a predetermined algorithm defined in the program. The program may be provided as an installable or executable file, recorded on a computer-readable recording medium. The recording medium may also be referred to as a program product. Information such as values, tables, and maps used in the program and processor's arithmetic processing may be pre-stored in the ROM of the main memory unit 702 or in the auxiliary storage unit 703, or they may be stored in the memory of a computer connected to a communication network and downloaded to the auxiliary storage unit 703 via the communication network. The arithmetic processing by the arithmetic processing unit 701 may be performed, at least partially, by hardware. In this case, the arithmetic processing unit 701 may include, for example, an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0038] The arithmetic processing unit 701 includes an item identification unit 701a, a length acquisition unit 701b, a length detection unit 701c, a length determination unit 701d, a length calculation unit 701e, a lane determination unit 701f, and an operation control unit 701g, etc., in relation to the operation of the buffer 510. The operation of each of these parts of the arithmetic processing unit 701 will be described later.

[0039] Furthermore, the auxiliary storage unit 703 stores the information shown in Figure 6 and the information shown in Figure 7.

[0040] Figure 6 is a table showing an example of the transporter ID, item ID, and length Ls of the transporter 12 stored in the auxiliary storage unit 703 in association with each other. The transporter 12 is assigned a transporter code indicating the transporter ID, and item A is assigned an item code indicating the item ID. The transporter code and item code are either two-dimensional or three-dimensional codes, respectively. At the loading processing station 100, when a worker or robot places item A into the transporter 12, the code reader 901 reads and registers the transporter code of the transporter 12 and the item code of item A in association with each other. Based on this registration, the control device 700 can store the transporter ID and item ID in association with each other in the auxiliary storage unit 703. Note that the reading of the transporter code and item code during registration may be performed automatically at their respective predetermined locations. Each part of the transport system 10 is provided with a code reader 901 for reading the transporter code. The registration of length Ls in Figure 6 will be described later.

[0041] Figure 7 is a table showing an example of data indicating the specifications of each item A stored in the auxiliary storage unit 703. The data indicating the specifications of item A is stored in association with the item ID. The data shown in Figure 7 is collected from external devices or registered in the transport system 10 and stored in the auxiliary storage unit 703. This data may also be referred to as an item database.

[0042] The specifications of item A include its characteristics and size. The characteristics of item A include, for example, the form of item A and data indicating the number of postures it can assume while supported by the support member 12b. Specifically, for example, characteristic 1 can be data (flag) indicating whether or not length measurement is possible (suitable) based on the detection signal of the sensor 902 of item A. In that case, the value of characteristic 1 is set to "1" if length measurement is possible for item A based on the detection signal of the sensor 902, and is set to "0" if length measurement is difficult for item A based on the detection signal of the sensor 902, in other words, if it is difficult to ensure measurement accuracy. Examples of items A for which length measurement based on the detection signal of the sensor 902 is difficult include thin items A and small items A.

[0043] Furthermore, for example, feature 2 can be data indicating the number of positions that article A can assume within the support member 12b. In this case, the value of feature 2 is set to "1" if the number of positions is 1, to "2" if the number of positions is 2, and to "3" if the number of positions is 3. The size is the length of article A in the transport direction, and the auxiliary storage unit 703 stores the same number of sizes as the number of positions. In other words, the number of positions can also be said to be the number of sizes stored corresponding to article A. For example, for article A with a number of positions of "1", only one size (size 1) is stored; for article A with a number of positions of "2", two sizes (size 1 and size 2) are stored; and for article A with a number of positions of "3", three sizes (size 1, size 2, and size 3) are stored.

[0044] Figure 8 is a side view showing the three possible orientations S1 to S3 for an item A1 on the support member 12b. As shown in Figure 8, the length L of the transporter 12 in the actual transport direction (X direction) may differ depending on the orientation of item A on the support member 12b. Orientation S1 is the orientation in which item A1 is placed vertically within the support member 12b, orientation S2 is the orientation in which item A1 is placed horizontally within the support member 12b, and orientation S3 is the orientation in which item A1 is placed diagonally within the support member 12b. In the item database, the length values ​​are registered for each of the typical orientations S1 to S3 of each item A, corresponding to multiple sizes, for example, sizes 1 to 3 in the table in Figure 7. Note that the number of orientations, i.e., the number of sizes, may be four or more. Furthermore, for items A for which length measurement by sensor 902 is difficult, for example, the number of orientations is set to "1", and only one size is stored.

