Goods handling equipment

Abstract

To provide an article conveyance facility that easily improves the article conveyance efficiency.SOLUTION: An article conveyance facility (1) includes a plurality of conveyance vehicles (10) and a control system that controls the conveyance vehicles (10). The control system sets an occupied area (O) in front of a travel direction along a travel path (P) from a current position of the conveyance vehicle (10) to a destination spot (D). When the occupied areas (O) of the plurality of conveyance vehicles (10) overlap each other, the control system makes the conveyance vehicle (10), which first sets an overlapping area (L) as the occupied area (O), first pass as a priority conveyance vehicle (10P) through the overlapping area (L).SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to article conveyance equipment.

Background Art

[0002] For example, in a logistics warehouse or the like, article conveyance equipment is used to convey articles. An example of such article conveyance equipment is disclosed in Japanese Unexamined Patent Application Publication No. 2020-100482 (Patent Document 1). The article conveyance equipment (article conveyance equipment F) of Patent Document 1 includes a plurality of conveyance vehicles (article conveyance vehicles V) that convey articles (articles W), and a control system (overall control device Cf) that controls the conveyance vehicles.

[0003] In the article conveyance equipment of Patent Document 1, the conveyance vehicles can freely travel vertically and horizontally on the floor (floor surface 70), and the travel routes of the plurality of conveyance vehicles may intersect with each other. In such a case, in order to avoid a collision between the conveyance vehicles, it may be considered to allow only one conveyance vehicle to enter the intersection of the travel routes and let the other conveyance vehicle wait. In this case, the longer the travel route for which collision avoidance should be determined, the more intersections there are, and accordingly, there is a problem that the number of conveyance vehicles to be made to wait increases and the conveyance efficiency decreases.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, it is desired to realize article conveyance equipment that can easily improve the conveyance efficiency of articles.

Means for Solving the Problems

[0006] The article conveyance equipment according to the present disclosure is Multiple transport vehicles that travel across the floor to transport goods, A supply unit that supplies the articles to the transport vehicle, and a plurality of receiving units that receive the articles from the transport vehicle, An article transporting system comprising a control system for controlling the transport vehicle, Let a specific direction along the floor be the X direction, and let a direction along the floor that is perpendicular to the X direction be the Y direction. Multiple receiving portions are arranged spaced apart from each other in the X direction. The supply unit and the plurality of receiving units are arranged spaced apart in the Y direction. The floor includes a supply area where the supply unit is provided, a plurality of passage areas that extend along the Y direction and are arranged in line along the X direction, and a connecting area that connects the supply area and the plurality of passage areas. Multiple receiving units are arranged along each of the multiple passage areas, The aforementioned connection area is an area that extends in the X direction and the Y direction so as to connect the exit of the supply area and the passage entrances, which are the entrances to each of the multiple passage areas, The passage entrance portion, which is located at a position in the X direction different from the aforementioned exit portion, and which is the passage entrance portion that is closest to the aforementioned exit portion in the X direction, is designated as the target entrance portion. The control system is The aforementioned floor is divided into multiple unit areas of a size that can accommodate the transport vehicle and managed accordingly. The transport vehicle is controlled to move sequentially through adjacent unit areas from the unit area at the starting point to the unit area at the destination point. Each of the multiple transport vehicles is designated as a target transport vehicle, and the unit area of ​​the set number of reservations is set as the area occupied by the target transport vehicle in the direction of travel along the travel path from the current position of the target transport vehicle to the destination point. death, The second set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the X direction, is the number of unit areas from the unit area corresponding to the current position of the target transport vehicle in the X direction to the entrance corresponding area, which is the unit area corresponding to the target entrance in the X direction. The first set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the Y direction, is made greater than the second set reservation number. If the same unit area overlaps as the occupied area of ​​multiple transport vehicles, the transport vehicle that first sets the overlapping unit area as its occupied area will be designated as the priority transport vehicle, and after the priority transport vehicle has passed through the overlapping area, the other transport vehicles that have set the overlapping area as their occupied area will be moved to the overlapping area.

