Goods transport equipment

Abstract

To provide an article conveyance facility that appropriately moves a conveyance vehicle between a plurality of areas other than a travel prohibition area.SOLUTION: A control device prohibits a conveyance vehicle 1 from traveling in a second area A2 when the second area A2 is set as a travel prohibition area, and allows the conveyance vehicle 1 to travel in a first area A1 and a third area A3. The conveyance vehicle 1 moves between the first area A1 and the third area A3 via a second connection path Rc2 on a second travel floor F2 while travel in the second area A2 is prohibited.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an article transport facility equipped with a transport vehicle for transporting articles. [Background technology]

[0002] Such article conveying equipment is often used in logistics systems. For example, Japanese Patent Application Laid-Open No. 2016-113291 (Patent Document 1) discloses a sorting device for sorting articles in a logistics system. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The sorting device (10) described in Patent Document 1 includes an upper area (A) and a lower area (B). The upper area (A) is provided with a planar running path (4), a transport vehicle (12) that automatically travels on the running path (4), an item supply unit (6), and a plurality of openings (8a). In the upper area (A), the transport vehicle (12) transports and drops items supplied from the item supply unit (6) to a designated opening (8a). The items dropped into the opening (8a) are placed in shipping containers (20) arranged in the lower area (B) and sorted. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-113291 Summary of the Invention [Problem to be solved by the invention]

[0005] In the facility described in Patent Document 1, particularly when maintenance is performed in the upper area (A) where the transport vehicle (12) travels, it is conceivable that a worker will enter the upper area (A). In this case, it is desirable to prohibit the transport vehicle (12) from traveling in order to avoid contact between the worker and the transport vehicle (12). Here, it is conceivable to prohibit the transport vehicle (12) from traveling in the entire upper area (A). However, to avoid a complete impossibility of transporting goods, it is also conceivable to divide the upper area (A) into multiple areas and prohibit the transport vehicle (12) from traveling only in the area where the worker has entered, while allowing the transport vehicle (12) to travel in the other areas. In this way, the transport of goods can continue in areas of the upper area (A) where maintenance is not being performed, allowing part of the facility to operate.

[0006] However, for example, if the central area among the multiple areas into which the upper area (A) is divided is designated as a no-travel area, the transport vehicle (12) will not only be unable to travel through the no-travel area, but will also be unable to move between the areas on either side of the no-travel area. In other words, depending on the positional relationship between the no-travel area and other areas, there may be cases where the transport vehicle (12) is unable to move appropriately.

[0007] In view of the above circumstances, it is desirable to realize a technology that allows a transport vehicle to move appropriately between multiple areas other than the no-travel areas. [Means for solving the problem]

[0008] An article transport facility comprising: a transport vehicle that transports articles; a first travel floor and a second travel floor on which the transport vehicle can travel; a plurality of lifters that raise and lower the transport vehicle between the first travel floor and the second travel floor; and a control device that controls the transport of the articles, the plurality of lifters include a first lifter, a second lifter, a third lifter, a fourth lifter, a fifth lifter, and a sixth lifter that are arranged spaced apart from one another in the horizontal direction; The first traveling floor is provided with a first traveling path connecting the first lifter and the second lifter, a second traveling path connecting the third lifter and the fourth lifter, and a third traveling path connecting the fifth lifter and the sixth lifter, which are arranged side by side, and a first connecting path having a portion connecting the first traveling path and the second traveling path and a portion connecting the second traveling path and the third traveling path, The second traveling floor is provided with a fourth traveling path connecting the first lifter and the second lifter, a fifth traveling path connecting the third lifter and the fourth lifter, and a sixth traveling path connecting the fifth lifter and the sixth lifter, which are arranged side by side, and a second connecting path having a portion connecting the fourth traveling path and the fifth traveling path and a portion connecting the fifth traveling path and the sixth traveling path, a first area including the first travel path and not including the second travel path and the third travel path, a second area including the second travel path and not including the first travel path and the third travel path, and a third area including the third travel path and not including the first travel path and the second travel path, the control device is configured to be able to set each of the first area, the second area, and the third area as a travel prohibition area in which travel of the transport vehicle is prohibited, The control device When the first area is set as the travel-prohibited area, travel of the transport vehicle in the first area is prohibited, and travel of the transport vehicle in the second area and the third area is permitted; When the third area is set as the travel-prohibited area, travel of the transport vehicle in the third area is prohibited, and travel of the transport vehicle in the first area and the second area is permitted; When the second area is set as the travel-prohibited area, travel of the transport vehicle in the second area is prohibited, and travel of the transport vehicle in the first area and the third area is permitted; The transport vehicle travels between the first area and the third area via the second connecting path on the second travel floor when travel in the second area is prohibited.

[0009] According to this configuration, even if travel is prohibited in any one of the first, second, and third areas provided on the first travel floor, the transport vehicle can still move between the other two areas. That is, when travel is prohibited in the first area, the transport vehicle can travel between the second and third areas via the first connecting path. When travel is prohibited in the third area, the transport vehicle can travel between the first and second areas via the first connecting path. Furthermore, when travel is prohibited in the central second area, the transport vehicle can travel between the first and third areas via the second connecting path on the second travel floor. Therefore, according to this configuration, it is possible to appropriately move the transport vehicle between multiple areas other than the travel-prohibited areas.

[0010] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] A plan view showing the first and second running floors of the article transport facility. [Figure 2] Schematic plan view showing a part of the article transport facility [Figure 3] Schematic side view showing a part of the article transport facility [Figure 4] Schematic plan view of the entire goods transport facility [Figure 5] Plan view showing when driving in the first area is prohibited [Figure 6] Plan view showing when driving in the third area is prohibited [Figure 7] Plan view showing when driving in the second area is prohibited DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0013] As shown in FIG. 1, the article conveying facility 100 includes a transport vehicle 1 (see FIG. 2) that conveys an article G, a first travel floor F1 and a second travel floor F2 on which the transport vehicle 1 can travel, and a plurality of lifters L that raise and lower the transport vehicle 1 between the first travel floor F1 and the second travel floor F2. The first travel floor F1 is a travel floor F located on the first level. The second travel floor F2 is a travel floor F located on the second level above the first level. In the example shown in FIG. 1, the "first floor" corresponds to the first level, and the "second floor" corresponds to the second level. The second level may also be a level below the first level. Hereinafter, when the first travel floor F1 and the second travel floor F2 are not particularly distinguished from each other, they may be collectively referred to as "travel floors F."

