Conveying Equipment

Abstract

To realize a transport facility that allows a transport vehicle to stand by, while minimizing the influence given to the traveling of other transport vehicles.SOLUTION: A plurality of reference points P constituting a reference point group PG are arranged so that a first route R1, a second route R2, a third route R3, a fourth route R4, a fifth route R5, and a sixth route R6 can be set as traveling routes. The first route R1 and the second route R2 are routes heading toward a first side X1 in a first direction, the third route R3 and the fourth route R4 are routes heading toward a second side X2 in the first direction, the fifth route R5 is a route heading toward a first side Y1 in a second direction, and the sixth route R6 is a route heading toward a second side Y2 in the second direction. A waiting area W for making a transport vehicle 1 wait is formed in an area T surrounded by four routes, the second route R2, the third route R3, the fifth route R5, and the sixth route R6 on a traveling surface 11.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a conveying facility that includes a travel area in which a group of reference points, which is a group of multiple reference points, is set, and a conveying vehicle that conveys items by traveling along a travel route that is set to connect the multiple reference points included in the group of reference points. [Background technology]

[0002] As an example of a conveying facility for conveying articles, Japanese Patent Application Laid-Open No. 2020-11790 (Patent Document 1) discloses an article sorting facility. Hereinafter, in the description of this background art, the reference numerals in Patent Document 1 will be cited in parentheses. In the article sorting facility of Patent Document 1, an article transport vehicle (4) that transports an article (W) is configured to travel along a preset lane. In the embodiment shown in FIG. 1 of Patent Document 1, a travel lane (L1), a branch lane (L2), and a completion lane (L3) are provided along which the article transport vehicle (4) travels in the same direction (hereinafter referred to as the "downstream"), and a return lane (L4) along which the article transport vehicle (4) travels in the opposite direction from these three lanes (hereinafter referred to as the "upstream").

[0003] In the embodiment shown in Figures 1 and 2 of Patent Document 1, a plurality of work areas (E1) where picking of items (W) is performed are arranged side by side along a travel lane (L1), and the travel lane (L1) has a lane area (LE) corresponding to each of the plurality of work areas (E1). An article transport vehicle (4) sequentially travels through one or more lane areas (LE) where picking work for the article transport vehicle (4) is performed. During this travel, the article transport vehicle (4) travels downstream while changing lanes between the travel lane (L1), the branch lane (L2), and the completion lane (L3). After completing the picking work, the article transport vehicle (4) travels to the downstream end and then travels through the return lane (L4) to return to the upstream end. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-11790 Summary of the Invention [Problem to be solved by the invention]

[0005] In a transport facility such as that disclosed in Patent Document 1, it is conceivable that a transport vehicle may be unable to enter a location that is the destination of the transport vehicle's travel (in Patent Document 1, this is a lane area corresponding to a work area). For example, this situation may occur when another transport vehicle is stopped at that location. In such a situation, if a transport vehicle is made to wait on the lane until it is able to enter the location, other transport vehicles will have to avoid the transport vehicle waiting on the lane, which is likely to hinder the smooth travel of other transport vehicles.

[0006] Therefore, it is desirable to realize a transport facility that allows transport vehicles to wait while minimizing the impact on the running of other transport vehicles. [Means for solving the problem]

[0007] In one embodiment,A conveyance facility according to the present disclosure is a conveyance facility including a travel area in which a reference point group that is a group of a plurality of reference points is set, and a conveyance vehicle that conveys an article by traveling along a travel route that is set to connect the plurality of reference points included in the reference point group, wherein a specific direction among directions along a travel surface of the conveyance vehicle in the travel area is set as a first direction, a direction along the travel surface that intersects with the first direction is set as a second direction, one side of the first direction is set as a first direction first side, the other side of the first direction is set as a first direction second side, one side of the second direction is set as a second direction first side, and the other side of the second direction is set as a second direction second side, and the plurality of reference points that constitute the reference point group are arranged so that a first route, a second route, a third route, a fourth route, a fifth route, and a sixth route can be set as the travel route, and the first route is a route heading toward the first direction first side, and the second route is set as the first direction first side. the third path is a path that heads toward the first side in the first direction on the first side in the second direction with respect to the second path; the fourth path is a path that heads toward the second side in the first direction on the first side in the second direction with respect to the third path; the fifth path is a path that heads toward the first side in the second direction so as to intersect with the second path and the third path and connect the first path and the fourth path; the sixth path is a path that heads toward the second side in the second direction so as to intersect with the second path and the third path at a position different from the fifth path in the first direction and connect the first path and the fourth path; and a waiting area for waiting the guided vehicle is formed in an area on the travel surface surrounded by the four paths, the second path, the third path, the fifth path, and the sixth path. The plurality of reference points constituting the reference point group are arranged so that both a seventh route and an eighth route can be set as the travel route, the seventh route is a route heading toward the second direction first side or the second direction second side so as to connect the second route and the third route through the waiting area, the eighth route is a route heading toward the first direction first side or the first direction second side so as to connect the fifth route and the sixth route through the waiting area, and a point where the seventh route and the eighth route intersect is a waiting location for the transported vehicle in the waiting area. .