[0045] Here, as shown in Figure 8, when supporting an article A1 that can assume multiple orientations, the positions in the Z direction of the front end 12le and rear end 12te of the transporter 12 in the transport direction (X direction) may differ depending on the orientation S1 to S3 of article A. Furthermore, the positions in the Z direction of these front end 12le and rear end 12te may also differ depending on the shape and size of article A. In such a case, if the optical path Pt of the sensor 902 (see Figure 3) described above is parallel to the Y direction and article A is detected at only one height position in the Z direction, there is a risk that the length Ld may not be measured correctly depending on the position of the optical path Pt in the Z direction.

[0046] Therefore, an optical path Pt as shown in Figure 9 may be set. Figure 9 is a front view of the sensor 902 and the transport body 12. That is, the optical path Pt intersects or is inclined with respect to the Y direction. Furthermore, the optical path Pt intersects and is substantially perpendicular to the X direction. In other words, the optical path Pt is along the YZ plane. In this case, since the optical path Pt is blocked by the transport body 12 in a predetermined range Rd in the Z direction, the sensor 902 can detect item A in that predetermined range Rd. As a result, the sensor 902 can measure the length Ld of the transport body 12 supporting item A in the X direction in a predetermined range Rd in the Z direction, and thus measure the length Ld with greater accuracy. Alternatively, multiple sensors 902 with different positions in the Z direction of the optical path Pt substantially aligned with the Y direction may be used to detect the transport body 12 (front end 12le and rear end 12te) in a predetermined range Rd in the Z direction. Furthermore, the optical path Pt may pass through the approximate center of the transport body 12 in the Y direction, substantially along the Z direction.

[0047] [Calculation procedure for determining the destination of the transported object] Figure 10 is a flowchart showing an example of the processing procedure of the arithmetic processing unit 701.

[0048] First, the item identification unit 701a identifies item A being transported by the transporter 12 (S1). In S1, the item identification unit 701a obtains the transporter ID from the transporter code detection signal by the code reader 901, refers to the data showing the correspondence between the transporter ID and item ID stored in the auxiliary storage unit 703 (see Figure 6), and obtains the item ID corresponding to the transporter ID. S1 is an example of the first step.

[0049] Next, the length acquisition unit 701b refers to the item database (see Figure 7) and acquires the length (size) of item A in the transport direction corresponding to the item ID. Furthermore, the length acquisition unit 701b adds the thickness of the support members 12b located in front of and behind item A to the acquired length of item A to acquire the length Lc of the transport body 12 (S2). Here, if multiple lengths of item A in the transport direction corresponding to the item ID are stored, the length acquisition unit 701b acquires all of the multiple lengths of item A and acquires the length Lc of the transport body 12 for each of the lengths of item A. Specifically, as in the example in Figure 8, if three lengths (sizes) of item A1 are stored for orientations S1 to S3 of item A1, the length acquisition unit 701b acquires the lengths Lc1 to Lc3 of the transport body 12. The length Lc of the transport body 12 acquired by the length acquisition unit 701b is the length of the transport body 12 calculated from the data contained in the item database and is an example of the first length. S2 is an example of the second step.

[0050] Next, the length detection unit 701c acquires the length Ld (second length) of the transport body 12 in the transport direction based on the detection signal from the sensor 902 (S3). S3 is an example of the third step.

[0051] Next, the length determination unit 701d determines the length Ls of the conveyor 12 based on at least one of the length Lc (first length) and length Ld (second length) (S4). The length Ls determined by the length determination unit 701d is an example of a third length. S4 is an example of a fourth step.