[0014] The multiple lifters L include a first lifter L1, a second lifter L2, a third lifter L3, a fourth lifter L4, a fifth lifter L5, and a sixth lifter L6 that are arranged horizontally spaced apart from one another. Hereinafter, when there is no need to distinguish between these lifters, they may be collectively referred to as "lifters L."

[0015] The first travel floor F1 is provided with a first travel path R1 connecting the first lifter L1 and the second lifter L2, a second travel path R2 connecting the third lifter L3 and the fourth lifter L4, and a third travel path R3 connecting the fifth lifter L5 and the sixth lifter L6, which are arranged side by side, and a first connecting path Rc1 having a portion connecting the first travel path R1 and the second travel path R2 and a portion connecting the second travel path R2 and the third travel path R3. The transport vehicle 1 can travel between the first travel path R1, the second travel path R2, and the third travel path R3 by traveling on the first connecting path Rc1.

[0016] The second travel floor F2 is provided with a fourth travel path R4 connecting the first lifter L1 and the second lifter L2, a fifth travel path R5 connecting the third lifter L3 and the fourth lifter L4, and a sixth travel path R6 connecting the fifth lifter L5 and the sixth lifter L6, which are arranged side by side, and a second connecting path Rc2 having a portion connecting the fourth travel path R4 and the fifth travel path R5 and a portion connecting the fifth travel path R5 and the sixth travel path R6. The transport vehicle 1 can travel between the fourth travel path R4, the fifth travel path R5, and the sixth travel path R6 by traveling on the second connecting path Rc2.

[0017] In the following, when there is no particular distinction between the first travel route R1, the second travel route R2, the third travel route R3, the fourth travel route R4, the fifth travel route R5, and the sixth travel route R6, they may be collectively referred to as "travel routes R."

[0018] In this embodiment, the first travel path R1, the second travel path R2, the third travel path R3, the fourth travel path R4, the fifth travel path R5, and the sixth travel path R6 are arranged parallel to one another. Hereinafter, the direction in which each of these travel paths R extends will be referred to as the "path extension direction X," and the direction perpendicular to the path extension direction X when viewed from the up-down direction will be referred to as the "path width direction Y." Furthermore, one side in the path extension direction X will be referred to as the "path extension direction first side X1," and the other side will be referred to as the "path extension direction second side X2."

[0019] The first travel path R1, the second travel path R2, and the third travel path R3 are arranged side by side in the path width direction Y. The first connecting path Rc1 is formed to extend in the path width direction Y, and connects the first travel path R1, the second travel path R2, and the third travel path R3.

[0020] The fourth travel path R4, the fifth travel path R5, and the sixth travel path R6 are arranged side by side in the path width direction Y. The second connection path Rc2 is formed to extend in the path width direction Y, and connects the fourth travel path R4, the fifth travel path R5, and the sixth travel path R6.

[0021] In this embodiment, the first lifter L1 is disposed closer to the first side X1 in the path extension direction than the second lifter L2. In this example, the first lifter L1 is connected to the end of each of the first traveling path R1 and the fourth traveling path R4 on the first side X1 in the path extension direction, and the second lifter L2 is connected to the end of each of the first traveling path R1 and the fourth traveling path R4 on the second side X2 in the path extension direction.

[0022] In this embodiment, the third lifter L3 is disposed closer to the first side X1 in the path extension direction than the fourth lifter L4. In this example, the third lifter L3 is connected to the end of each of the second traveling path R2 and the fifth traveling path R5 on the first side X1 in the path extension direction, and the fourth lifter L4 is connected to the end of each of the second traveling path R2 and the fifth traveling path R5 on the second side X2 in the path extension direction.

[0023] In this embodiment, the fifth lifter L5 is disposed closer to the first side X1 in the path extension direction than the sixth lifter L6. In this example, the fifth lifter L5 is connected to the end of each of the third traveling path R3 and the sixth traveling path R6 on the first side X1 in the path extension direction, and the sixth lifter L6 is connected to the end of each of the third traveling path R3 and the sixth traveling path R6 on the second side X2 in the path extension direction.

[0024] In this embodiment, the first lifter L1 and the second lifter L2, and the first travel path R1 and the fourth travel path R4 connecting these lifters L on each traveling floor F, constitute a first transport unit U1. The third lifter L3 and the fourth lifter L4, and the second travel path R2 and the fifth travel path R5 connecting these lifters L on each traveling floor F, constitute a second transport unit U2. The fifth lifter L5 and the sixth lifter L6, and the third travel path R3 and the sixth travel path R6 connecting these lifters L on each traveling floor F, constitute a third transport unit U3. Hereinafter, when there is no need to distinguish between the first transport unit U1, the second transport unit U2, and the third transport unit U3, they may be collectively referred to as "transport unit U."

[0025] In this embodiment, an article supply unit 2 is provided that supplies articles G (see FIG. 2) to be transported by the transport vehicle 1. In this example, the article supply unit 2 is provided only on the first travel floor F1. There are provided the same number of article supply units 2 as there are travel routes R (first to third travel routes R1 to R3 in this example) provided on the first travel floor F1. Each article supply unit 2 is arranged adjacent to the corresponding travel route R.

[0026] In this embodiment, a first conveyor 41 having a portion extending along the first traveling path R1 on the side of the second traveling path R2 closer to the first traveling path R1 than the first traveling path R1, and a second conveyor 42 having a portion extending along the second traveling path R2 on the side of the third traveling path R3 closer to the second traveling path R2 are provided between the first traveling floor F1 and the second traveling floor F2 in the vertical direction. In the illustrated example, a third conveyor 43 having a portion extending along the third traveling path R3 is provided in addition to the first conveyor 41 and the second conveyor 42. As will be described in detail later, these first to third conveyors 41 to 43 are configured as empty container recovery conveyors 4 that recover empty containers C generated during the sorting operation of the items G. Hereinafter, when the first to third conveyors 41 to 43 are not particularly distinguished from one another, they may be collectively referred to as the "empty container recovery conveyors 4."