[0008] According to this configuration, two routes (specifically, the first route and the second route) heading toward the first side in the first direction can be set using the multiple reference points that make up the reference point group, and two routes (specifically, the third route and the fourth route) heading toward the second side in the first direction on the opposite side can be set. Furthermore, two routes (specifically, the fifth route and the sixth route) heading toward opposite sides in the second direction can be set at different positions in the first direction so as to connect these four routes. In this way, routes heading toward both sides in the first direction and both sides in the second direction can be formed so as to be directly or indirectly connected to each other, making it easy to appropriately form a travel route that extends to the destination of the transport vehicle.

[0009] According to this configuration, a waiting area for waiting guided vehicles is formed in an area on the travel surface surrounded by the four routes, the second route, the third route, the fifth route, and the sixth route. By making the guided vehicles wait in the waiting area thus formed, the guided vehicles can wait without interfering with the guided vehicles traveling on these four routes. This makes it possible to make the guided vehicles wait while minimizing the impact on the travel of the other guided vehicles.

[0010] Furthermore, with this configuration, when a transport vehicle is parked in the waiting area, a travel path passing through the waiting area can be appropriately formed by using at least one of the seventh and eighth paths. The seventh path, like the fifth and sixth paths, is a path heading toward either side in the second direction, and the eighth path, like the first, second, third, and fourth paths, is a path heading toward either side in the first direction. Therefore, a transport facility can be realized that can form a travel path passing through the waiting area without significantly changing the arrangement of the multiple reference points that make up the reference point group or the mode of travel control of the transport vehicle.

[0011] In another aspect, a conveyance facility according to the present disclosure is a conveyance facility including a travel area in which a reference point group that is a group of a plurality of reference points is set, and a conveyance vehicle that conveys an item by traveling along a travel route that is set to connect the plurality of reference points included in the reference point group, wherein a specific direction along a travel surface of the conveyance vehicle in the travel area is defined as a first direction, a direction along the travel surface that intersects with the first direction is defined as a second direction, one side of the first direction is defined as a first direction first side, the other side of the first direction is defined as a first direction second side, and one side of the second direction is defined as a second direction second side. The first side of the reference point group is defined as a first side, and the other side of the second direction is defined as a second direction second side, and the plurality of reference points constituting the reference point group are arranged so that a first route, a second route, a third route, a fourth route, a fifth route, and a sixth route can be set as the travel route, and the first route is a route heading towards the first direction first side, the second route is a route heading towards the first direction first side on the second direction first side with respect to the first route, the third route is a route heading towards the first direction second side on the second direction first side with respect to the second route, and the fourth route is a route heading towards the third route the fifth route is a route heading toward the second side in the first direction on the first side in the second direction, the fifth route is a route heading toward the first side in the second direction so as to intersect with the second route and the third route and connect the first route and the fourth route, and the sixth route is a route heading toward the second side in the second direction so as to intersect with the second route and the third route at a position different from the fifth route in the first direction and connect the first route and the fourth route, and is surrounded by four routes, the second route, the third route, the fifth route, and the sixth route, on the travel surface. a waiting area for the transport vehicle to wait in the area, and a transfer target location where the article is transferred to or from the transport vehicle, the transfer target locations are respectively arranged at a plurality of positions in the first direction, and when the transport vehicle is unable to enter the transfer target location that is its destination and waits, it preferentially selects the waiting area that is closer to the transfer target location as a waiting place, and the transfer target location is at least one of an area on the second side in the second direction with respect to the first route and an area on the first side in the second direction with respect to the fourth route,A plurality of the electrodes are arranged in the first direction.

[0012] Further features and advantages of the transport installation will become apparent from the following description of the embodiments, which is given with reference to the drawings. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a plan view showing an example of a layout of a transport facility. [Figure 2] FIG. 10 is a plan view showing an example of the layout of the transport equipment around the waiting area. [Figure 3] FIG. 10 is a plan view showing another example of the layout of the transport equipment around the waiting area. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of the conveying equipment will be described with reference to the drawings. As shown in Figs. 1 and 2, the conveying equipment 100 includes a travel area 10 and a conveying vehicle 1. Although the conveying vehicle 1 is omitted in Fig. 1, as shown in Fig. 2, the conveying equipment 100 includes a plurality of conveying vehicles 1. The conveying vehicle 1 travels along a travel route R to convey an item 2. The travel route R illustrated in Fig. 1 is a route from an entrance 5 to an exit 6 via a transfer target location 3 (here, a plurality of transfer target locations 3) described below. The entrance 5 and the exit 6 are provided with, for example, conveyors for conveying the item 2.

