Goods sorting equipment

Abstract

To provide an article sorting facility that is configured so that efficiency in conveying an article by a conveyance vehicle hardly deteriorates.SOLUTION: A plurality of X-direction paths which are paths for a conveyance vehicle 20 that travels along an X direction are set so as to be aligned in a plurality in a Y-direction in a connection area E2. Each one of the X-direction paths is associated with one of a plurality of exit parts 19 as an X-direction correspondence path 51. Each X-direction correspondence path 51 is set to be closer to a Y-direction second side Y2 the closer the corresponding exit part 19 is to either end of the connection area E2 in the X direction.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an article sorting facility in which articles are transported by a plurality of transport vehicles. [Background technology]

[0002] An article sorting facility in which multiple transport vehicles transport articles is known in a logistics warehouse, etc. For example, Japanese Patent Application Laid-Open No. 2020-100482 (Patent Document 1) describes an article sorting facility in which multiple transport vehicles (V) transport articles from multiple supply units (90) to multiple receiving units (80). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-100482 Summary of the Invention [Problem to be solved by the invention]

[0004] In the article sorting system of Patent Document 1, since the transport vehicles (V) travel from one of the plurality of supply sections (90) to one of the plurality of receiving sections (80), the travel paths of the plurality of transport vehicles (V) may intersect. In such cases, it is necessary to allow one transport vehicle (V) to travel while the other transport vehicle (V) is stopped. If such transport vehicles that are stopped and waiting for other transport vehicles are concentrated in a specific location, congestion is likely to occur, which reduces transport efficiency.

[0005] Therefore, it is desirable to realize an article sorting facility that is less likely to reduce the efficiency of article transportation by transport vehicles. [Means for solving the problem]

[0006] The article sorting equipment according to the present disclosure is an article sorting equipment that sorts articles by having a plurality of transport vehicles each travel on a floor to transport the articles, and includes a plurality of supply units that each supply the articles to the transport vehicles, and a plurality of receiving units that each receive the articles from the transport vehicles, wherein a specific direction among the directions along the floor is defined as a Y direction, a direction along the floor that is perpendicular to the Y direction is defined as an X direction, one side of the Y direction is defined as a Y direction first side, the other side of the Y direction is defined as a Y direction second side, one side of the X direction is defined as the X direction first side, and the other side of the X direction is defined as an X direction second side, and the floor is provided with a plurality of receiving areas, each of which is provided with the receiving unit and arranged side by side in the X direction, and a plurality of supply areas, each of which is provided with the supply unit and arranged on the first side in the Y direction relative to the plurality of receiving areas, and a connection area, and the respective exit sections are arranged to line up in the X direction, the connection area is an area that extends in the Y direction and the X direction so as to connect the plurality of exit sections and the plurality of receiving areas to one another, in the connection area, a plurality of X-direction paths that are paths of the transport vehicles traveling along the X direction are set to line up in the Y direction, one of the X-direction paths is associated with each of the plurality of exit sections as an X-direction corresponding path, the transport vehicles that have emerged from each of the exit sections into the connection area are configured, when traveling along the X direction, to change direction towards the first X-direction side or the second X-direction side on the X-direction corresponding path that corresponds to the exit section, and travel on the X-direction corresponding path, and the X-direction corresponding path that corresponds to each of the plurality of exit sections is set to be closer to the second Y-direction side as the corresponding exit section approaches both ends of the X-direction in the connection area.

[0007] According to this configuration, as the distance in the Y direction from the exit to the X-direction corresponding path decreases, the likelihood that a guided vehicle will be obstructed by other guided vehicles while traveling from the exit to the X-direction corresponding path decreases. Furthermore, as a guided vehicle approaches both ends of the connection area in the X direction, the likelihood that a guided vehicle will be obstructed by other guided vehicles while traveling from the exit to the X-direction corresponding path decreases. Therefore, according to this configuration, it is easy to adjust the ease of travel for guided vehicles from the exit to the X-direction corresponding path for each of the multiple supply areas to the same degree. This reduces the likelihood that guided vehicles that stop to accommodate other guided vehicles will concentrate near the exit of a specific supply area, making it less likely that the efficiency of article transport by guided vehicles throughout the entire article sorting facility will decrease. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a top view of an article sorting facility according to a first embodiment; [Figure 2] Front view of the receiving area in Figure 1 [Figure 3] Control block diagram of the item sorting equipment in Figure 1 [Figure 4] FIG. 2 shows the first layer of the article sorting facility of FIG. 1. [Figure 5] FIG. 2 shows the second layer of the article sorting facility of FIG. 1. [Figure 6] A diagram illustrating the corresponding connection path of FIG. [Figure 7] FIG. 10 is a diagram showing a first layer of an article sorting facility according to a second embodiment; [Figure 8] FIG. 10 is a diagram showing a first layer of an article sorting facility according to a third embodiment; [Figure 9] FIG. 10 is a diagram showing a first layer of an article sorting facility according to a fourth embodiment; [Figure 10] 10 is a top view of an article sorting facility according to a fifth embodiment. [Figure 11] Front view of the receiving area in Figure 10 [Figure 12] 10 is a top view of an article sorting facility according to a sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] An article sorting facility 10 according to a first embodiment will be described below with reference to the drawings.

[0010] FIG. 1 is a top view of an article sorting equipment 10 that transports articles W using a plurality of transport vehicles 20. The article sorting equipment 10 of this embodiment sorts the articles W by each of the plurality of transport vehicles 20 traveling on a floor E to transport the articles W. In this embodiment, the article sorting equipment 10 includes the transport vehicles 20, a floor E, a plurality of supply units 15, and a plurality of receiving units 31. Each of the plurality of supply units 15 is configured to supply articles W to the transport vehicles 20. Each of the plurality of receiving units 31 is configured to receive articles W from the transport vehicles 20.

[0011] In this embodiment, a worker 16 transfers an item W to a transport vehicle 20 in the supply unit 15. Here, the "worker" refers to, for example, a worker and / or a work device. The worker 16 transfers the item W to the transport vehicle 20 from a supply conveyance device 17 that conveys the item W from an automated warehouse (not shown). Examples of the supply conveyance device 17 include a belt conveyor, a crane, and an arm-type robot.