[0007] According to this configuration, while avoiding collisions between multiple carrier vehicles, each of the multiple carrier vehicles can be appropriately driven to the destination point. At that time, for each carrier vehicle, only the unit area for a set reservation number of minutes in the forward traveling direction along the traveling route to the destination point is set as the occupied area, so that it is possible to avoid the occurrence of an excessive number of overlapping areas where the occupied areas overlap with each other. As a result, it is possible to avoid each carrier vehicle from decelerating or stopping too frequently in order to avoid collisions with other carrier vehicles. Therefore, it is easy to increase the traveling speed of each carrier vehicle, and as a result, it is easy to increase the conveyance efficiency of articles as the entire article conveyance facility. Furthermore, a transport vehicle traveling along the Y-direction from the supply unit to the receiving unit will have a longer occupied area than a transport vehicle traveling along the X-direction to one of the multiple receiving units. Therefore, transport vehicles traveling along the Y-direction are more likely to have overlapping areas designated as their occupied area first and are more likely to have priority in passing through. This makes it easier to increase the travel speed of transport vehicles traveling along the Y-direction from the supply unit to the receiving unit. In general, the route from the supply unit to the receiving unit is often longer than the route to one of the multiple receiving units, and as a result, it is easier to further improve the overall efficiency of transporting goods in the goods transport system. Furthermore, the frequency with which the movement of transport vehicles attempting to enter the aisle area from the connection area is obstructed by transport vehicles attempting to move in the X direction toward the aisle area that has emerged from the exit is reduced. Therefore, it is easier to increase the travel speed of transport vehicles entering the aisle area from the connection area. As a result, it is easier to increase the travel speed of transport vehicles traveling relatively long distances along the aisle area, thereby further improving the overall efficiency of goods transport in the goods transport system. Furthermore, when the travel path of a transport vehicle traveling along the X direction intersects with a path along the Y direction that leads to a passage area, it is possible to avoid setting the transport vehicle's occupied area beyond the intersection with the Y-direction path. This prevents the occupied area of ​​a transport vehicle traveling along the X direction from becoming unnecessarily large, regardless of whether the transport vehicle crosses the intersection and travels along the X direction or merges with the Y-direction path at the intersection. Therefore, the possibility of other transport vehicles being obstructed by the occupied area of ​​a transport vehicle traveling along the X direction can be reduced, making it easier to further improve the overall efficiency of goods transport in the goods transport system.

[0008] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0009] [Figure 1] Plan view of an article sorting facility including the article conveyance facility of the embodiment [Figure 2] Front view of the passage area [Figure 3] Block diagram of the control system <L [Figure 4] Schematic diagram showing an example of the traveling route of the carrier vehicle [Figure 5] Schematic diagram showing an example of the route reservation process [Figure 6] Schematic diagram showing an example of the route reservation process [Figure 7] Schematic diagram showing an example of the route reservation process and the traffic regulation process [Figure 8] Schematic diagram showing an example of the route reservation process and the traffic regulation process [Figure 9] Schematic diagram showing an example of the route reservation process and the traffic regulation process [Figure 10] Schematic diagram showing an example of the route reservation process and the traffic regulation process [Figure 11] Schematic diagram showing an example of route reservation processing and traffic regulation processing [Figure 12] Schematic diagram showing an example of route reservation processing and traffic regulation processing

Mode for Carrying Out the Invention

[0010] An embodiment of the article conveying facility will be described with reference to the drawings. The article conveying facility 1 of the present embodiment is used, for example, in a logistics center (for example, an article sorting facility), to convey article A to be taken out from a warehouse and sorted for each delivery destination.

[0011] As shown in FIG. 1, the article conveying facility 1 includes a transport vehicle 10, a supply unit 20, and a receiving unit 30. Further, the article conveying facility 1 includes a control system 40 (see FIG. 3). The article conveying facility 1 of the present embodiment includes a plurality of transport vehicles 10, a plurality of supply units 20, a plurality of receiving units 30, and a control system 40. The transport vehicle 10 travels on the floor 6 to convey article A. The supply unit 20 supplies article A to the transport vehicle 10. The receiving unit 30 receives article A from the transport vehicle 10. The control system 40 controls the plurality of transport vehicles 10, the plurality of supply units 20, and the plurality of receiving units 30.