[0015] The conveying facility 100 further includes a transfer target location 3 where an item 2 is transferred from or to the conveying vehicle 1. The transfer of the item 2 at the transfer target location 3 is performed, for example, by a worker 4, a robot, a device provided on the conveying vehicle 1, or by a combination of any two or three of these. Figures 1 and 2 illustrate an example where the transfer of the item 2 at the transfer target location 3 is performed by a worker 4.

[0016] The transport vehicle 1 travels by rotating its running wheels using the driving force of a driving force source such as an electric motor. In this embodiment, the transport vehicle 1 is configured to be able to turn on the spot around an axis perpendicular to the traveling surface 11 (in this embodiment, around an axis along the vertical direction Z). The transport vehicle 1 is an unmanned transport vehicle, and travels along a travel route R autonomously or by remote control. In this embodiment, the transport vehicle 1 is configured to travel autonomously along the travel route R. The transport vehicle 1 is also configured to be able to travel while supporting an article 2. In this embodiment, the transport vehicle 1 is configured to be able to travel while supporting an article 2 from below.

[0017] While FIG. 2 shows the item 2 in a simplified form, the item 2 may be, for example, a pallet and a load (or loads) placed on the pallet, or a container (such as a container with an open top) and a load (or loads) contained in the container. When the item 2 is a support such as a pallet or a container and a load supported by the support, in this embodiment, the load is transferred from the transfer target location 3 to the transport vehicle 1 (specifically, the support supported by the transport vehicle 1) as the transfer source or destination. In the example shown in FIG. 2, a support part S that supports the item 2 (specifically, the support) is provided at the transfer target location 3, and the transfer of the load is performed with the support supported by the support part S. Therefore, the transport vehicle 1 can leave the transfer target location 3 without waiting at the transfer target location 3 for the load transfer operation to be completed.

[0018] When an assortment operation is performed at a transfer target location 3 to collect cargo from the transport vehicle 1, the cargo is removed from the support body supported by the transport vehicle 1 as a transfer of cargo from the transport vehicle 1. In this case, for example, the support body supporting the cargo to be sorted is carried into the carry-in section 5 by a conveyor or the like, and the transport vehicle 1 transports the support body from the carry-in section 5 to the transfer target location 3. The transport vehicle 1 travels sequentially to one or more transfer target locations 3 where the cargo is to be removed from the support body, and then transports the support body to the carry-out section 6.

[0019] When a picking operation is performed at a transfer target location 3 to collect cargo onto the transport vehicle 1, the cargo is transferred to the transport vehicle 1 as a transfer destination by loading the cargo onto a support supported by the transport vehicle 1. In this case, for example, an empty support that does not support a cargo is carried into the carry-in section 5 by a conveyor or the like, and the transport vehicle 1 transports the support from the carry-in section 5 to the transfer target location 3. The transport vehicle 1 travels sequentially to one or more transfer target locations 3 where the cargo is to be loaded onto the support, and then transports the support to the carry-out section 6.

[0020] 1 and 2, a specific direction along the travel surface 11 of the transport vehicle 1 in the travel area 10 is referred to as the first direction X, and a direction along the travel surface 11 that intersects with the first direction X is referred to as the second direction Y. In this embodiment, a direction along the travel surface 11 that is perpendicular to the first direction X is referred to as the second direction Y. One side of the first direction X is referred to as the first direction first side X1, the other side of the first direction X is referred to as the first direction second side X2, one side of the second direction Y is referred to as the second direction first side Y1, and the other side of the second direction Y is referred to as the second direction second side Y2. In the example shown in FIG. 1, the side of the first direction X where the transfer target location 3 is located relative to the carry-in unit 5 and the carry-out unit 6 is referred to as the first direction first side X1, and the side of the second direction Y where the carry-out unit 6 is located relative to the carry-in unit 5 is referred to as the second direction first side Y1. In this embodiment, the running surface 11 is a surface that is along a horizontal plane, and both the first direction X and the second direction Y are horizontal directions. The running surface 11 is formed, for example, by a floor surface.

[0021] A reference point group PG, which is a group of a plurality of reference points P, is set in the travel area 10. The reference points P are arranged at points that serve as references for the travel of the transport vehicle 1. The reference points P are used, for example, as references for the stopping position and turning position of the transport vehicle 1. In the example shown in FIG. 1, a plurality of reference points P are arranged so as to be aligned along the first direction X, and a plurality of reference points P are arranged so as to be aligned along the second direction Y. Here, the plurality of reference points P are arranged in a lattice pattern (for example, a square lattice pattern) with the first direction X and the second direction Y as the arrangement directions. Note that in FIG. 1, only some of the reference points P are shown to avoid complexity.