[0052] In S4, the length determination unit 701d determines the length Ls as follows, for example. (1) The length determination unit 701d refers to the item database and, if item A supported by the transporter 12 is item A for which length measurement by the sensor 902 is difficult, sets length Lc to length Ls. (1) As a result, the length of the transporter 12 supporting item A, which is difficult to measure in length, can be included in the calculation process for determining the destination. (2) The length determination unit 701d refers to the item database and, if the item A supported by the transporter 12 is an item A whose length can be measured by the sensor 902, determines the length Ls of the transporter 12 by any of the following (2-1) to (2-3). (2-1) The length determination unit 701d compares length Ld with one or more lengths Lc, and if the absolute value of the difference d1 between any one length Lc and length Ld is within a predetermined value α (|d1|≦α), then length Lc is set to length Ls. By (2-1), the measurement error of the length of the transport body 12 by the sensor 902 can be corrected. Note that α may be a common value regardless of the type of article A, or it may be a different value depending on the classification of article A. For example, the predetermined value α for an easily deformable article A may be larger than the predetermined value α for an article A that is not easily deformable. (2-2) The length determination unit 701d compares length Ld with one or more lengths Lc, and if the absolute value of the difference d1 between any one length Lc and length Ld is within a predetermined value β (>α) (|d1|≦β), then length Ld may be set as length Ls. By (2-2), length Ls can be determined with greater accuracy even when the orientation of article A deviates slightly from the orientation corresponding to the registered typical size. Note that β may be a common value regardless of the classification of article A, or it may be a different value depending on the classification of article A. For example, the predetermined value β for an easily deformable article A may be larger than the predetermined value β for an indeformable article A. (2-3) The arithmetic processing unit 701 may control the audio or display output unit to output a predetermined alarm by voice or display if there is no length Lc whose absolute value of the difference d1| |d1| is within a predetermined value α or a predetermined value β. In this case, for example, an operator can check the support status of the item A on the transporter 12 and perform corrective work such as correcting the posture of the item A or placing the correct item A that should be supported on the transporter 12.

[0053] In this way, the length determination unit 701d can switch the method of calculating (determining) the length Ls according to the characteristics of the item A supported by the transporter 12. This makes it possible for the calculation processing unit 701 to perform calculation processing to determine the lane Ln to which the transporter 12 will be delivered using the length Ls of the transporter 12 with greater accuracy. The calculation processing unit 701 stores the determined length Ls in the auxiliary storage unit 703, associating it with the transporter ID (see Figure 5).

[0054] Next, the length calculation unit 701e calculates the acceptable length Lr for each of the multiple lanes Ln into which the transport body 12 is a candidate (S5). In S5, the length calculation unit 701e calculates the acceptable length Lr for each lane Ln from the lane length Ll of each lane Ln, the total length Ls of the transport body 12 temporarily held in each lane Ln at the time of calculation Lt, and the margin Lm of each lane Ln using the following formula (1). Lr = Ll - (Lt + Lm) ... (1) Here, the acceptable length Lr of each lane Ln is calculated at each point in the calculation process of S5 so as to reflect the latest holding status of the multiple transport bodies 12 in each lane Ln. Alternatively, the acceptable length Lr may be updated each time a transport body 12 is discharged from each lane Ln and each time a transport body 12 is loaded into each lane Ln, and the latest acceptable length Lr may be obtained in S5. As mentioned above, for the transport body 12 located at the front of the multiple transport bodies 12 held in each lane Ln, half of the length Ls of that transport body 12, Ls / 2, may be added to the total value Lt (see Figure 4). In addition, the margin Lm may be set to, for example, the length of multiple average transport body 12 lengths Ls, or to a predetermined value (for example, 1 [m]). By setting the margin Lm, even if the actual length of the transport body 12 is longer than the length Ls, it is possible to avoid a situation where multiple transport bodies 12 cannot fit into the lane Ln.

[0055] Next, the lane determination unit 701f determines the lane Ln into which the multiple transport bodies 12 will be transported from among a plurality of candidate lanes Ln, based on the acceptable length Lr of each lane Ln and the sum of the lengths Ls Lt of the plurality of transport bodies 12 to be transported (S6). In S6, the plurality of transport bodies 12 subject to calculation can be transport bodies 12 belonging to the same group, for example, transport bodies 12 that are processed together at the discharge processing station 500. In this case, the advantage is obtained that the plurality of transport bodies 12 belonging to the same group can be discharged together from the buffer 510 more reliably and quickly. S6 is an example of the fifth step.