[0012] As shown in FIG. 2, the floor 6 on which the transport vehicle 10 travels is a raised-bottom floor in the present embodiment. The floor 6 has a floor material 61 whose upper surface serves as the traveling surface of the transport vehicle 10, and a plurality of support columns 62 that support the floor material 61 from below. The floor 6 is formed such that its upper surface (the upper surface of the floor material 61 in the present embodiment) is flush along a horizontal plane. Although not shown, a position information holding body is provided on the upper surface of the floor 6 (the upper surface of the floor material 61). The position information holding body is, for example, a one-dimensional code (barcode), a two-dimensional code (for example, a QR code, etc.), an IC tag, etc. The position information holding bodies are provided at a plurality of locations and each holds unique position information.

[0013] In this embodiment, a specific direction along the floor 6 is defined as the X direction, and a direction perpendicular to the X direction along the floor 6 is defined as the Y direction. In this embodiment, the left-right direction in Figure 1 is defined as the X direction as the "specific direction," and the up-down direction in Figure 1, which is perpendicular to it, is defined as the Y direction. The direction perpendicular to both the X and Y directions (the direction perpendicular to the plane of the paper in Figure 1) is defined as the Z direction. This Z direction is the up-down direction of the goods transport equipment 1 (see Figure 2).

[0014] As shown in Figure 1, the floor 6 is configured with a supply area R1 where a supply unit 20 is provided, a connection area R2, and a passage area R3 where a receiving unit 30 is provided. In this embodiment, the supply area R1 and passage area R3 are linear areas extending along the Y direction, and multiple and equal numbers of each are provided. One supply area R1 and one passage area R3 are arranged in a straight line at the same position in the X direction, and multiple sets of these supply area R1 and passage area R3 are arranged intermittently at intervals in the X direction.

[0015] The connection area R2 connects the supply area R1 and the passage area R3. In this embodiment, the supply area R1 and the passage area R3 are spaced apart in the Y direction, and the connection area R2 connects the supply area R1 and the passage area R3 in the Y direction. Furthermore, the connection area R2 in this embodiment is a rectangular area in plan view that extends in the X and Y directions while extending in the Y direction and connecting all of the supply areas R1 and all of the passage areas R3.

[0016] Thus, floor 6 is configured such that, from a rectangular connection area R2 located in the center in the Y direction, multiple supply areas R1 extend intermittently in the X direction and then in the Y direction on one side in the Y direction (upper side in Figure 1), and multiple passage areas R3 extend in the Y direction at the same positions as the corresponding supply areas R1 on the other side in the Y direction (lower side in Figure 1).

[0017] In this embodiment, the connection points between each of the multiple supply areas R1 and the connection area R2 are referred to as exit points 66. The exit points 66 are the positions where the transport vehicle 10 exits the supply area R1. Similarly, the connection points between each of the multiple passage areas R3 and the connection area R2 are referred to as passage entrance points 67. The passage entrance points 67 are the positions where the transport vehicle 10 enters the passage area R3. The connection area R2 connects each of the exit points 66 of the multiple supply areas R1 and each of the passage entrance points 67 of the multiple passage areas R3 to one another.

[0018] As shown in Figure 2, the transport vehicle 10 that travels on floor 6 comprises a travel section 11 and a transfer section 15. The travel section 11 has a body 12 and wheels 13 that are rotatably supported at the bottom of the body 12. The wheels 13 roll on the travel surface on floor 6. Multiple wheels 13 are provided, and at least one of them is a drive wheel to which the driving force of a power source (e.g., a drive motor or internal combustion engine) is transmitted. The transport vehicle 10 in this embodiment is an electric vehicle equipped with a drive motor as a power source, and travels by receiving power from, for example, a battery, a fuel cell, or contact or non-contact power supply from floor 6.

[0019] The transfer unit 15 includes a mounting platform 16 supported above the vehicle body 12 and a drive mechanism 17. The mounting platform 16 is configured to be able to change its orientation between a horizontal orientation aligned with the horizontal direction and an inclined orientation tilted relative to the horizontal direction. Furthermore, in this embodiment, the mounting platform 16 is configured to be able to change its orientation between a first inclined orientation in which it is tilted about one end in the X direction as an axis while facing the Y direction, and a second inclined orientation in which it is tilted about the other end in the X direction as an axis. That is, the mounting platform 16 is configured to be able to change its orientation between a horizontal orientation, a first inclined orientation, and a second inclined orientation. The drive mechanism 17 drives the mounting platform 16 to change its orientation between a horizontal orientation and an inclined orientation (first inclined orientation and second inclined orientation). The drive mechanism 17 may be, for example, a bar mechanism, a cylinder mechanism, a ball screw mechanism, etc.