[0022] The transport vehicle 1 travels to the destination while performing a straight movement between reference points P and a turning movement (an example of a direction change movement) at the reference points P. For example, the transport vehicle 1 travels to the destination while performing a straight movement between reference points P along a first direction X, a straight movement between reference points P along a second direction Y, and a turning movement at the reference points P in 90-degree increments (e.g., a 90-degree turn). As shown in FIG. 1, an example of a travel route R along which the transport vehicle 1 travels is set to connect multiple reference points P included in a reference point group PG. The travel route R shown in FIG. 1 is set to run from the loading section 5 to the unloading section 6 via transfer target locations 3 (here, multiple transfer target locations 3). In FIG. 1, in order to distinguish the reference points P located on the travel route R from other reference points P, the reference points P located on the travel route R are shown in black, and the other reference points P are shown in white.

[0023] As shown in Fig. 1, the reference point P is located at least at a point that can be a destination of the travel of the transport vehicle 1, such as the transfer target location 3, the loading section 5, the unloading section 6, and a waiting area W described later. The transport vehicle 1 is equipped with a detection unit (not shown) that detects the reference point P, and stops when it detects the reference point P located at the destination. In addition, the transport vehicle 1 performs a turning operation when it detects the reference point P located at the point where it should turn.

[0024] In this embodiment, the reference point P is configured by a detectable part provided on the floor surface. The detectable part configuring the reference point P may be, for example, a one-dimensional code, a two-dimensional code, or an RF (Radio Frequency) tag. The detectable part configuring the reference point P holds unique identification information, and the above-mentioned detection part provided in the guided vehicle 1 grasps the current position of the guided vehicle 1 by reading the identification information held by the detectable part configuring the reference point P. The identification information may be, for example, address information indicating the location where the reference point P is located. Note that the reference point P may not be configured by a detectable part, and the guided vehicle 1 may recognize the current position of the guided vehicle 1 based on a detection signal from a GNSS (Global Navigation Satellite System) receiver, and may stop or turn when the current position reaches the reference point P.

[0025] As described above, the travel route R is set to connect multiple reference points P included in the reference point group PG. Specifically, the travel route R is formed by a route connecting two or more reference points P aligned in the first direction X, a route connecting two or more reference points P aligned in the second direction Y, or a combination of these. In this embodiment, the travel direction of the transport vehicle 1 on each route is set to one direction, except for the route connecting the reference point P located at the transfer target location 3 and the reference point P adjacent to the reference point P (in the example shown in FIG. 1, the reference point P adjacent in the second direction Y). The arrows shown next to each route in FIG. 1 indicate an example of the travel direction of the transport vehicle 1.

[0026] Although details will be described later, the travel route R on which multiple reference points P that make up the reference point group PG can be set includes a first route R1, a second route R2, a third route R3, a fourth route R4, a fifth route R5, and a sixth route R6 (see FIGS. 1 and 2), and in this embodiment, it also includes a seventh route R7 and an eighth route R8 (see FIG. 2). Naturally, the travel route R on which multiple reference points P that make up the reference point group PG can be set also includes routes that combine multiple routes included in these eight routes (R1 to R8) (specifically, routes that combine at least some sections of each of the multiple routes). The travel route R illustrated in FIG. 1 is a route that combines all of the above eight routes.

[0027] 1, the multiple reference points P that make up the reference point group PG are arranged so that a first route R1, a second route R2, a third route R3, a fourth route R4, a fifth route R5, and a sixth route R6 can be set as the travel route R. As shown in FIG. 2, in this embodiment, the multiple reference points P that make up the reference point group PG are further arranged so that at least one of a seventh route R7 and an eighth route R8 (here, both) can be set as the travel route R.

[0028] As shown in Figures 1 and 2, the first path R1 is a path heading toward the first direction first side X1, the second path R2 is a path heading toward the first direction first side X1 in the second direction first side Y1 relative to the first path R1, the third path R3 is a path heading toward the first direction second side X2 in the second direction first side Y1 relative to the second path R2, and the fourth path R4 is a path heading toward the first direction second side X2 in the second direction first side Y1 relative to the third path R3.

[0029] In this embodiment, the reference point P forming the first route R1 and the reference point P forming the second route R2 are adjacent to each other in the second direction Y. Furthermore, the reference point P forming the third route R3 and the reference point P forming the fourth route R4 are adjacent to each other in the second direction Y. Meanwhile, between the reference point P forming the second route R2 and the reference point P forming the third route R3 in the second direction Y, a group of multiple reference points P aligned in the first direction X is arranged in at least one row (here, one row). This group of multiple reference points P aligned in the first direction X forms an eighth route R8, which will be described later.