[0027] Next, the general configuration of the article conveying equipment 100 will be described mainly with reference to Figures 2 and 3. Figures 2 and 3 are diagrams for briefly explaining the general configuration of the article conveying equipment 100. Therefore, in Figures 2 and 3, elements that are not necessary for explaining the general configuration of the article conveying equipment 100 are omitted, or elements that are necessary for explanation are shown in a simplified form. Note that Figures 2 and 3 show one conveying unit U out of multiple conveying units U.

[0028] 2, the article conveying facility 100 includes multiple levels of traveling floors F (first traveling floor F1 and second traveling floor F2 in this example) arranged vertically, and transport vehicles 1 that travel on traveling surfaces Ff formed on each of the multiple traveling floors F. On the traveling floor F of each level, multiple transport vehicles 1 travel on the traveling surfaces Ff.

[0029] The item conveying equipment 100 is equipped with a control device M that controls the conveyance of items G. The control device M is configured to control the conveyance of items G by controlling each transport vehicle 1. The control device M issues conveyance commands, waiting commands, etc. to each transport vehicle 1. The conveyance command specifies the origin and destination of the item G. The transport vehicle 1 that receives the conveyance command picks up the item G at the specified origin and conveys the item G to the specified destination. The waiting command also specifies a waiting location. The transport vehicle 1 that receives the waiting command drives to the specified waiting location and waits there until it receives the next command, etc.

[0030] The transport vehicle 1 is configured to travel unmanned. In this embodiment, the transport vehicle 1 is equipped with a battery and is configured to operate using the power stored in the battery as a driving source. The article transport facility 100 is provided with a charging station 6 (see FIG. 1). The transport vehicle 1 can be charged at the charging station 6 when the battery level becomes low.

[0031] Although detailed illustration is omitted, in this embodiment, position information storage units that store position information are provided at multiple locations on the travel floor F. The position information storage units contain address information that indicates the locations where the position information storage units are provided. The transport vehicle 1 is equipped with a detection unit (not shown) for detecting the position information storage units, and by detecting the position information storage units with this detection unit, the current position of the transport vehicle at the time of detection can be determined. The transport vehicle 1 travels toward the destination while sequentially reading the multiple position information storage units. For example, a one-dimensional code or a two-dimensional code that stores identification information can be used as the position information storage unit. Alternatively, an RFID tag (Radio Frequency Identification Tag) that stores identification information can be used as the position information storage unit.

[0032] The item conveying equipment 100 comprises an item supply section 2 that supplies items G to the transport vehicle 1, and an item receiving section 3 that receives items G transported by the transport vehicle 1. A work area WA is also arranged adjacent to the item supply section 2. In the work area WA, the items G supplied from the item supply section 2 are handed over to the transport vehicle 1. A sorting area SA is also arranged adjacent to the item receiving section 3. In the sorting area SA, the items G received by the item receiving section 3 are sorted.

[0033] In this embodiment, the item supply unit 2 and the item receiving unit 3 are provided only on the first traveling floor F1. In other words, the work area WA and the sorting area SA are provided only on the first traveling floor F1. However, without being limited to the above configuration, the item supply unit 2 and the item receiving unit 3 may be provided on each of the multiple traveling floors F.

[0034] The work areas WA are arranged adjacent to each travel route R on the first travel floor F1. That is, the same number of work areas WA as the number of travel routes R (first to third travel routes R1 to R3 in this example as shown in FIG. 1) on the first travel floor F1 are provided.

[0035] The items G from the item supply unit 2 are supplied to the transport vehicle 1 either as the items G or in a state where they are contained in a container C. In this embodiment, the item supply unit 2 supplies the items G to the work area WA in a state where they are contained in a supply container Cp. In the work area WA, an operation is performed to remove the items G contained in the supply container Cp and hand over the items G to the transport vehicle 1 waiting on the travel route R. That is, in this embodiment, the delivery of the items G to the transport vehicle 1 may be performed in a state where the items G are contained in a container C separate from the supply container Cp, or may be performed in a manner where the items G are handed over as is without being placed in a container C. Through this handover operation, the items G are supplied from the item supply unit 2 to the transport vehicle 1. In this embodiment, the above operation in the work area WA is performed by a worker W. However, the above operation may be performed by a robot instead of the worker W, or may be performed by both the worker W and the robot.

[0036] The transport vehicle 1 is configured to transport items G or containers C containing items G. The transport vehicle 1 transports items G supplied from the item supply unit 2, in this example, items G or containers C containing items G received in the work area WA, to the item receiving unit 3.

[0037] The article receiving unit 3 is provided in a location away from the work area WA, adjacent to the travel route R in the route width direction Y. In this example, an article receiving unit 3 is provided on each side of the travel route R in the route width direction Y.

[0038] In this embodiment, the article receiving section 3 includes a plurality of conveying mechanisms 30 arranged side by side along the path extension direction X. Each of the plurality of conveying mechanisms 30 is configured to convey the article G or the container C containing the article G received from the transport vehicle 1 along the path width direction Y. In this example, the conveying mechanism 30 is configured using a conveyor. However, the conveying mechanism 30 may also be configured using, for example, a chute that slopes downward toward the outside of the path width direction Y. When a chute is used as the conveying mechanism 30, the article G or the container C containing the article G is conveyed toward the outside of the path width direction Y by its own weight.

[0039] As described above, the sorting area SA is arranged adjacent to the item receiving section 3. Items G or containers C containing items G that have been transported outward in the path width direction Y by the transport mechanism 30 in the item receiving section 3 are transported to the sorting area SA. In other words, the transport vehicle 1 is configured to transport items G or containers C containing items G that have been received at the item supply section 2 to the sorting area SA. In this example, the transport vehicle 1 transports items G or containers C containing items G that have been received at the item supply section 2 to the sorting area SA via the transport mechanism 30 of the item receiving section 3.