[0012] Here, a specific direction along the floor E is defined as the Y direction, and a direction perpendicular to the Y direction along the floor E is defined as the X direction. One side of the Y direction is defined as the Y direction first side Y1, and the other side of the Y direction is defined as the Y direction second side Y2. One side of the X direction is defined as the X direction first side X1, and the other side of the X direction is defined as the X direction second side X2. The up-down direction is defined as the Z direction. Examples of the floor E include running surfaces and floors provided in facilities such as buildings and ships. In this embodiment, the floor E is a running surface provided on an indoor platform.

[0013] A supply area E1 in which a supply unit 15 is provided and a receiving area E3 in which a receiving unit 31 is provided are defined on the floor E. The supply area E1 is located on the first side Y1 in the Y direction relative to the receiving area E3. A connection area E2 connecting the receiving area E3 and the supply area E1 is also defined on the floor E. The connection area E2 is an area that extends in the Y direction and the X direction so as to connect the multiple exit units 19 and the multiple receiving areas E3 to each other. The supply area E1, the connection area E2, and the receiving area E3 defined on the floor E may each be an area into which the floor E is actually divided, or may be a virtual area. In this embodiment, the boundary between the supply area E1 and the connection area E2 is a virtual boundary defined on the floor E. In this embodiment, the receiving area E3 has both outer edges in the X direction on both sides of the floor E.

[0014] In this embodiment, a plurality of supply areas E1 are arranged, each with a supply unit 15. A plurality of receiving areas E3 are arranged, each with a receiving unit 31. The plurality of supply areas E1 are arranged side by side in the X direction. The plurality of receiving areas E3 are arranged side by side in the X direction. The connection area E2 connects the supply areas E1 and the receiving areas E3 so that the transport vehicle 20 can travel therethrough.

[0015] In this embodiment, the outlets 19 of the multiple supply areas E1 are arranged side by side in the X direction on the floor E. In the illustrated example, each of the multiple supply areas E1 is provided with one outlet 19. The supply areas E1 are passage-like areas extending along the Y direction.

[0016] Each of the receiving areas E3 includes a passage area extending along the Y direction. In the illustrated example, the receiving area E3 is the passage area. The receiving sections 31 are arranged in a line in the Y direction along each of the receiving areas E3.

[0017] In this embodiment, multiple receiving areas E3 are connected to each other via a connection area E2. Here, the end of the receiving area E3 on the first side Y1 in the Y direction is referred to as the first end 33. In this embodiment, multiple receiving areas E3 are arranged side by side in the X direction on the floor E, and the first ends 33 of each of the multiple receiving areas E3 are connected to each other via a connection area E2. In the illustrated example, each of the exit portions 19 of the multiple supply areas E1 overlaps with the first end 33 of the receiving area E3 as viewed in the Y direction along the Y direction. In addition, the connection area E2 connects the exit portion 19 and the first end 33 to each other so that the transport vehicle 20 can travel between them.

[0018] FIG. 2 is a front view of the receiving area E3. In this embodiment, a plurality of receiving sections 31 are arranged side by side in the Y direction on both sides of the receiving area E3 in the X direction. In this embodiment, the transport vehicle 20 is also equipped with a transfer section 21 that transfers the item W from the transport vehicle 20 to the receiving section 31. The transfer section 21 is configured so that the position of the placement surface 22 on which the item W is placed can be freely changed between a "horizontal position" and an "inclined position." The item W is placed on the placement surface 22 in a horizontal position and transported, and is transferred to the receiving section 31 when the placement surface 22 is in an inclined position. In this embodiment, the transport vehicle 20 is equipped with a running section 25. The running section 25 is provided with a plurality of wheels 23 that roll on a running surface on the floor E. Examples of the transport vehicle 20 include an electric vehicle that runs on power supplied by a storage battery, a fuel cell, or the floor E via contact or non-contact power supply, and a vehicle equipped with an internal combustion engine. In this embodiment, a storage battery 27 (see FIG. 3) is mounted on the traveling section 25 of the transport vehicle 20. In this embodiment, the transport vehicle 20 is an electric unmanned transport vehicle.

[0019] In this embodiment, a receiving and conveying device 35 is provided for each of the multiple receiving sections 31. The items W transferred to the receiving section 31 are conveyed in the X direction by this receiving and conveying device 35 and stored in containers 38 corresponding to each of the multiple receiving sections 31. In this embodiment, a shipping device 36 is disposed adjacent to the multiple receiving and conveying devices 35. The containers 38 are arranged side by side on the shipping device 36, and when the type and number of items W specified in one piece of order information are stored in the container 38, the shipping device 36 transports the container 38 to the shipping location. Examples of the receiving and conveying device 35 include a belt conveyor, a crane, an arm-type robot, etc. Examples of the shipping device 36 include a belt conveyor, a stacker crane, an automatic guided vehicle, etc.

[0020] FIG. 3 is a control block diagram of the article sorting equipment 10 of this embodiment. In this embodiment, the article sorting equipment 10 includes a control system 45 that controls the transport vehicle 20. In the illustrated example, the control system 45 includes a control device 46 that controls the transfer unit 21 and the traveling unit 25 of the transport vehicle 20, the supply transport device 17, the receiving transport device 35, and the shipping device 36. The control device 46 includes an arithmetic processing device such as a CPU (Central Processing Unit) and a main storage device accessible by the arithmetic processing device, such as a RAM (Random Access Memory) or a ROM (Read Only Memory). Each function of the control device 46 (e.g., the function of controlling the travel of the transport vehicle 20) is realized by cooperation between hardware included in the control device 46 and a program executed on hardware such as the arithmetic processing device. Specifically, each function of the control device 46 is realized by the control device 46 executing a program stored in a storage device (such as a main storage device or a separately provided storage unit). In other words, a program (e.g., an item transport program) for causing a computer (the computer of the control system 45) to realize each function of the control device 46 is stored in a storage device accessible by the computer. This program is provided, for example, by a storage medium or via a communication network. The provided program is then stored in a storage device accessible by the computer. In this embodiment, the control device 46 (specifically, an arithmetic processing device provided in the control device 46) functions as the "computer." The control device 46 may not be a single piece of hardware, but may be configured by a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other via wire or wirelessly. For example, the control device 46 may be configured to include a host control device located in a control facility (not shown) that controls multiple guided vehicles 20, and a control device mounted on each guided vehicle 20.