[0030] The fifth path R5 is a path toward the second direction (first side Y1) so as to intersect with the second path R2 and the third path R3 and connect the first path R1 and the fourth path R4, and the sixth path R6 is a path toward the second direction (second side Y2) so as to intersect with the second path R2 and the third path R3 at a different position in the first direction X from the fifth path R5 and connect the first path R1 and the fourth path R4. In the example shown in FIG. 1 , three pairs of the fifth path R5 and the sixth path R6 (specifically, pairs of the fifth path R5 and the sixth path R6 sandwiching a waiting area W described later from both sides in the first direction X; in other words, pairs of the fifth path R5 and the sixth path R6 forming a target area T described later) are arranged side by side along the first direction X. Hereinafter, unless otherwise specified, the fifth path R5 and the sixth path R6 refer to the fifth path R5 and the sixth path R6 that constitute the same pair.

[0031] 2, in this embodiment, the sixth route R6 is disposed on the first side X1 in the first direction relative to the fifth route R5. In addition, at least one row (two rows in this case) of a group of a plurality of reference points P aligned in the second direction Y is disposed between the reference point P forming the fifth route R5 and the reference point P forming the sixth route R6 in the first direction X. This group of a plurality of reference points P aligned in the second direction Y forms a seventh route R7, which will be described later.

[0032] In this embodiment, the transfer target location 3 is arranged on the second direction second side Y2 with respect to the first route R1. Here, a plurality of transfer target locations 3 are arranged side by side in the first direction X in an area on the second direction second side Y2 with respect to the first route R1. In the example shown in FIG. 2, the transfer target locations 3 are arranged at positions in the first direction X corresponding to the fifth route R5, the sixth route R6, and the seventh route R7 (here, two seventh routes R7) in an area on the second direction second side Y2 with respect to the first route R1. The reference point P arranged at the transfer target location 3 on the second direction second side Y2 with respect to the first route R1 is arranged adjacent to the reference point P arranged on the first route R1 on the second direction second side Y2. The transport vehicle 1 enters and exits the transfer target location 3 via a route connecting these two reference points P adjacent to each other in the second direction Y.

[0033] In this embodiment, the transfer target location 3 is arranged on the second direction first side Y1 with respect to the fourth route R4. Here, a plurality of transfer target locations 3 are arranged side by side in the first direction X in an area on the second direction first side Y1 with respect to the fourth route R4. In the example shown in FIG. 2, the transfer target locations 3 are arranged at positions in the first direction X corresponding to the fifth route R5, the sixth route R6, and the seventh route R7 (here, two seventh routes R7) in an area on the second direction first side Y1 with respect to the fourth route R4. The reference point P arranged at the transfer target location 3 on the second direction first side Y1 with respect to the fourth route R4 is arranged adjacent to the reference point P arranged on the fourth route R4 on the second direction first side Y1. The transport vehicle 1 enters and exits the transfer target location 3 via a route connecting these two reference points P adjacent to each other in the second direction Y.

[0034] As shown in FIG. 2, a waiting area W for a guided vehicle 1 to wait is formed in a target area T, which is an area on the travel surface 11 surrounded by four routes, namely, a second route R2, a third route R3, a fifth route R5, and a sixth route R6. The waiting area W is formed so that the guided vehicle 1 waiting in the waiting area W and the article 2 supported thereon do not interfere with the guided vehicle 1 and the article 2 supported thereon traveling on the above four routes. In the example shown in FIG. 2, two guided vehicles 1 can wait in the waiting area W, lined up in the first direction X. In this example, the guided vehicle 1 waits in the waiting area W while supporting the article 2.

[0035] The seventh route R7 is a route heading toward the second direction first side Y1 or the second direction second side Y2 so as to connect the second route R2 and the third route R3 through the waiting area W, and the eighth route R8 is a route heading toward the first direction first side X1 or the first direction second side X2 so as to connect the fifth route R5 and the sixth route R6 through the waiting area W. The points where the seventh route R7 and the eighth route R8 intersect (two points in the example shown in FIG. 2) are the waiting locations for the guided vehicle 1 in the waiting area W.

[0036] 2, a seventh path R7 toward the second direction first side Y1, a seventh path R7 toward the second direction second side Y2, and an eighth path R8 toward the first direction first side X1 can be formed. In the example shown in Fig. 2, the seventh path R7 extends from the connection with the second path R2 to the first path R1, and also extends from the connection with the third path R3 to the fourth path R4. Although not shown, the eighth path R8 may also extend in the first direction X from the connection with the fifth path R5 or the sixth path R6.