[0020] The transport vehicle 10 is also equipped with a location information detection unit 19 (see Figure 3) for reading information held in a location information holder located on the upper surface of the floor 6. The location information detection unit 19 is selected according to the type of location information holder, and may include, for example, a barcode reader, a QR code reader, and an IC tag reader.

[0021] Multiple supply units 20, spaced apart from each other in the X direction, are each provided with a supply and conveying device 21. In this embodiment, one supply and conveying device 21 is provided corresponding to each of the multiple supply areas R1. The supply and conveying device 21 is formed in a loop shape with a forward path and a return path so that it can transport goods A from an automated warehouse (not shown) and transport goods A to the automated warehouse. The supply and conveying device 21 can be, for example, a conveyor or an automated guided vehicle, and may be a combination of multiple types.

[0022] In this embodiment, the item A is supplied to the transport vehicle 10 by the work entity W transferring the item A to the transport vehicle 10 at the supply unit 20. That is, the item A, which has been transported from the automated warehouse by the supply transport device 21, is transferred to the transport vehicle 10 by the work entity W at the supply unit 20, thereby supplying the item A to the transport vehicle 10. The work entity W may be, for example, a worker or a work device (for example, an arm-type robot), and may be a combination of multiple types. The transport vehicle 10 receives the item A on a horizontally positioned platform 16 and travels toward the receiving unit 30 with the item A placed on the platform 16.

[0023] Multiple receiving sections 30, spaced apart from each other in the X direction, are each provided with a receiving and conveying device 31 and a shipping device 32. As shown in Figures 1 and 2, in this embodiment, multiple receiving and conveying devices 31 and shipping devices 32 are provided, corresponding to each of the multiple aisle areas R3. Multiple receiving and conveying devices 31 are provided adjacent to both sides in the X direction of one aisle area R3, and arranged in the Y direction (seven on each side in this example). One shipping device 32 is provided adjacent to both sides in the X direction of one aisle area R3, flanking the receiving and conveying device 31, and extending in the Y direction. The receiving and conveying devices 31 may be, for example, conveyors, cranes, or robotic arms, and may be a combination of multiple types. The shipping devices 32 may be, for example, conveyors or automated guided vehicles, and may be a combination of multiple types.

[0024] In this embodiment, in the receiving section 30, the mounting platform 16 of the transport vehicle 10 changes its orientation to an inclined position (first inclined position or second inclined position), thereby transferring article A from the transport vehicle 10 to the receiving transport device 31, and then transferring article A from the receiving transport device 31 to the corresponding shipping device 32 (see Figure 2). When the mounting platform 16 is in the first inclined position, article A is transferred to the shipping device 32 via the receiving transport device 31 on one side in the X direction, and when it is in the second inclined position, article A is transferred to the shipping device 32 via the receiving transport device 31 on the other side in the X direction.

[0025] The height of the conveying surface of the receiving conveying device 31 is set to be less than or equal to the height of the mounting surface 16 of the transport vehicle 10 on the floor 6. In addition, a container C is placed on the shipping device 32, and the difference between the height of the conveying surface of the receiving conveying device 31 and the height of the conveying surface of the shipping device 32 is set to be greater than or equal to the height of container C. The goods A transferred from the transport vehicle 10 are loaded into container C placed on the shipping device 32 via the receiving conveying device 31.

[0026] Each container C corresponds to one delivery destination, and the type and number of items A specified in a single order are sequentially placed into the corresponding container C. Once all the items A specified in the order information have been placed in container C, the collected container C is transported by the shipping device 32.

[0027] After receiving item A in passage area R3, the transport vehicle 10 is returned to supply area R1 via the return route. The return route may be located on floor 6, or it may be located at a different position in the Z direction from floor 6. If the transport vehicle 10 is battery-powered, a charging station may be provided on the return route.