[0021] In this embodiment, the floor E is divided into a plurality of virtual unit areas Au that form a grid when viewed in the Z direction. The travel route of the guided vehicle 20 is set to connect a plurality of arbitrary virtual unit areas Au. In this embodiment, a position information detection unit 29 (see FIG. 3) is provided in each of the plurality of guided vehicles 20. Furthermore, a position information holder is provided in each of the virtual unit areas Au. When the guided vehicle 20 travels along the travel route, the position information detection unit 29 of the guided vehicle 20 is configured to detect position information held by the position information holder arranged in each virtual unit area Au. Examples of the position information holder include a barcode (one-dimensional code), a two-dimensional code, and an IC tag. The position information detected by the position information detection unit 29 is transmitted from the guided vehicle 20 to a control device 46 provided in a control system 45.

[0022] In this embodiment, the control system 45 issues transport commands to each transport vehicle 20. The transport command specifies the "origin" and "destination" of the item W. In this embodiment, the origin is the supply unit 15. The destination is the receiving unit 31. The transport command also specifies the travel route of the transport vehicle 20 from the origin to the destination. Upon receiving the transport command from the control system 45, the transport vehicle 20 receives the item W at the specified origin and transports the item W to the specified destination.

[0023] In the transport command of this embodiment, an "outbound route" is set for traveling from the supply unit 15 to the terminal end of the receiving area E3. In addition, in the transport command of this embodiment, a "return route" is set for traveling from the terminal end of the receiving area E3 to the supply unit 15. In this embodiment, the terminal end of the receiving area E3 is the end of the receiving area E3 on the second side Y2 in the Y direction.

[0024] In this embodiment, the control system 45 performs batch processing in each of the multiple receiving sections 31 to receive items W of the type and number specified in one piece of order information. Also, in this embodiment, one container 38 corresponds to one piece of order information. The control system 45 places the items W of the type and number specified in one piece of order information into a container 38 (see FIG. 2) arranged adjacent to the receiving section 31 through batch processing. When this batch processing is performed, in other words, when all of the items W of the type and number specified in one piece of order information have been placed in the container 38, the container 38 is transported to a shipping location. Thereafter, a next container 38 corresponding to the next order information is placed adjacent to the receiving section 31, and the control system 45 places the items W of the type and number specified in another piece of order information into the next container 38 through the next batch processing.

[0025] In this embodiment, the floor E has multiple stories that are installed at different heights in the Z direction, and each story allows the transport vehicle 20 to travel on. FIG. 4 is a diagram showing the first story F1 of the item sorting equipment 10. FIG. 5 is a diagram showing the second story F2 of the item sorting equipment 10. In the example shown in FIGS. 4 and 5, the floor E has a first story F1 and a second story F2 that are adjacent to each other in the Z direction. In this embodiment, the second story F2 is located above the first story F1, but the second story F2 may also be located below the first story F1. In this embodiment, a supply area E1, a connection area E2, and a receiving area E3 are provided on the first story F1.

[0026] In this embodiment, a charging position 42 for charging the transport vehicle 20 by the charger 41 is set in the connection area E2. This allows efficient use of the connection area E2 where the supply unit 15 and the receiving unit 31 are not located. In the illustrated example, the charger 41 is located adjacent to the connection area E2. Furthermore, the charging position 42 is located so that multiple transport vehicles 20 can stop there.

[0027] In this embodiment, when the amount of stored power in the transport vehicle 20 is less than a specified amount (for example, less than 50% of the amount of stored power in a fully charged state), the transport vehicle 20 moves to and stops at a charging position 42. At the charging position 42, the storage battery 27 (see FIG. 3) provided in the transport vehicle 20 can be quickly charged. The charger 41 may be configured as a non-contact power supply device or a contact power supply device. In this embodiment, a control device 46 provided in a control system 45 described later acquires the amount of stored power in the storage battery 27 of each transport vehicle 20, and controls the transport vehicle 20 with less than the specified amount of stored power to move to the charging position 42.

[0028] In this embodiment, the article sorting equipment 10 is provided with a first lifting device L1 that is provided to connect the first floor F1 and the second floor F2 and that raises and lowers the transport vehicle 20. In the illustrated example, the first lifting device L1 is disposed on the second side Y2 in the Y direction of the plurality of floors E. The first lifting device L1 is also connected to the receiving area E3 of the first floor F1 and the second floor F2. The first lifting device L1 may transport the transport vehicle 20 autonomously or may be controlled by a control system 45. Examples of the first lifting device L1 include a lifting device that circulates the transport vehicle 20 along a predetermined circular path, a lifting device that raises and lowers the transport vehicle 20 in the Z direction, a multicopter that can transport the transport vehicle 20, a crane, etc.

[0029] In this embodiment, the article sorting equipment 10 includes a second lifting device L2 that connects the first floor F1 and the second floor F2 and raises and lowers the transport vehicle 20. In the illustrated example, the second lifting device L2 is disposed on a second side Y2 in the Y direction of each of the floors E. The second lifting device L2 is connected to the supply area E1 of the first floor F1 and the second floor F2. The first lifting device L1 and the second lifting device L2 are disposed spaced apart from each other in the horizontal direction. The second lifting device L2 may autonomously transport the transport vehicle 20 or may be controlled by the control system 45. Examples of the second lifting device L2 include a lifting device that circulates the transport vehicle 20 along a predetermined circular path, a lifting device that raises and lowers the transport vehicle 20 in the Z direction, a multicopter that can transport the transport vehicle 20, a crane, etc.