[0037] The transfer target locations 3 are arranged at a plurality of positions in the first direction X. In this embodiment, the transfer target locations 3 are arranged side by side in the first direction X in an area on the second side Y2 of the second direction relative to the first route R1 and an area on the first side Y1 of the second direction relative to the fourth route R4. When the transport vehicle 1 is unable to enter the transfer target location 3 that is its destination and must wait (for example, when another transport vehicle 1 is present at the transfer target location 3), the transport vehicle 1 preferentially selects a waiting area W that is closer to the transfer target location 3 as a waiting location. Specifically, the transport vehicle 1 selects, as a waiting location, a waiting area W that is closest to the transfer target location 3 that is its destination, among waiting areas W where no other transport vehicles 1 are waiting. Here, being closer to the transfer target location 3 means that the length of the travel route R from the waiting area W to the transfer target location 3 is short. When the waiting area W includes a plurality of waiting locations, the transport vehicle 1 preferentially selects a waiting location that is closer to the transfer target location 3.

[0038] 1, three waiting areas W are formed: a first waiting area W1, a second waiting area W2, and a third waiting area W3. The three different transfer target locations 3 are the first transfer target location 31, the second transfer target location 32, and the third transfer target location 33. The travel route R illustrated in FIG. 1 is a travel route in which the vehicle waits in the first waiting area W1, which is the waiting area W closest to the first transfer target location 31, until it is possible to enter the first transfer target location 31, waits in the second waiting area W2, which is the waiting area W closest to the second transfer target location 32, until it is possible to enter the second transfer target location 32, and then waits in the third waiting area W3, which is the waiting area W closest to the third transfer target location 33, until it is possible to enter the third transfer target location 33.

[0039] Here, the area surrounded by the four routes, the first route R1, the fourth route R4, the fifth route R5, and the sixth route R6, is referred to as a "unit area." The unit area is an area roughly corresponding to the area shown in FIG. 2, and is an area obtained by expanding the target area T in the second direction (second side Y2) to the position of the first route R1 and in the second direction (first side Y1) to the position of the fourth route R4. In the example shown in FIG. 1, multiple unit areas (here, three unit areas) are arranged so as to be aligned on the same line in a plan view (viewed in a direction perpendicular to the travel surface 11). This line is a line extending left and right in FIG. 1 when viewed in a direction in which the symbols can be read. A first direction X and a second direction Y can be defined for each unit area. In the example shown in FIG. 1, the orientation of the first direction X is consistent among multiple unit areas, and the orientation of the second direction Y is consistent among multiple unit areas.

[0040] 1, the unit areas are arranged on the same straight line in a planar view. However, the unit areas may be arranged on a curved or broken line in a planar view. In this case, the first path R1, the second path R2, the third path R3, and the fourth path R4 are formed along the curved or broken line in a planar view, and the orientation of the first direction X may differ among the unit areas (the same applies to the second direction Y). For example, the unit areas may be arranged on a broken line that forms an L shape bent at 90 degrees in a planar view. In this case, the unit area arranged on one side of the L shape is defined as a first unit area, and the unit area arranged on the other side of the L shape is defined as a second unit area. The first direction X of the first unit area coincides with the second direction Y of the second unit area, and the second direction Y of the first unit area coincides with the first direction X of the second unit area.

[0041] Other Embodiments (1) In the above embodiment, two seventh routes R7 and one eighth route R8 aligned in the first direction X can be formed, and the number of points at which the seventh route R7 and the eighth route R8 intersect (in other words, the number of waiting locations for the guided vehicle 1 in the waiting area W) is two. However, the present disclosure is not limited to such a configuration, and may be configured such that the number of points at which the seventh route R7 and the eighth route R8 intersect is other than two, as in the example shown in FIG. 3. In the example shown in FIG. 3, four seventh routes R7 aligned in the first direction X and two eighth routes R8 aligned in the second direction Y can be formed, and the number of points at which the seventh route R7 and the eighth route R8 intersect is eight.

[0042] (2) In the above embodiment, the seventh path R7 is a path toward the second direction first side Y1 or the second direction second side Y2, and the eighth path R8 is a path toward the first direction first side X1 or the first direction second side X2. However, the present disclosure is not limited to such a configuration. The seventh path R7 may be any path that extends in the second direction Y, and the seventh path R7 may include a section that extends toward the second direction first side Y1 and a section that extends toward the second direction second side Y2. Furthermore, the eighth path R8 may be any path that extends in the first direction X, and the eighth path R8 may include a section that extends toward the first direction first side X1 and a section that extends toward the first direction second side X2.