[0040] In the sorting area SA, the items G transported by the transport vehicles 1 are sorted. The sorting is performed based on predetermined order information. The order information includes various information such as customer information, shipping destination information, and item type information.

[0041] In this embodiment, when the transport vehicle 1 transports items G contained in containers C to the sorting area SA, a removal operation is performed in the sorting area SA to remove the items G from the containers C. In other words, the sorting operation includes the removal operation of removing the items G from the containers C transported by the transport vehicle 1. In this embodiment, the sorting operation (including the above-mentioned removal operation) in the sorting area SA is performed by a worker W. However, the sorting operation may be performed by a robot instead of the worker W, or the sorting operation may be performed by both the worker W and the robot.

[0042] The articles G sorted in the sorting area SA are carried out of the sorting area SA by the carry-out conveyor 5 (see FIG. 1) and transported to, for example, a location where the next process is carried out.

[0043] During the removal operation in the sorting area SA, containers C are separated from articles G, resulting in empty containers C. In this embodiment, an empty container recovery conveyor 4 for recovering empty containers C generated during the removal operation in the sorting area SA is provided on the travel floor F (first travel floor F1 in this example) on which the article receiving section 3 is located. An empty container recovery conveyor 4 is provided on each of the multiple transport units U included in the article transport equipment 100 (see FIG. 1). The empty container recovery conveyor 4 provided on the first transport unit U1 is the first conveyor 41, the empty container recovery conveyor 4 provided on the second transport unit U2 is the second conveyor 42, and the empty container recovery conveyor 4 provided on the third transport unit U3 is the third conveyor 43.

[0044] In this embodiment, the empty container recovery conveyor 4 extends to a position adjacent to the work area WA. In this example, the empty container recovery conveyor 4 extends into the work area WA. Empty containers C recovered by the empty container recovery conveyor 4 are transported to the work area WA and reused for work in the work area WA.

[0045] After transferring the article G to the sorting area SA (article receiving section 3) on the first travel floor F1, the transport vehicle 1 gets on a lifter L (lifter L on the first side X1 in the path extension direction) and heads toward the second travel floor F2. The transport vehicle 1 then travels along the second travel floor F2 and gets on a lifter L (lifter L on the second side X2 in the path extension direction) located on the opposite side of the path extension direction X from the above-mentioned lifter L, and returns to the first travel floor F1. The returning transport vehicle 1 receives the article G in the work area WA (article supply section 2) and transports the article G to the sorting area SA (article receiving section 3), in the same manner as above.

[0046] FIG. 3 shows how the transport vehicle 1 travels between each floor of one transport unit U. As shown in FIG. 3, the travel path R of the first travel floor F1 and the travel path R of the second travel floor F2 are parallel to each other, and are set so that the directions in which the transport vehicle 1 is allowed to travel face opposite each other in the path extension direction X. In the illustrated example, the transport vehicle 1 is configured to travel on the travel path R of the first travel floor F1 toward the first side X1 in the path extension direction. In addition, the transport vehicle 1 is configured to travel on the travel path R of the second travel floor F2 toward the second side X2 in the path extension direction.

[0047] Each lifter L is provided with a platform La on which the transport vehicle 1 can be placed. Each lifter L raises and lowers the transport vehicle 1 placed on its own platform La across multiple floors. Each lifter L is configured to raise and lower the platform La while maintaining the orientation of the platform La in an orientation along a horizontal plane (for example, an orientation parallel to the horizontal plane).

[0048] In this embodiment, each lifter L includes a plurality of lifting platforms La. Each lifter L is configured to circulate the plurality of lifting platforms La along a predetermined circular path.

[0049] In this embodiment, the lifter L connected to one end of the travel path R is set to lift the transport vehicle 1. The lifter L functions to move the transport vehicle 1 from the first travel floor F1 to the second travel floor F2. The lifter L connected to the other end of the travel path R is set to lower the transport vehicle 1. The lifter L functions to move the transport vehicle 1 from the second travel floor F2 to the first travel floor F1. As shown in FIG. 1 , in this example, the first lifter L1, the third lifter L3, and the fifth lifter L5 are set to lift the transport vehicle 1. In addition, the second lifter L2, the fourth lifter L4, and the sixth lifter L6 are set to lower the transport vehicle 1.

[0050] As described above, in this embodiment, the first traveling floor F1 is provided with a work area WA (item supply section 2) where the transport vehicle 1 receives the item G, and a sorting area SA (item receiving section 3) where the transport vehicle 1 hands over the item G. In this example, the transport vehicle 1 exits the first traveling floor F1 from the exit of the lowering lifter L (in this example, the second lifter L2, the fourth lifter L4, and the sixth lifter L6) and receives the item G in the work area WA. Thereafter, the transport vehicle 1 travels along the travel path R of the first traveling floor F1 toward the first side X1 in the path extension direction while holding the item G, and hands over the item G in the sorting area SA. Further thereafter, the transport vehicle 1 rides on the ascending lifter L (in this example, the first lifter L1, the third lifter L3, and the fifth lifter L5) from the first traveling floor F1 and heads toward the second traveling floor F2. The transport vehicle 1 exits the lifter L for ascent onto the second travel floor F2 and travels along the travel path R of the second travel floor F2 toward the second side X2 in the path extension direction. The transport vehicle 1 then gets back on the lifter L for descent and heads toward the first travel floor F1. In this way, the transport vehicle 1 circulates between the first travel floor F1 and the second travel floor F2.

[0051] Figure 4 is a schematic plan view of the entire article conveying facility 100. In Figure 4, elements that are not necessary for the following explanation are omitted, or elements that are necessary for the explanation are shown in a simplified form. The same applies to Figures 5 to 7.