[0056] In S6, the lane determination unit 701f can, for example, select the lane Ln in which the difference d2 between the total value Lt and the acceptable length Lr is smallest among the lanes Ln in which the total value Lt is smaller than the acceptable length Lr, as the lane Ln into which the multiple transported bodies 12 will be brought. In this case, it becomes easier to maintain a long acceptable length Lr for the other lanes Ln, so for example, in situations where the average number of items A included in each group of multiple transported bodies 12 to be transported in a predetermined time is relatively large (for example, above a predetermined threshold), the advantage is that it becomes easier to secure a lane Ln to be the destination for each group.

[0057] On the other hand, in situations where the average number of items A included in each group of multiple transported bodies 12 transported in a predetermined time is relatively small (for example, below a predetermined threshold), the lane determination unit 701f can, for example, select the lane Ln in which the difference d2 between the total value Lt and the acceptable length Lr is largest among the lanes Ln in which the total value Lt is smaller than the acceptable length Lr, as the lane Ln into which the multiple transported bodies 12 will be transported. In this case, it becomes easier to average the number of temporarily held transported bodies 12 in the multiple lanes Ln, thereby suppressing variations in the usage frequency of the multiple lanes Ln and preventing situations in which a particular lane Ln is used frequently and deteriorates, such as wear.

[0058] As described above, in this embodiment, in the calculation process for determining which lane Ln to which multiple transport bodies 12 will be transported from among multiple lanes Ln, the length Ls (third length) of the transport body 12 used in the calculation process is determined based on the length Lc (first length) of the transport body 12 calculated based on data including the size of item A stored in the item database, and the length Ld (second length) of the transport body 12 obtained based on the detection signal from the sensor 902. Then, the destination lane Ln is determined based on the sum of the lengths Ls of the multiple transport bodies 12, Lt, and the acceptable length of each lane Ln. With this method and configuration for implementing this method, the length Ls of the transport body 12 can be determined reflecting, for example, the characteristics of item A or the support state of item A by the support member 12b, making it possible to perform the calculation process with greater accuracy. Therefore, for example, even when it is difficult to measure the length of the transporter 12 or when there is a large error in measuring the length of the transporter 12, the calculation process can be performed, and the calculation process can be performed with greater accuracy, thereby suppressing any surplus or shortage of transporters 12 in each lane Ln. In addition, since the utilization efficiency of multiple lanes Ln can be increased, the advantage is obtained that the multiple lanes Ln, and consequently the transport system 10, can be configured more compactly.

[0059] Furthermore, in this embodiment, since the destination lane Ln can be determined for multiple transport bodies 12 on a group basis, when processing transport bodies 12 on a group basis, such as in an unloading process, multiple transport bodies 12 included in the same group can be transported together more reliably and quickly, and consequently the time required to complete the process can be shortened.

[0060] [Overhang of the transporter at the front of the lane] Figure 11 is a side view of multiple conveyors 12 in a state where the conveyors 12 protrude at the leading edge of the lane Ln. As shown in Figure 11, if the overhang of the conveyors 12 is permitted at the leading edge of the lane Ln, the acceptable length Lr of the lane Ln may be increased by the overhang length Lp shown in Figure 11. That is, in this case, in S5, the length calculation unit 701e calculates the acceptable length Lr using the following formula (2), which includes the overhang lengths Lp of the multiple conveyors 12. Lr = Ll + Lp - (Lt + Lm) ... (2) The overhang length Lp can be determined, for example, from the overhang state actually occurring in the lane Ln. With this method and configuration, when an overhang state is actually occurring, it becomes possible to perform calculation processing to determine which lane Ln to which multiple transport bodies 12 will be transported from among multiple lanes Ln with greater accuracy, reflecting that state. As a result, the utilization efficiency of multiple lanes Ln can be further increased, and it may be possible to obtain the advantage of being able to configure the multiple lanes Ln, and by extension the transport system 10, in a more compact manner.

[0061] Although embodiments of the present invention have been illustrated above, 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 forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, each configuration and specification (structure, type, orientation, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be modified as appropriate.