[0043] (3) In the above embodiment, a configuration has been described in which the transfer target location 3 is disposed on both sides of the four routes, the first route R1, the second route R2, the third route R3, and the fourth route R4, in the second direction Y. However, the present disclosure is not limited to such a configuration, and the transfer target location 3 may also be disposed on only one side of these four routes in the second direction Y.

[0044] (4) Note that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0045] [Summary of the above embodiment] The following provides an overview of the above-described transport equipment.

[0046] a first direction being a specific direction along a traveling surface of the transport vehicle in the traveling area; a second direction being a direction intersecting the first direction among the directions along the traveling surface; one side of the first direction being a first direction first side; the other side of the first direction being a first direction second side; one side of the second direction being a second direction first side; and the other side of the second direction being a second direction second side; the plurality of reference points constituting the reference point group are arranged so that a first route, a second route, a third route, a fourth route, a fifth route, and a sixth route can be set as the traveling route; the first route is a route heading toward the first direction first side; and the second route is a route heading toward the first route first side. the sixth path is a path that heads toward the first side in the first direction on the first side in the second direction, the third path is a path that heads toward the first side in the first direction on the first side in the second direction relative to the second path, the fourth path is a path that heads toward the first side in the first direction on the first side in the second direction relative to the third path, the fifth path is a path that heads toward the first side in the second direction so as to intersect with the second path and the third path and connect the first path and the fourth path, and the sixth path is a path that heads toward the second side in the second direction at a different position in the first direction from the fifth path so as to intersect with the second path and the third path and connect the first path and the fourth path, and a waiting area for waiting the transport vehicle is formed in an area on the traveling surface surrounded by the four paths, the second path, the third path, the fifth path, and the sixth path.

[0047] According to this configuration, two routes (specifically, the first route and the second route) heading toward the first side in the first direction can be set using the multiple reference points that make up the reference point group, and two routes (specifically, the third route and the fourth route) heading toward the second side in the first direction on the opposite side can be set. Furthermore, two routes (specifically, the fifth route and the sixth route) heading toward opposite sides in the second direction can be set at different positions in the first direction so as to connect these four routes. In this way, routes heading toward both sides in the first direction and both sides in the second direction can be formed so as to be directly or indirectly connected to each other, making it easy to appropriately form a travel route that extends to the destination of the transport vehicle.

[0048] According to this configuration, a waiting area for waiting guided vehicles is formed in an area on the travel surface surrounded by the four routes, the second route, the third route, the fifth route, and the sixth route. By making the guided vehicles wait in the waiting area thus formed, the guided vehicles can wait without interfering with the guided vehicles traveling on these four routes. This makes it possible to make the guided vehicles wait while minimizing the impact on the travel of the other guided vehicles.

[0049] Here, it is preferable that the multiple reference points that make up the reference point group are arranged so that at least one of a seventh route and an eighth route can be set as the driving route, and that the seventh route is a route heading toward the second direction first side or the second direction second side so as to connect the second route and the third route through the waiting area, and that the eighth route is a route heading toward the first direction first side or the first direction second side so as to connect the fifth route and the sixth route through the waiting area.

[0050] According to this configuration, when a transport vehicle is parked in the waiting area, a travel path passing through the waiting area can be appropriately formed by using at least one of the seventh and eighth paths. The seventh path, like the fifth and sixth paths, is a path heading toward either side in the second direction, and the eighth path, like the first, second, third, and fourth paths, is a path heading toward either side in the first direction. Therefore, a transport facility can be realized that can form a travel path passing through the waiting area without significantly changing the arrangement of the multiple reference points that make up the reference point group or the mode of travel control of the transport vehicle.

[0051] In addition, the transport vehicle is provided with a transfer target location where the item is transferred from or to the transfer destination, and the transfer target locations are respectively located at multiple positions in the first direction, and when the transport vehicle is unable to enter the transfer target location that is its destination and waits, it is preferable that the transport vehicle preferentially selects the waiting area that is closest to the transfer target location as the waiting location.

[0052] According to this configuration, a waiting area for the transport vehicle can be selected so that the time it takes for the transport vehicle to reach the transfer target location that has become accessible can be shortened, thereby improving the efficiency of transporting goods.

[0053] In the above configuration, it is preferable that the transfer target locations are arranged in multiple rows in the first direction in each of an area on the second side of the second direction relative to the first path and an area on the first side of the second direction relative to the fourth path.

[0054] According to this configuration, the first and fourth routes can be used as routes for accessing the transfer target location, while the second and third routes can be used as routes for overtaking transport vehicles, etc., that are accessing the transfer target location. This makes it easier for multiple transport vehicles to travel smoothly, and makes it easier to improve the efficiency of transporting goods throughout the entire facility.