[0052] As shown in FIG. 4, in this embodiment, the first travel path R1 of the first travel floor F1 is a path that allows only one-way travel from the second lifter L2 to the first lifter L1. The transport vehicle 1 is only allowed to travel on the first travel path R1 from the second lifter L2 to the first lifter L1. However, the transport vehicle 1 can leave the first travel path R1 while traveling on the first travel path R1 and travel on the first connecting path Rc1. In the illustrated example, on the first travel path R1, the transport vehicle 1 is allowed to travel from the second side X2 in the path extension direction to the first side X1 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0053] In this embodiment, the fourth travel path R4 of the second travel floor F2 is a path that allows only one-way travel from the first lifter L1 to the second lifter L2. The transport vehicle 1 is only allowed to travel on the fourth travel path R4 from the first lifter L1 to the second lifter L2. However, the transport vehicle 1 can leave the fourth travel path R4 while traveling on the fourth travel path R4 and travel on the second connecting path Rc2. In the illustrated example, on the fourth travel path R4, the transport vehicle 1 is allowed to travel from the first side X1 in the path extension direction to the second side X2 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0054] In this embodiment, the second travel path R2 of the first travel floor F1 is a path that allows only one-way travel from the fourth lifter L4 to the third lifter L3. The transport vehicle 1 is only allowed to travel on the second travel path R2 from the fourth lifter L4 to the third lifter L3. However, the transport vehicle 1 can leave the second travel path R2 while traveling on the second travel path R2 and travel on the first connecting path Rc1. In the illustrated example, on the second travel path R2, the transport vehicle 1 is allowed to travel from the second side X2 in the path extension direction to the first side X1 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0055] In this embodiment, the fifth travel path R5 of the second travel floor F2 is a path that allows only one-way travel from the third lifter L3 to the fourth lifter L4. The transport vehicle 1 is only allowed to travel on the fifth travel path R5 from the third lifter L3 to the fourth lifter L4. However, the transport vehicle 1 can leave the fifth travel path R5 while traveling on the fifth travel path R5 and travel on the second connecting path Rc2. In the illustrated example, on the fifth travel path R5, the transport vehicle 1 is allowed to travel from the first side X1 in the path extension direction to the second side X2 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0056] In this embodiment, the third travel path R3 of the first travel floor F1 is a path that allows only one-way travel from the sixth lifter L6 to the fifth lifter L5. The transport vehicle 1 is only allowed to travel on the third travel path R3 from the sixth lifter L6 to the fifth lifter L5. However, the transport vehicle 1 can leave the third travel path R3 while traveling on the third travel path R3 and travel on the first connecting path Rc1. In the illustrated example, on the third travel path R3, the transport vehicle 1 is allowed to travel from the second side X2 in the path extension direction to the first side X1 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0057] In this embodiment, the sixth travel path R6 of the second travel floor F2 is a path that allows only one-way travel from the fifth lifter L5 to the sixth lifter L6. The transport vehicle 1 is only allowed to travel on the sixth travel path R6 from the fifth lifter L5 to the sixth lifter L6. However, the transport vehicle 1 can leave the sixth travel path R6 while traveling on the sixth travel path R6 and travel on the second connecting path Rc2. In the illustrated example, on the sixth travel path R6, the transport vehicle 1 is allowed to travel from the first side X1 in the path extension direction to the second side X2 in the path extension direction. Travel of the transport vehicle 1 in the opposite direction is prohibited.

[0058] In this embodiment, each of the first connection path Rc1 and the second connection path Rc2 is a path that does not restrict the traveling direction of the guided vehicle 1. In other words, the guided vehicle 1 can travel along each of the path extension direction X and the path width direction Y on each of the first connection path Rc1 and the second connection path Rc2. When the guided vehicle 1 travels along the path extension direction X on each of the first connection path Rc1 and the second connection path Rc2, it can travel toward either the first side X1 in the path extension direction or the second side X2 in the path extension direction.

[0059] In this way, the direction in which the guided vehicle 1 can travel is set for each travel route R. Therefore, for each travel route R, the "upstream side" and the "downstream side" are defined based on the direction in which the guided vehicle 1 can travel.

[0060] In this embodiment, the article supply unit 2 is disposed adjacent to the first travel path R1, the second travel path R2, and the third travel path R3 at a portion upstream of the first connecting path Rc1.

[0061] The first travel floor F1 is defined by a first area A1 that includes the first travel route R1 but does not include the second travel route R2 or the third travel route R3, a second area A2 that includes the second travel route R2 but does not include the first travel route R1 or the third travel route R3, and a third area A3 that includes the third travel route R3 but does not include the first travel route R1 or the second travel route R2.

[0062] In this embodiment, the first conveyor 41 separates the first area A1 from the second area A2. The second conveyor 42 separates the second area A2 from the third area A3. Specifically, a portion of the first area A1, a portion of the second area A2, and a portion of the third area A3 are set in the first connection path Rc1. When viewed from the top-bottom direction, the first conveyor 41 forms the boundary between the first area A1 and the second area A2 in the first connection path Rc1. When viewed from the top-bottom direction, the second conveyor 42 forms the boundary between the second area A2 and the third area A3 in the first connection path Rc1. In addition to the portion set in the first connection path Rc1, the following portions are set in each of the areas A1 to A3. That is, as described above, the first area A1 is set to cover the entire first driving route R1, the second area A2 is set to cover the entire second driving route R2, and the third area A3 is set to cover the entire third driving route R3.

[0063] Although detailed illustration is omitted, the first conveyor 41 and the second conveyor 42 are each disposed at a distance above the running surface Ff of the first running floor F1. The transport vehicle 1 traveling on the first running floor F1 is configured to be able to pass under each of the first conveyor 41 and the second conveyor 42. However, there is not enough space for a worker W to pass between the first conveyor 41 and the running surface Ff of the first running floor F1, and between the second conveyor 42 and the running surface Ff of the first running floor F1. Therefore, while the transport vehicle 1 can travel between the areas A1 to A3 by traveling on the first connecting path Rc1, the presence of the first conveyor 41 and the second conveyor 42 prevents the worker W from traveling between the areas A1 to A3 on the first connecting path Rc1.

[0064] In this embodiment, the first running floor F1 is provided with a first entrance e1 for the worker W to enter the first area A1, a second entrance e2 for the worker W to enter the second area A2, and a third entrance e3 for the worker W to enter the third area A3.