[0030] In this embodiment, a return passage 81 along which the transport vehicle 20 travels is provided on the second floor F2. The first lifting device L1 and the second lifting device L2 are connected to each other on the second floor F2 by the return passage 81 so that the transport vehicle 20 can travel. In the illustrated example, the second lifting device L2 is connected to the return passage 81 and the first floor F1. The second lifting device L2 and the return passage 81 may be connected directly or indirectly. The second lifting device L2 and the supply area E1 may be connected directly or indirectly. The return passage 81 is part of the above-mentioned return path, and is a passage along which the transport vehicle 20 travels after transporting the item W to the receiving section 31 in the receiving area E3. In this embodiment, the return passage 81 is set to be one-way.

[0031] In this embodiment, the first lifting device L1 is connected to the start end of the return passage 81 and the end end of the receiving area E3. The second lifting device L2 is connected to the end end of the return passage 81 and the supply area E1. In the illustrated example, a plurality of return passages 81 are provided on the second floor F2, each extending along the Y direction. In this embodiment, a passage connection area E4 is provided on the second floor F2, which connects the plurality of return passages 81 so that the transport vehicles 20 can travel therethrough. In the illustrated example, the passage connection area E4 is located between adjacent return passages 81 in the X direction. In addition, a charging position 42 for charging the transport vehicles 20 is set in the passage connection area E4.

[0032] In the example shown in Fig. 4, in the connection area E2, a plurality of "X-direction routes" which are routes for the transport vehicle 20 traveling along the X direction are set to be lined up in the Y direction. Also, in the connection area E2, a plurality of "Y-direction routes" which are routes for the transport vehicle 20 traveling along the Y direction are set to be lined up in the X direction. In this embodiment, one X-direction route is associated with each of the plurality of exits 19 as an X-direction corresponding route 51. In Fig. 4 and other figures, the X-direction routes which can be the X-direction corresponding routes 51 are indicated by hollow arrows extending in the X direction.

[0033] In this embodiment, one X-direction path is associated with each of the plurality of outlets 19 as an X-direction corresponding path 51 so that the difference between the maximum and minimum values ​​of the number of outlets 19 corresponding to each of the plurality of X-direction paths is equal to or less than 1. In the illustrated example, the difference between the maximum and minimum values ​​is 0.

[0034] 4, in the connection area E2, X-direction paths are set to be aligned in the Y direction in a number equal to or greater than the number of exits 19. Furthermore, for each of the multiple exits 19, a mutually different X-direction path is associated as an X-direction corresponding path 51. Furthermore, the number of X-direction paths in the connection area E2 is set to be the same as the number of exits 19, and is the same as the number of X-direction corresponding paths 51.

[0035] In this embodiment, when the transport vehicle 20 exits the connection area E2 from each exit 19 and travels along the X direction, it changes direction toward the first X-direction side X1 or the second X-direction side X2 on the X-direction corresponding path 51 corresponding to the exit 19, and travels along the X-direction corresponding path 51.

[0036] In this embodiment, the X-direction corresponding paths 51 corresponding to each of the multiple exits 19 are set to be closer to the second Y2 side in the Y direction as the corresponding exit 19 approaches both ends in the X direction in the connection area E2. Note that when each of multiple adjacent exits 19 is associated with one X-direction corresponding path 51, the multiple exits 19 may be treated as one exit 19 (in other words, an exit group, which will be described later).

[0037] Here, the route of the transport vehicle 20 heading toward the exit 19 in each of the multiple supply areas E1 is referred to as the supply route 61. Furthermore, the route of the transport vehicle 20 that emerges from each of the multiple exits 19 into the connection area E2 and travels along the Y direction is referred to as the Y-direction corresponding route 62. Furthermore, the route of the transport vehicle 20 that travels from the first end 33 in each of the multiple receiving areas E3 toward the terminal end of the receiving area E3 is referred to as the receiving outbound route 64. In this embodiment, the supply route 61 is a Y-direction route and is connected in a straight line to the Y-direction corresponding route 62. Furthermore, the supply route 61 is a one-way route. Furthermore, the receiving outbound route 64 is a one-way route.

[0038] In this embodiment, in the connection area E2, Y-direction paths are set so as to be aligned in the X-direction in a number equal to or greater than the number of first end portions 33, and different Y-direction paths are associated with each of the multiple first end portions 33 as corresponding connection paths 63. In the illustrated example, the corresponding connection paths 63 and the receiving outbound path 64 are linearly connected. Furthermore, the corresponding connection paths 63 are one-way paths.

[0039] In this embodiment, the intersections of the Y-direction corresponding paths 62 and the X-direction corresponding paths 51 corresponding to the plurality of exits 19 are direction change positions 75 where the guided vehicles 20 that have exited the respective exits 19 into the connection area E2 change direction toward the first X-direction side X1 or the second X-direction side X2. In the illustrated example, each of the X-direction paths that can become the X-direction corresponding paths 51 is a one-way path. Furthermore, at least one of the X-direction paths that can become the X-direction corresponding paths 51 is a one-way path that runs in opposite directions from the direction change position 75. Furthermore, each of the Y-direction paths that can become the Y-direction corresponding paths 62 is a one-way path.

[0040] In this embodiment, the multiple direction change positions 75 are arranged in a V-shape when viewed in the up-down direction. In the illustrated example, the direction change positions 75 are positions that overlap with the exit sections 19 when viewed in the Y direction along the Y direction. Note that if each of the multiple adjacent exit sections 19 is associated with one X-direction corresponding path 51 and the respective direction change positions 75 are also adjacent to each other, the multiple adjacent direction change positions 75 may be treated as one direction change position 75 (in other words, a direction change position set, described below).

[0041] In this embodiment, when a guided vehicle 20 that has emerged from each exit 19 into the connection area E2 does not need to travel along the X-direction corresponding path 51, it heads toward the first end 33 without turning at the direction change position 75. In the illustrated example, when heading toward the first end 33 that overlaps with the exit 19 in question as viewed in the Y direction, it does not travel along the X-direction corresponding path 51 corresponding to the exit 19 in question, but travels along the corresponding connection path 63 corresponding to the first end 33.