[0055] The conveying equipment according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0056] 1: Transport vehicle 2: Goods 3: Transfer target location 10: Driving area 11: Running surface 100:Transportation equipment P: Reference point PG: Reference point group R: Travel route R1: Route 1 R2: Second route R3: Route 3 R4: Route 4 R5: Route 5 R6: Route 6 R7: Route 7 R8: Route 8 T: Target area (the area on the driving surface surrounded by the four routes, route 2, route 3, route 5, and route 6) W: Standby area X: 1st direction X1: 1st direction 1st side X2: 1st direction 2nd side Y: Second direction Y1: 2nd direction 1st side Y2: Second direction, second side

Claims

1. A transportation facility including: a travel area in which a reference point group, which is a group of a plurality of reference points, is set; and a transportation vehicle that travels along a travel route that is set to connect the plurality of reference points included in the reference point group and transports an article, a specific direction among directions along the travel surface of the transport vehicle in the travel area is defined as a first direction, a direction along the travel surface that intersects with the first direction is defined as a second direction, one side of the first direction is defined as a first direction first side, the other side of the first direction is defined as a first direction second side, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the plurality of reference points constituting the reference point group are arranged so that a first route, a second route, a third route, a fourth route, a fifth route, and a sixth route can be set as the travel route; the first path is a path toward a first side in the first direction, the second path is a path that is on a first side in the second direction with respect to the first path and that heads toward the first side in the first direction, the third path is a path that is on the first side in the second direction with respect to the second path and that heads toward the second side in the first direction, the fourth path is a path that is on a first side in the second direction with respect to the third path and that heads toward the second side in the first direction, the fifth path is a path that extends toward the first side in the second direction so as to intersect with the second path and the third path and connect the first path and the fourth path, the sixth path is a path that intersects with the second path and the third path at a position different from the fifth path in the first direction, and that heads toward a second side in the second direction so as to connect the first path and the fourth path, a waiting area for allowing the transport vehicle to wait is formed in an area on the travel surface that is surrounded by four routes, namely the second route, the third route, the fifth route, and the sixth route; the plurality of reference points constituting the reference point group are arranged so that both a seventh route and an eighth route can be set as the travel route, the seventh path is a path that passes through the waiting area and connects the second path and the third path toward the first side in the second direction or the second side in the second direction, the eighth path is a path that passes through the waiting area and connects the fifth path and the sixth path toward the first side in the first direction or the second side in the first direction, A point where the seventh route and the eighth route intersect serves as a waiting location for the transport vehicle in the waiting area.

2. A transport facility comprising: a travel area in which a reference point group, which is a group of a plurality of reference points, is set; and a transport vehicle that transports goods by traveling along a travel route that is set to connect the plurality of reference points included in the reference point group, a specific direction among directions along the travel surface of the transport vehicle in the travel area is defined as a first direction, a direction along the travel surface that intersects with the first direction is defined as a second direction, one side of the first direction is defined as a first direction first side, the other side of the first direction is defined as a first direction second side, one side of the second direction is defined as a second direction first side, and the other side of the second direction is defined as a second direction second side, the plurality of reference points constituting the reference point group are arranged so that a first route, a second route, a third route, a fourth route, a fifth route, and a sixth route can be set as the travel route; the first path is a path toward a first side in the first direction, the second path is a path that is on a first side in the second direction with respect to the first path and that heads toward the first side in the first direction, the third path is a path that is on the first side in the second direction with respect to the second path and that heads toward the second side in the first direction, the fourth path is a path that is on a first side in the second direction with respect to the third path and that heads toward the second side in the first direction, the fifth path is a path that extends toward the first side in the second direction so as to intersect with the second path and the third path and connect the first path and the fourth path, the sixth path is a path that intersects with the second path and the third path at a position different from the fifth path in the first direction, and that heads toward a second side in the second direction so as to connect the first path and the fourth path, a waiting area for allowing the transport vehicle to wait is formed in an area on the travel surface that is surrounded by four routes, namely the second route, the third route, the fifth route, and the sixth route; A transfer target location where the article is transferred using the transport vehicle as a transfer source or a transfer destination is provided, The transfer target locations are disposed at a plurality of positions in the first direction, When the transport vehicle is unable to enter the transfer target location that is the destination and is waiting, the transport vehicle preferentially selects the waiting area that is closer to the transfer target location as a waiting location, A conveying facility in which the transfer target locations are arranged in multiple rows in the first direction in at least one of an area on the second side of the second direction relative to the first path and an area on the first side of the second direction relative to the fourth path.

3. The conveying equipment according to claim 2, wherein the transfer target locations are arranged in a line in the first direction in an area on the second side of the second direction relative to the first path and an area on the first side of the second direction relative to the fourth path.

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