[0065] Here, the control device M (see FIG. 2) is configured to be able to set each of the first area A1, the second area A2, and the third area A3 as a no-travel area in which the guided vehicle 1 is prohibited from traveling. In this embodiment, the control device M is configured to detect the entry of a worker W, and sets the area in which the entry of the worker W is detected as a no-travel area. In this embodiment, the control device M detects whether or not the worker W has entered the first area A1 based on the open / closed state of the first entrance e1. The control device M also detects whether or not the worker W has entered the second area A2 based on the open / closed state of the second entrance e2. The control device M also detects whether or not the worker W has entered the third area A3 based on the open / closed state of the third entrance e3. In the illustrated example, a first sensor Se1 that detects whether the first entrance e1 is open, a second sensor Se2 that detects whether the second entrance e2 is open, and a third sensor Se3 that detects whether or not the third entrance e3 is open are provided. The control device M detects whether or not a worker W has entered each of the areas A1 to A3 based on the detection results of the sensors Se1 to Se3.

[0066] The control device M is configured to prohibit or allow the transport vehicle 1 to travel in each of the areas A1 to A3 depending on whether or not the worker W has entered one of the areas A1 to A3.

[0067] FIG. 5 shows a case where a worker W enters the first area A1.

[0068] 5, when the control device M detects that a worker W has entered the first area A1, it prohibits the travel of the guided vehicle 1 in the first area A1, but allows the travel of the guided vehicle 1 in the second area A2 and the third area A3. In this embodiment, when the control device M detects that a worker W has entered the first area A1, it also prohibits the travel of the guided vehicle 1 on the fourth travel path R4 of the second travel floor F2 (however, it allows the travel of the guided vehicle 1 on the overlapping portion of the second connection path Rc2 with the fourth travel path R4). This prevents the guided vehicle 1 from accidentally getting on the second lifter L2 from the second travel floor F2 and going to the first area A1 (specifically, the first travel path R1) of the first travel floor F1, where travel is prohibited.

[0069] In the example shown in Fig. 5, the guided vehicle 1 is permitted to travel in the second area A2 and the third area A3. Therefore, the guided vehicle 1 can move between the second area A2 and the third area A3. For example, as shown in Fig. 5, the guided vehicle 1 can travel from the second travel route R2 in the second area A2 through the first connecting route Rc1 to the third travel route R3 in the third area A3.

[0070] FIG. 6 shows a case where a worker W enters the third area A3.

[0071] 6, when the control device M detects that a worker W has entered the third area A3, it prohibits the travel of the guided vehicle 1 in the third area A3, but allows the travel of the guided vehicle 1 in the first area A1 and the second area A2. In this embodiment, when the control device M detects that a worker W has entered the third area A3, it also prohibits the travel of the guided vehicle 1 on the sixth travel path R6 of the second travel floor F2 (however, it allows the travel of the guided vehicle 1 on the overlapping portion of the second connection path Rc2 with the sixth travel path R6). This prevents the guided vehicle 1 from accidentally getting on the sixth lifter L6 from the second travel floor F2 and going to the third area A3 (more specifically, the third travel path R3) of the first travel floor F1, where travel is prohibited.

[0072] In the example shown in Fig. 6, the guided vehicle 1 is permitted to travel in the first area A1 and the second area A2. Therefore, the guided vehicle 1 can move between the first area A1 and the second area A2. For example, as shown in Fig. 6, the guided vehicle 1 can travel from the first travel route R1 in the first area A1 through the first connecting route Rc1 to the second travel route R2 in the second area A2.

[0073] FIG. 7 shows a case where a worker W enters the second area A2.

[0074] 7, when the control device M detects that a worker W has entered the second area A2, it prohibits the travel of the guided vehicle 1 in the second area A2, but allows the travel of the guided vehicle 1 in the first area A1 and the third area A3. In this embodiment, when the control device M detects that a worker W has entered the second area A2, it also prohibits the travel of the guided vehicle 1 on the fifth travel path R5 of the second travel floor F2 (however, it allows the travel of the guided vehicle 1 on the overlapping portion of the second connection path Rc2 with the fifth travel path R5). This prevents the guided vehicle 1 from accidentally getting on the fourth lifter L4 from the second travel floor F2 and going to the second area A2 (more specifically, the second travel path R2) of the first travel floor F1, where travel is prohibited.

[0075] When travel through the second area A2 located between the first area A1 and the third area A3 is prohibited, the transport vehicle 1 cannot move between the first area A1 and the third area A3 on the first travel floor F1. Therefore, when travel through the second area A2 is prohibited, the transport vehicle 1 moves between the first area A1 and the third area A3 via the second connection path Rc2 on the second travel floor F2.

[0076] Furthermore, in this embodiment, each travel path R has restrictions on the direction in which the guided vehicle 1 can travel. Therefore, when the guided vehicle 1 moves from the first area A1 to the third area A3 while travel through the second area A2 is prohibited, the guided vehicle 1 moves sequentially through the first travel path R1, the first lifter L1, the fourth travel path R4, the second connecting path Rc2, the sixth travel path R6, and the sixth lifter L6. Although not shown in detail, when the guided vehicle 1 moves from the third area A3 to the first area A1 while travel through the second area A2 is prohibited, the guided vehicle 1 moves sequentially through the third travel path R3, the fifth lifter L5, the sixth travel path R6, the second connecting path Rc2, the fourth travel path R4, and the second lifter L2.

[0077] For example, FIG. 7 shows a route taken by the transport vehicle 1 when it travels from the first area A1 to the third area A3 in a state where travel through the second area A2 is prohibited.

[0078] (1) After receiving the item G from the item supply unit 2 on the first travel path R1, the transport vehicle 1 travels along the first travel path R1 toward the first side X1 in the path extension direction, and rides on the first lifter L1 toward the second travel floor F2.

[0079] (2) The transport vehicle 1 gets off the first lifter L1 at the second travel floor F2 and travels along the fourth travel path R4 toward the second side X2 in the path extension direction. The transport vehicle 1 then travels along the second connecting path Rc2 toward the sixth travel path R6. The transport vehicle 1 travels along the sixth travel path R6 toward the second side X2 in the path extension direction and gets on the sixth lifter L6 toward the first travel floor F1.