[0042] FIG. 6 is a diagram illustrating the corresponding connecting path 63 and the position 76. FIG. 6 shows only the Y-direction corresponding path 62, the turning position 75, and the X-direction corresponding path 51 corresponding to one of the multiple exits 19. In this embodiment, the transport vehicle 20 traveling along the X-direction corresponding path 51 turns toward the second side Y2 in the Y direction at a position 76 corresponding to the destination receiving area E3 in the X direction and enters the destination receiving area E3. The position 76 and the first end 33 are connected by the corresponding connecting path 63 corresponding to the first end 33 so that the transport vehicle 20 can travel. In the illustrated example, the position 76 overlaps with the first end 33 as viewed in the Y direction. Furthermore, as shown in FIG. 4, the Y-direction corresponding path 62 corresponding to the exit 19 and the corresponding connecting path 63 corresponding to the first end 33 are configured to overlap as viewed in the Y direction.

[0043] Second Embodiment An article sorting system 10 according to a second embodiment will be described below with reference to the drawings. In this embodiment, as in the first embodiment, one X-direction path is associated with each of the multiple outlets 19 as an X-direction corresponding path 51. However, this embodiment differs from the first embodiment in that multiple outlets 19 are associated with one X-direction corresponding path 51. The following description will focus on the differences from the first embodiment. Note that points that are not specifically described are the same as those in the first embodiment.

[0044] FIG. 7 is a diagram showing the first floor F1 of the article sorting equipment 10 of this embodiment, and corresponds to FIG. 4. Here, "N" is an integer of 1 or greater. Note that "N" may also be an integer of 2 or greater. In the example shown in FIG. 7, "N" is 2. In this embodiment, the number of exit sections 19 is N times or greater and N+1 times or less the number of X-direction paths that can become X-direction corresponding paths 51. Furthermore, either N or N+1 exit sections 19 are associated with each X-direction corresponding path 51. In the example shown in FIG. 7, the number of exit sections 19 is N times the number of X-direction corresponding paths 51, and N exit sections 19 are associated with each X-direction corresponding path 51.

[0045] Here, "M" is either N or N+1. In the example shown in FIG. 7, M=N. A set of M exits 19 associated with one X-direction route is referred to as a corresponding exit set. In this embodiment, the X-direction corresponding route 51 is set so that the corresponding corresponding exit sets are located closer to the second Y2 side in the Y direction as they approach both ends of the X-direction in the connection area E2. The corresponding exit set is made up of, for example, a plurality of exits 19 (two in the illustrated example) lined up consecutively in the X direction.

[0046] For example, if N=2 and the number of X-direction paths that can become the X-direction corresponding paths 51 is 4, the number of exits 19 is 8 to 12, and the number M of the exits 19 that make up the corresponding exit portion sets is 2 or 3. Specifically, when the number of exits 19 is 9, the M of one of the corresponding exit portion sets is 3, and the M of the remaining three corresponding exit portion sets is 2. Furthermore, when the number of exits 19 is 10, the M of two of the corresponding exit portion sets is 3, and the M of the remaining two corresponding exit portion sets is 2. Furthermore, when the number of exits 19 is 11, the M of three of the corresponding exit portion sets is 3, and the M of the remaining one corresponding exit portion set is 2. Furthermore, when the number of exits 19 is 12, the M of all of the corresponding exit portion sets is 3.

[0047] Furthermore, a set of M turnaround positions 75 corresponding to M exit sections 19 associated with one X-direction route is referred to as a turnaround position set. In this embodiment, a plurality of turnaround position sets are arranged in a V-shape when viewed from the top down. A turnaround position set is made up of, for example, a plurality of turnaround positions 75 (two in the illustrated example) lined up consecutively in the X direction. In this embodiment, a portion of each of the X-direction routes that can be the X-direction corresponding route 51 is passable in both directions.

[0048] Third Embodiment The following describes an article sorting system 10 according to a third embodiment with reference to the drawings. This embodiment differs from the second embodiment in that a connection path 71 is provided. The following description will focus on the differences from the second embodiment. Note that points that are not specifically described are the same as those in the second embodiment.

[0049] 8 is a diagram showing the first floor F1 of the article sorting equipment 10 of this embodiment, and is a diagram corresponding to FIG. 4. In this embodiment, the M outlet sections 19 that make up the corresponding outlet section set are arranged so as to be lined up consecutively in the X direction. In addition, the M outlet sections 19 that make up the corresponding outlet section set are arranged so as to be adjacent to each other in the X direction.

[0050] In this embodiment, each of the X-direction paths that can become the X-direction corresponding path 51 is a one-way path. Furthermore, at least one of the X-direction paths that can become the X-direction corresponding path 51 is a one-way path that runs in opposite directions from the specific position 75a. In the illustrated example, in a part of the connection area E2, each of the X-direction paths that can become the X-direction corresponding path 51 is a one-way path that runs in opposite directions from the specific position 75a. Furthermore, the specific positions 75a are arranged in a V-shape when viewed in the up-down direction.

[0051] In this embodiment, the X-direction path most likely to be the X-direction corresponding path 51 corresponding to the exit portion 19 on the first side X1 in the X direction is a one-way path from the specific position 75a toward the second side X2 in the X direction. Also, the X-direction path most likely to be the X-direction corresponding path 51 corresponding to the exit portion 19 on the second side X2 in the X direction is a one-way path from the specific position 75a toward the first side X1 in the X direction.

[0052] In this embodiment, for each of the multiple corresponding outlet section pairs, a connection path 71 is set that connects the M outlet sections that make up the corresponding outlet section pair in the X direction. The connection path 71 is set to connect a Y-direction path that is connected to the specific position 75a with a Y-direction path that is not connected to the specific position 75a. In the illustrated example, the connection path 71 is set to connect a Y-direction corresponding path 62 that is connected to the specific position 75a with a Y-direction corresponding path 62 that is not connected to the specific position 75a. Furthermore, the connection path 71 is a one-way path. Furthermore, each of the connection paths 71 is a one-way path.

[0053] In this embodiment, the direction change positions 75 include a specific position 75a. The direction change positions 75 also include a one-way change position 75b. The one-way change position 75b is a position where the guided vehicle 20 changes direction in one direction, either the first side X1 in the X direction or the second side X2 in the X direction. In this embodiment, a plurality of direction change positions 75 are located on an X-direction path that can become the X-direction corresponding path 51, one of the plurality of direction change positions 75 is the specific position 75a, and the remaining direction change positions 75 are one-way change positions 75b. In the illustrated example, the one-way change position 75b is a position where the guided vehicle 20 changes direction in the opposite direction to the direction toward the specific position 75a on the X-direction corresponding path 51.