[0062] For example, multiple lanes into which transported objects are selectively brought, or buffers containing these multiple lanes, may be provided in locations other than immediately after the entrance to the discharge processing station. Furthermore, the length of the transported object in the transport direction only needs to be measured based on the detection signal of a sensor before the calculation process to determine the destination lane is performed, and such sensor may be provided in other locations within the transport system. [Explanation of symbols]

[0063] 10…Conveyor system 11... Rails 12... Carrier 701a…Article identification department 701b... Length acquisition section 701c...Length detection unit 701d... Length determination part 701e...Length calculation unit 701f...Lane determination section 703... Auxiliary storage unit (item database) A,A1…Goods L...Length Lc, Lc1~Lc3...Length (first length) Ld... Length (second length) Lm... Margin Lp... overhang length Lr...Acceptable length Ls... Length (third length) Lt...Total value

Claims

1. A transport system that transports multiple items using multiple transport bodies that move along rails, each holding an item in a suspended state, An article database that stores data of the article, including the size of the article, An article identification unit that identifies the article being transported by the transporter, A length acquisition unit that acquires a first length in the transport direction of the transporter that transports the article identified by the article identification unit by referring to the article database, A length detection unit that acquires a second length of the conveying body in the conveying direction based on a detection signal from a sensor that detects the length of the conveying body in the conveying direction of the article being conveyed, A length determination unit that determines a third length of the conveying body in the conveying direction based on at least one of the first length and the second length, A lane determination unit determines, based on the sum of the third lengths of the plurality of transporters corresponding to the plurality of articles, which of the plurality of lanes each having a rail will be used to transport the plurality of transporters, A transport system equipped with [a specific feature / equipment].

2. The conveying system according to claim 1, wherein the lane determination unit determines the lane into which the plurality of conveyors are transported based on the sum of the third lengths of the plurality of conveyors corresponding to the plurality of articles belonging to the same group.

3. The system includes a length calculation unit that calculates the acceptable length in the transport direction at a predetermined timing for each of the plurality of lanes, each having the aforementioned rail. The conveying system according to claim 1, wherein the lane determination unit selects a lane for conveying the plurality of conveyed bodies from among the lanes whose sum of the third lengths is less than the acceptable length.

4. The conveying system according to claim 3, wherein the length calculation unit calculates the difference between the length of the rail for each lane and the sum of the sum of the third lengths of the conveying bodies located within the lane in the conveying direction and a predetermined margin as the acceptable length.

5. The conveying system according to claim 3, wherein the length calculation unit calculates the difference between the sum of the length of the rail for each lane and the overhang length of the conveying body extending out at the tip of the lane, and the sum of the sum of the third lengths of the conveying body located within the lane in the conveying direction and a predetermined margin, as the acceptable length.

6. The conveying system according to claim 1, wherein the length determination unit switches the method for determining the third length according to the type of article supported by the conveying body.

7. A transport method in which multiple transport bodies move along a rail, each holding an item in a suspended state, to transport multiple items, Computers A first step is to identify the article being transported by the transporter, A second step involves obtaining a first length in the transport direction of the transporter that transports the article identified in the first step by referring to an article database that stores data of the article, including the size of the article; A third step is to obtain a second length of the conveying body in the conveying direction based on a detection signal from a sensor that detects the length of the conveying body in the conveying direction while the conveying body is conveying the article, A fourth step of determining the third length of the conveying body in the conveying direction based on at least one of the first length and the second length, A fifth step in which, based on the sum of the third lengths of the plurality of transporters corresponding to the plurality of articles, a lane is determined from among a plurality of lanes each having a rail to which the plurality of transporters will be transported, A method of transport that performs this task.

8. Computers, A transport system that transports multiple items using multiple transporters that move along rails, each holding an item in a suspended state. Article identification unit that identifies the article being transported by the transporter, A length acquisition unit obtains a first length in the transport direction of the transporter that transports the article identified by the article identification unit by referring to an article database that stores data of the article, including the size of the article. A length detection unit that acquires a second length of the conveying body in the conveying direction based on a detection signal from a sensor that detects the length of the conveying body in the conveying direction while the conveying body is conveying the aforementioned article, A length determination unit that determines a third length of the conveying body in the conveying direction based on at least one of the first length and the second length, A lane determination unit determines, based on the sum of the third lengths of the plurality of transporters corresponding to the plurality of articles, which of the plurality of lanes each having a rail, to transport the plurality of transporters into. A program that makes it function as such.

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