[0080] (3) The transport vehicle 1 descends from the sixth lifter L6 on the first travel floor F1. In this embodiment, the location where the transport vehicle 1 descends from the sixth lifter L6 is the fifth travel route R5 within the third area A3.

[0081] As described above, due to (1) to (3), the transport vehicle 1 can move from the first area A1 to the third area A3 even if travel through the second area A2 is prohibited.

[0082] Other Embodiments Next, other embodiments of the article transport facility will be described.

[0083] (1) In the above embodiment, an example has been described in which there are restrictions on the direction in which the transport vehicle 1 can travel on each travel route R. However, the present invention is not limited to such an example, and there may be no restrictions on the direction in which the transport vehicle 1 can travel on each travel route R.

[0084] (2) In the above embodiment, an example has been described in which the item supply unit 2 is disposed adjacent to a portion of each of the first traveling path R1, the second traveling path R2, and the third traveling path R3 that is upstream of the first connecting path Rc1. However, without being limited to this example, the item supply unit 2 may be provided in a portion downstream of the first connecting path Rc1.

[0085] (3) In the above embodiment, an example has been described in which the first area A1 and the second area A2 are separated by the first conveyor 41, and the second area A2 and the third area A3 are separated by the second conveyor 42. However, without being limited to this example, the first area A1, the second area A2, and the third area A3 may be separated by imaginary lines rather than by actual objects such as conveyors. In this case, the first conveyor 41 and the second conveyor 42 may not be provided in the item transport equipment 100.

[0086] (4) In the above embodiment, an example has been described in which the control device M detects whether or not a worker W has entered each of the areas A1 to A3 based on the detection results of the sensors Se1 to Se3 provided at each of the entrances e1 to e3. However, the present invention is not limited to this example. For example, a camera may be provided to monitor each of the areas A1 to A3, and the control device M may be configured to detect whether or not a worker W has entered each of the areas A1 to A3 based on images captured by the camera.

[0087] (5) In the above embodiment, the control device M is configured to detect the entry of the worker W, and an example has been described in which the control device M sets an area in which the entry of the worker W is detected as a no-travel area. However, the present invention is not limited to this example. For example, the worker W may specify which of the multiple areas A1 to A3 should be set as a no-travel area by operating a terminal or the like. In this case, the control device M sets the area specified by the worker W as a no-travel area.

[0088] (6) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in 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 may be made as appropriate within the scope of the present disclosure.

[0089] [Summary of the above embodiment] The above-described article transport facility will now be described.

[0090] An article transport facility comprising: a transport vehicle that transports articles; a first travel floor and a second travel floor on which the transport vehicle can travel; a plurality of lifters that raise and lower the transport vehicle between the first travel floor and the second travel floor; and a control device that controls the transport of the articles, the plurality of lifters include a first lifter, a second lifter, a third lifter, a fourth lifter, a fifth lifter, and a sixth lifter that are arranged spaced apart from one another in the horizontal direction; The first traveling floor is provided with a first traveling path connecting the first lifter and the second lifter, a second traveling path connecting the third lifter and the fourth lifter, and a third traveling path connecting the fifth lifter and the sixth lifter, which are arranged side by side, and a first connecting path having a portion connecting the first traveling path and the second traveling path and a portion connecting the second traveling path and the third traveling path, The second traveling floor is provided with a fourth traveling path connecting the first lifter and the second lifter, a fifth traveling path connecting the third lifter and the fourth lifter, and a sixth traveling path connecting the fifth lifter and the sixth lifter, which are arranged side by side, and a second connecting path having a portion connecting the fourth traveling path and the fifth traveling path and a portion connecting the fifth traveling path and the sixth traveling path, a first area including the first travel path and not including the second travel path and the third travel path, a second area including the second travel path and not including the first travel path and the third travel path, and a third area including the third travel path and not including the first travel path and the second travel path, the control device is configured to be able to set each of the first area, the second area, and the third area as a travel prohibition area in which travel of the transport vehicle is prohibited, The control device When the first area is set as the travel-prohibited area, travel of the transport vehicle in the first area is prohibited, and travel of the transport vehicle in the second area and the third area is permitted; When the third area is set as the travel-prohibited area, travel of the transport vehicle in the third area is prohibited, and travel of the transport vehicle in the first area and the second area is permitted; When the second area is set as the travel-prohibited area, travel of the transport vehicle in the second area is prohibited, and travel of the transport vehicle in the first area and the third area is permitted; The transport vehicle travels between the first area and the third area via the second connecting path on the second travel floor when travel in the second area is prohibited.

[0091] According to this configuration, even if travel is prohibited in any one of the first, second, and third areas provided on the first travel floor, the transport vehicle can still move between the other two areas. That is, when travel is prohibited in the first area, the transport vehicle can travel between the second and third areas via the first connecting path. When travel is prohibited in the third area, the transport vehicle can travel between the first and second areas via the first connecting path. Furthermore, when travel is prohibited in the central second area, the transport vehicle can travel between the first and third areas via the second connecting path on the second travel floor. Therefore, according to this configuration, it is possible to appropriately move the transport vehicle between multiple areas other than the travel-prohibited areas.

[0092] It is preferable that the control device is configured to detect entry of a worker into each of the first area, the second area, and the third area, and to set the area in which entry of the worker is detected as the no-travel area.

[0093] According to this configuration, the entry of a worker is a condition for setting a no-travel area. For example, when a worker enters an area during maintenance, the safety of the worker can be easily ensured.

[0094] the first travel path is a path that allows only one-way traffic from the second lifter to the first lifter, the fourth travel route is a route that allows only one-way travel from the first lifter to the second lifter, the second travel path is a path that allows only one-way traffic from the fourth lifter to the third lifter, the fifth travel route is a route that allows only one-way traffic from the third lifter to the fourth lifter, the third travel route is a route that allows only one-way traffic from the sixth lifter to the fifth lifter, the sixth travel route is a route that allows only one-way traffic from the fifth lifter to the sixth lifter, It is preferable that the transport vehicle moves from the first area to the third area when travel in the second area is prohibited by moving sequentially along the first travel path, the first lifter, the fourth travel path, the second connecting path, the sixth travel path, and the sixth lifter.