[0054] [Fourth embodiment] The article sorting equipment 10 according to the fourth embodiment will be described below with reference to the drawings. This embodiment differs from the third embodiment in that the number of direction change positions 75 is less than the number of exit sections 19. The following description will focus on the differences from the third embodiment. Note that points that are not specifically described are the same as those in the third embodiment.

[0055] FIG. 9 is a diagram showing the first floor F1 of the article sorting equipment 10 of this embodiment, corresponding to FIG. 4 . In this embodiment, at least one of the connection paths 71 is configured to connect a Y-direction corresponding path 62 connected to a specific position 75a with a Y-direction corresponding path 62 that does not intersect with the X-direction corresponding path 51 and does not connect to the specific position 75a. In the example shown in FIG. 9 , the connection path 71 is configured to connect the first Y-direction corresponding path 62 from the end of the connection area E2 in the X direction with the second Y-direction corresponding path 62 from the end of the connection area E2 in the X direction. Therefore, there is no turning position 75 on the second Y-direction corresponding path 62 from the end of the X direction, and the number of intersections of the travel paths is reduced. In this case, a guided vehicle 20 traveling from the second exit 19 from the end of the X direction toward the first end 33 from the end of the X direction passes through the first Y-direction corresponding path 62 from the end of the X direction.

[0056] Fifth Embodiment The following describes an article sorting system 10 according to a fifth embodiment with reference to the drawings. This embodiment differs from the first embodiment in that the floor E on which the multiple transport vehicles 20 travel is a single story. The following description will focus on the differences from the first embodiment. Note that points that are not specifically described are the same as those in the first embodiment.

[0057] Fig. 10 is a top view of the article sorting equipment 10 of this embodiment. Fig. 11 is a front view of the receiving area E3 of this embodiment. In this embodiment, the turning position 134 is set closer to the second side Y2 in the Y direction than the first end 33. In the example shown, the turning position 134 is set at the end portion, which is the end of the receiving area E3 on the second side Y2 in the Y direction.

[0058] In this embodiment, in the receiving area E3, the outbound receiving path 64 is set so that the transport vehicle 20 travels from the first end 33 to the turning position 134. Also, in the receiving area E3, the return receiving path 135 is set so that the transport vehicle 20 that has made a U-turn at the turning position 53 travels from the turning position 134 to the first end 33. Also, in the connection area E2, the return path 81 is set so that the transport vehicle 20 travels from the first end 33 to the supply area E1.

[0059] In this embodiment, the outbound receiving path 64 and the inbound receiving path 135 are set side by side in the X direction in the receiving area E3. As shown in Figures 10 and 11, in this embodiment, the transport vehicle 20, on the outbound receiving path 64, delivers the article W to a receiving section 31 arranged on the opposite side of the receiving area E3 from the inbound receiving path 135 in the X direction, and on the inbound receiving path 135, delivers the article W to a receiving section 31 arranged on the opposite side of the receiving area E3 from the outbound receiving path 64 in the X direction. In this embodiment, the inbound receiving path 135 is set to be one-way.

[0060] Sixth Embodiment The following describes an article sorting system 10 according to a sixth embodiment with reference to the drawings. This embodiment differs from the fifth embodiment in that the receiving area E3 does not include an aisle area. The following description will focus on the differences from the fifth embodiment. Note that points that are not specifically described are the same as those in the fifth embodiment.

[0061] FIG. 12 is a top view of the article sorting equipment 10 of this embodiment, and is a view corresponding to FIG. 10. In this embodiment, a plurality of receiving sections 31 are provided in each of a plurality of receiving areas E3, and are arranged so as to be lined up in the X direction. Furthermore, a plurality of receiving sections 31 provided in the receiving area E3 are arranged so as to be lined up in the X direction. Furthermore, a receiving path 164 extending in the X direction is set up in the receiving area E3. The transport vehicle 20 delivers the article W in the receiving path 164 to a plurality of receiving sections 31 arranged so as to be lined up in the X direction adjacent to the receiving path 164. In this embodiment, the receiving path 164 is set up as a one-way street.

[0062] Other Embodiments Next, other embodiments of the article sorting equipment 10 will be described.

[0063] (1) In the above embodiment, a configuration has been described as an example in which the difference between the maximum and minimum numbers of outlets 19 corresponding to each of the multiple X-direction paths in the connection area E2 is 0. However, the present invention is not limited to such an example. For example, the number of outlets 19 corresponding to a certain X-direction path may be three, and the number of outlets 19 corresponding to each of the remaining multiple X-direction paths may be one.

[0064] (2) In the above embodiment, the number of X-direction paths in the connection area E2 is set to be the same as the number of outlets 19, and is the same as the number of X-direction corresponding paths 51. However, without being limited to such an example, for example, the same or different numbers of X-direction corresponding paths 51 may be associated with each outlet 19. Also, for example, different numbers of X-direction corresponding paths 51 may be associated with one outlet 19, such as three paths, and the remaining outlets 19, such as two paths. Also, for example, the X-direction corresponding paths 51, the Y-direction corresponding paths 62, or the corresponding connection paths 63 may be paths that are not linear but have curved portions.

[0065] (3) In the above embodiment, the intersections of the Y-direction corresponding paths 62 and the X-direction corresponding paths 51 corresponding to the multiple exits 19 are the direction change positions 75, and the multiple direction change positions 75 are arranged in a V-shape when viewed from above. However, the present invention is not limited to such an example. For example, the direction change positions 75 may be arranged in a trapezoidal shape when viewed from above. Furthermore, for example, in the article sorting equipment 10, another area having a dedicated path connecting one exit 19 in the supply area E1 and one first end 33 in the receiving area E3 may be set adjacent to the connection area E2.

[0066] (4) In the above embodiment, the supply area E1 is described as an example of a passage-shaped area extending along the Y direction. However, the present invention is not limited to such an example. For example, the supply area E1 may have a planar shape extending in both the Y direction and the X direction, and each supply area E1 may be provided with one outlet 19.