[0095] According to this configuration, even if there are restrictions on the direction in which the transport vehicle can travel on each travel route, it is possible to appropriately move the transport vehicle between multiple areas other than the travel-prohibited areas.

[0096] an article supply unit that supplies the articles to be transported by the transport vehicle; Preferably, the article supply unit is disposed adjacent to a portion of each of the first travel path, the second travel path, and the third travel path that is upstream of the first connecting path.

[0097] According to this configuration, the transport vehicle can receive the item to be transported upstream of the first connecting path. Therefore, the transport vehicle can determine whether to move to another travel path via the first connecting path while holding the item. Therefore, according to this configuration, it is possible to increase the options for destinations for the item.

[0098] a first conveyor extending along the first traveling path on a side closer to the second traveling path than the first traveling path, and a second conveyor extending along the second traveling path on a side closer to the third traveling path than the second traveling path, are provided between the first traveling floor and the second traveling floor in the vertical direction; The first area and the second area are separated by the first conveyor, Preferably, the second area and the third area are separated by the second conveyor.

[0099] According to this configuration, the first to third areas can be defined based on the first and second conveyors. Therefore, the boundaries between the first to third areas are visually easy to understand. Furthermore, conveyors are usually designed in such a way that workers are prohibited from stepping over them or cannot step over them. Therefore, a worker who has entered a no-travel area can be prevented from entering other areas where transport vehicles are not prohibited from traveling. [Industrial Applicability]

[0100] The technology disclosed herein can be used in an article transport facility equipped with a transport vehicle that transports articles. [Explanation of symbols]

[0101] 100: Goods transport equipment M: Control device 1: Transport vehicle 2: Goods supply department F1: First driving floor F2: Second running floor 41: First conveyor 42: Second conveyor L: Lifter L1: First lifter L2: Second lifter L3: 3rd lifter L4: 4th lifter L5: 5th lifter L6: 6th lifter R1: First driving route R2: Second driving route R3: Third driving route R4: Route 4 R5: Route 5 R6: Route 6 Rc1: First connection route Rc2: Second connection route A1: Area 1 A2: Area 2 A3: Area 3 G:Goods W: Worker

Claims

1. An article transport facility including a transport vehicle that transports articles, a first travel floor and a second travel floor on which the transport vehicle can travel, a plurality of lifters that raise and lower the transport vehicle between the first travel floor and the second travel floor, and a control device that controls the transport of the articles, the plurality of lifters include a first lifter, a second lifter, a third lifter, a fourth lifter, a fifth lifter, and a sixth lifter that are arranged spaced apart from one another in the horizontal direction; On the first traveling floor, a first traveling path connecting the first lifter and the second lifter, a second traveling path connecting the third lifter and the fourth lifter, and a third traveling path connecting the fifth lifter and the sixth lifter are arranged side by side, and a first connecting path is provided having a portion connecting the first traveling path and the second traveling path and a portion connecting the second traveling path and the third traveling path, On the second traveling floor, a fourth traveling path connecting the first lifter and the second lifter, a fifth traveling path connecting the third lifter and the fourth lifter, and a sixth traveling path connecting the fifth lifter and the sixth lifter are arranged side by side, and a second connecting path is provided having a portion connecting the fourth traveling path and the fifth traveling path and a portion connecting the fifth traveling path and the sixth traveling path, a first area including the first travel route and excluding the second travel route and the third travel route, a second area including the second travel route and excluding the first travel route and the third travel route, and a third area including the third travel route and excluding the first travel route and the second travel route, the control device is configured to be able to set each of the first area, the second area, and the third area as a travel prohibition area in which travel of the transport vehicle is prohibited, The control device When the first area is set as the travel-prohibited area, travel of the transport vehicle in the first area is prohibited, and travel of the transport vehicle in the second area and the third area is permitted; When the third area is set as the travel-prohibited area, travel of the transport vehicle in the third area is prohibited, and travel of the transport vehicle in the first area and the second area is permitted; When the second area is set as the travel-prohibited area, travel of the transport vehicle in the second area is prohibited, and travel of the transport vehicle in the first area and the third area is permitted; An item transport facility in which the transport vehicle moves between the first area and the third area via the second connecting path on the second travel floor when travel in the second area is prohibited.

2. 2. The item transport equipment of claim 1, wherein the control device is configured to detect entry of a worker into each of the first area, the second area, and the third area, and to set the area in which entry of the worker is detected as the no-travel area.

3. the first travel path is a path that allows only one-way traffic from the second lifter to the first lifter, the fourth travel route is a route that allows only one-way travel from the first lifter to the second lifter, the second travel route is a route that allows only one-way travel from the fourth lifter to the third lifter, the fifth travel route is a route that allows only one-way traffic from the third lifter to the fourth lifter, the third travel route is a route that allows only one-way traffic from the sixth lifter to the fifth lifter, the sixth travel route is a route that allows only one-way traffic from the fifth lifter to the sixth lifter, 2. The article transport equipment of claim 1, wherein the transport vehicle moves from the first area to the third area when travel in the second area is prohibited by moving sequentially along the first travel path, the first lifter, the fourth travel path, the second connecting path, the sixth travel path, and the sixth lifter.

4. an article supply unit that supplies the articles to be transported by the transport vehicle; The article transport facility according to claim 3 , wherein the article supply section is arranged adjacent to a portion of each of the first travel path, the second travel path, and the third travel path that is upstream of the first connecting path.

5. a first conveyor extending along the first traveling path on a side closer to the second traveling path than the first traveling path in the vertical direction between the first traveling floor and the second traveling floor, and a second conveyor extending along the second traveling path on a side closer to the third traveling path than the second traveling path, The first area and the second area are separated by the first conveyor, The article transport facility according to claim 1 , wherein the second area and the third area are separated by the second conveyor.

Images