[0067] (5) In the above embodiment, the receiving area E3 is described as an example of a configuration in which the receiving area E3 is an aisle area extending along the Y direction. However, without being limited to such an example, for example, the receiving area E3 may have a planar shape extending in the Y direction and the X direction, and each receiving area E3 may be provided with one receiving section 31. Furthermore, for example, the receiving area E3 may have an aisle area and an area other than the aisle area.

[0068] (6) In the above embodiment, an example has been described in which the floor E includes a first floor F1 and a second floor F2 that are adjacent to each other in the Z direction. However, the present invention is not limited to such an example. For example, the first floor F1 and the second floor F2 do not have to be adjacent to each other in the Z direction. Furthermore, for example, the floor E may include three or more floors that are arranged in the Z direction. Furthermore, for example, the second floor F2 may be provided with a supply area E1, a connection area E2, and a receiving area E3, and a return passage 81 may be provided on the first floor F1.

[0069] (7) In the above embodiment, an example has been described in which each of the exit sections 19 of the multiple supply areas E1 overlaps with the first end section 33 of the receiving area E3 as viewed in the Y direction, and the connecting area E2 connects the exit sections 19 and the first end section 33 so that the transport vehicles 20 can travel between them. However, the present invention is not limited to such an example. For example, the number of exit sections 19 of the supply areas E1 and the first end sections 33 of the receiving area E3 do not have to be the same, and the configuration may be such that none of the exit sections 19 overlaps with the first end section 33 as viewed in the Y direction. Furthermore, for example, the connecting area E2 may connect the supply area E1 and the receiving area E3 so that the transport vehicles 20 cannot travel between them, and the transport vehicles 20 may be transferred between the supply area E1 and the receiving area E3 by a transfer device.

[0070] (8) In the above embodiment, the guided vehicle 20 traveling along the X-direction corresponding path 51 changes direction toward the Y-direction second side Y2 at a position 76 corresponding to the receiving area E3 of the destination in the X direction, and enters the receiving area E3 of the destination. However, the present invention is not limited to such an example. For example, the guided vehicle 20 traveling along the X-direction corresponding path 51 may change direction toward the Y-direction second side Y2 at any position on the X-direction corresponding path 51, and enter the receiving area E3 of the destination. Furthermore, the position 76 does not have to be a position that overlaps with the first end 33 as viewed along the Y direction.

[0071] (9) In the above embodiment, the supply area E1 and the connection area E2 are separated by a virtual boundary, and both sides of the receiving area E3 in the X direction are the outer edges of the floor E. However, without being limited to such an example, the supply area E1, the connection area E2, and the receiving area E3 may be separated by the actual outer edges of the floor E, and may be areas within which the transport vehicle 20 can move. Furthermore, for example, the supply area E1, the connection area E2, and the receiving area E3 may all be virtual areas set on a large floor E. Furthermore, for example, an area different from the supply area E1, the connection area E2, and the receiving area E3 may be provided on the floor E, such as a buffer area where multiple transport vehicles 20 can line up.

[0072] (10) In the above embodiment, an example has been described in which the control system 45 includes a host control device that controls multiple guided vehicles 20 and a control device mounted on each guided vehicle 20. However, without being limited to such an example, the control system 45 may be, for example, a system in which the control device mounted on each guided vehicle 20 communicates with the control devices of other guided vehicles 20 and each makes autonomous decisions and operates. Also, for example, a position information holder may not be provided on floor E, and position information of the guided vehicles 20 may be obtained by an image sensor or the like provided on the guided vehicles 20 or in the facility. Also, for example, the item sorting equipment 10 may not be provided with the control system 45.

[0073] (11) In the above embodiment, an example has been described in which the control system 45 controls the transfer unit 21 and the traveling unit 25 of the transport vehicle 20. However, the present invention is not limited to such an example, and the control device 46 may be a control device that controls only the traveling unit 25 of the transport vehicle 20. Also, for example, the transport vehicle 20 may not be equipped with the transfer unit 21, and the work entity 16 may transfer the item W on the transport vehicle 20. Also, the transport vehicle 20 may be equipped with a storage chamber in which the item W is stored. Also, the control system 45 may be equipped to control the working device that is the work entity 16.

[0074] (12) In the above embodiment, an example has been described in which the article sorting equipment 10 includes a supply conveying device 17, a receiving conveying device 35, and a shipping device 36. However, the present invention is not limited to such an example, and for example, the article sorting equipment 10 may not include a supply conveying device 17, a receiving conveying device 35, and a shipping device 36, and an operator or a vehicle operated by the operator may transport the articles W or containers 38.

[0075] (13) In the above embodiment, a configuration has been described in which a charging position 42 for charging the transport vehicle 20 using a charger 41 is set in the connection area E2. However, the present invention is not limited to such an example, and the charging position 42 may be set in, for example, the supply area E1, the receiving area E3, or another area accessible to the connection area E2.

[0076] (14) In the above embodiment, the article sorting equipment 10 is described as having a first lifting device L1 and a second lifting device L2. However, the present invention is not limited to such an example. For example, the article sorting equipment 10 may not have the first lifting device L1, and the transport vehicle 20 may be transported by a lifting device, passage, etc. that connects the connection area E2 of the first floor F1 and the second floor F2. Also, for example, the second lifting device L2 may connect the connection area E2 of the first floor F1 and the passage connection area E4 of the second floor F2.

[0077] (15) In the above embodiment, an example has been described in which the article sorting equipment 10 includes a first lifting device L1 and a second lifting device L2. However, the present invention is not limited to such an example. For example, the article sorting equipment 10 may not include the first lifting device L1, and the transport vehicle 20 may be transported by a lifting device, passage, etc. that connects the connection area E2 of the first floor F1 and the second floor F2. Furthermore, for example, the second lifting device L2 may connect the connection area E2 of the first floor F1 and the passage connection area E4 of the second floor F2.

[0078] (16) 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.

[0079] [Summary of the above embodiment] The article sorting equipment described above will now be described.

[0080] The article sorting equipment according to the present disclosure is an article sorting equipment that sorts articles by having a plurality of transport vehicles each travel on a floor to transport the articles, and includes a plurality of supply units that each supply the articles to the transport vehicles, and a plurality of receiving units that each receive the articles from the transport vehicles, wherein a specific direction among the directions along the floor is defined as a Y direction, a direction along the floor that is perpendicular to the Y direction is defined as an X direction, one side of the Y direction is defined as a Y direction first side, the other side of the Y direction is defined as a Y direction second side, one side of the X direction is defined as the X direction first side, and the other side of the X direction is defined as an X direction second side, and the floor is provided with a plurality of receiving areas, each of which is provided with the receiving unit and arranged side by side in the X direction, and a plurality of supply areas, each of which is provided with the supply unit and arranged on the first side in the Y direction relative to the plurality of receiving areas, and a connection area, and the respective exit sections are arranged to line up in the X direction, the connection area is an area that extends in the Y direction and the X direction so as to connect the plurality of exit sections and the plurality of receiving areas to one another, in the connection area, a plurality of X-direction paths that are paths of the transport vehicles traveling along the X direction are set to line up in the Y direction, one of the X-direction paths is associated with each of the plurality of exit sections as an X-direction corresponding path, the transport vehicles that have emerged from each of the exit sections into the connection area are configured, when traveling along the X direction, to change direction towards the first X-direction side or the second X-direction side on the X-direction corresponding path that corresponds to the exit section, and travel on the X-direction corresponding path, and the X-direction corresponding path that corresponds to each of the plurality of exit sections is set to be closer to the second Y-direction side as the corresponding exit section approaches both ends of the X-direction in the connection area.

[0081] According to this configuration, as the distance in the Y direction from the exit to the X-direction corresponding path decreases, the likelihood that a guided vehicle will be obstructed by other guided vehicles while traveling from the exit to the X-direction corresponding path decreases. Furthermore, as a guided vehicle approaches both ends of the connection area in the X direction, the likelihood that a guided vehicle will be obstructed by other guided vehicles while traveling from the exit to the X-direction corresponding path decreases. Therefore, according to this configuration, it is easy to adjust the ease of travel for guided vehicles from the exit to the X-direction corresponding path for each of the multiple supply areas to the same degree. This reduces the likelihood that guided vehicles that stop to accommodate other guided vehicles will concentrate near the exit of a specific supply area, making it less likely that the efficiency of article transport by guided vehicles throughout the entire article sorting facility will decrease.

[0082] In one aspect, the route of the transport vehicle that emerges from each of the plurality of exits into the connection area and travels along the Y direction is defined as a Y-direction corresponding route, and the intersection of the Y-direction corresponding route and the X-direction corresponding route corresponding to each of the plurality of exits is a direction change position where the transport vehicle that emerged from each of the exits into the connection area changes direction toward the first side in the X direction or the second side in the X direction, and the plurality of direction change positions are preferably arranged in a V shape when viewed from above and below.

[0083] According to this configuration, it is possible to appropriately realize a configuration in which the X-direction corresponding paths corresponding to each of the multiple exit portions move toward the second Y-direction side as the corresponding exit portion approaches both ends of the connection area in the X direction.

[0084] In one aspect, preferably, the multiple receiving areas each include an aisle area extending along the Y direction, and multiple receiving sections are arranged in line in the Y direction along each of the multiple aisle areas.

[0085] According to this configuration, compared to when there is no aisle area in the receiving area, it is possible to increase the number of receiving sections of the article sorting equipment while keeping the number of routes for transport vehicles traveling along the Y direction in the connecting area small. Therefore, it is possible to reduce the likelihood of congestion of transport vehicles traveling in the connecting area, and it is easy to improve the efficiency of transporting articles by transport vehicles. [Explanation of symbols]

[0086] 10: Goods sorting equipment 15: Supply section 19:Exit part 20: Transport vehicle 31: Acceptance Department 51: X-direction corresponding route 62: Y-direction corresponding path 75: Turning point E: Floor E1: Supply area E2: Connection area E3: Receiving area, aisle area W:Goods

Claims

1. An article sorting facility in which a plurality of transport vehicles travel on a floor to transport articles and sort the articles, a plurality of supply units each supplying the article to the transport vehicle; a plurality of receivers, each configured to receive the item from the transport vehicle; Equipped with A specific direction among the directions along the floor is defined as a Y direction, a direction perpendicular to the Y direction among the directions along the floor is defined as an X direction, one side of the Y direction is defined as a Y direction first side, the other side of the Y direction is defined as a Y direction second side, one side of the X direction is defined as an X direction first side, and the other side of the X direction is defined as an X direction second side, The floor has: a plurality of receiving areas each provided with the receiving portion and arranged in the X direction; a plurality of supply areas each provided with the supply unit and arranged on the first side in the Y direction with respect to the plurality of receiving areas; The connection area and is set, The outlets of the plurality of supply areas are arranged to be aligned in the X direction, the connection area is an area extending in the Y direction and the X direction so as to connect the plurality of outlets and the plurality of receiving areas to each other, In the connection area, a plurality of X-direction paths, which are paths of the transport vehicles traveling along the X-direction, are set to be aligned in the Y-direction, one of the X-direction paths is associated with each of the plurality of outlets as an X-direction associated path, the transport vehicle that has come out of each of the exits into the connection area is configured to change direction toward the first side in the X direction or the second side in the X direction on the X-direction corresponding path that corresponds to the exit, when traveling along the X-direction, and travel along the X-direction corresponding path; An article sorting facility, wherein the X-direction corresponding paths corresponding to each of the plurality of exit sections are set so that the corresponding exit sections are on the second Y-direction side as they approach both ends of the X-direction in the connection area.

2. a route of the transport vehicle that comes out of each of the plurality of exit portions into the connection area and travels along the Y direction is defined as a Y-direction corresponding route; an intersection of the Y-direction corresponding path and the X-direction corresponding path corresponding to each of the plurality of exit portions is a direction change position at which the transport vehicle that has come out of each of the exit portions into the connection area changes direction toward the first side in the X direction or the second side in the X direction, The article sorting facility according to claim 1 , wherein the plurality of direction change positions are arranged in a V-shape when viewed from above.

Images