[0028] As shown in Figure 3, the control system 40 includes a control device 41 that controls the transport vehicle 10 (traveling section 11 and transfer section 15). In addition to the transport vehicle 10, the control system 40 (control device 41) is configured to control the supply transport device 21, the receiving transport device 31, and the shipping device 32. The control device 41 includes an arithmetic processing unit such as a CPU (Central Processing Unit) and a main memory such as RAM (Random Access Memory) and ROM (Read Only Memory). Each function of the control device 41 is realized through the cooperation of the arithmetic processing unit and the program executed on the arithmetic processing unit.

[0029] Furthermore, the control device 41 may not be a single piece of hardware, but rather a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other by wired or wireless means. For example, the control device 41 may be configured to include a higher-level control device installed in a control facility (not shown) and control terminal devices mounted on each transport vehicle 10 that can communicate with the higher-level control device.

[0030] As shown in Figure 4, in this embodiment, the control system 40 divides the floor 6 into multiple unit areas U, each large enough to accommodate a transport vehicle 10 when viewed in the Z direction, and manages it accordingly. In this embodiment, the floor 6 is configured with multiple linear supply areas R1 along the Y direction, a rectangular connection area R2 extending in the X and Y directions, and multiple linear passage areas R3 along the Y direction. The supply areas R1 and passage areas R3 are managed by multiple unit areas U arranged in a straight line along the Y direction. The connection area R2 is managed by multiple unit areas U arranged in a grid (orthogonal grid) along the X and Y directions. Each unit area U is provided with a position information holder that holds its own unique position information. The control system 40 controls each of the multiple transport vehicles 10 based on the information obtained from the position information holders.

[0031] The control system 40 is configured to control the transport vehicle 10 so that it moves sequentially through adjacent unit areas U from the unit area U at the starting point S to the unit area U at the destination point D. Here, the starting point S is the point where the transport vehicle 10 of interest receives item A from the supply transport device 21 in one of the supply areas R1. The destination point D is the point in the passage area R3 adjacent in the X direction with the receiving transport device 31 in between to the container C to which the transport vehicle 10 that has received item A is to deliver item A.

[0032] As shown in Figure 4, when the position of the starting point S in the X direction and the position of the destination point D in the X direction are the same, the set of the unit area U of the starting point S, the unit area U of the destination point D, and a plurality of unit areas U arranged in a straight line between them in the Y direction becomes the travel path P of the transport vehicle 10. In this case, the transport vehicle 10 passes through the exit section 66 and the passage entrance section 67, which are located at the same position in the X direction.

[0033] On the other hand, if the position of the starting point S in the X direction and the position of the destination point D in the X direction are different, the travel path P of the transport vehicle 10 is a collection of the unit area U of the starting point S, the unit area U of the first turning point T1, the unit area U of the second turning point T2 which is in the same Y direction as the first turning point T1 and in the same X direction as the destination point D, the unit area U of the destination point D, and a plurality of unit areas U arranged in a straight line between these in the X or Y direction. In this case, the exit section 66 and the passage entrance section 67 through which the transport vehicle 10 passes are in different X directions.

[0034] In the following explanation, among the passage entrances 67 located at positions in the X direction different from the exit 66, the passage entrance 67 that is closest in the X direction to the exit 66 is referred to as the target entrance 67S. In particular, the target entrance 67S is the passage entrance 67 that is closest in the X direction to the exit 66 and is located on the forward side in the direction of travel of the transport vehicle 10 under consideration (see Figure 5, etc.).

[0035] The control system 40 performs a route reservation process when controlling multiple transport vehicles 10. In the route reservation process, the control system 40 sets a set number of unit areas U in the direction of travel ahead of each transport vehicle 10, along the travel path P from the current position of the transport vehicle 10 to the destination point D, and sets the transport vehicle 10's occupied area O. This occupied area O can be called an area (prior reservation area) that is reserved in advance by the transport vehicle 10 to prevent other transport vehicles 10 from entering in order to travel. The occupied area O also includes the transport vehicle 10's current position. Furthermore, when a transport vehicle 10 moves, the occupied area O, starting from its current position, may also move accordingly.

[0036] In this embodiment, the control system 40 does not set the number of reservation settings for setting the occupied area O of each transport vehicle 10 to a uniform value (i.e., a fixed value), but rather makes it different depending on the state of the transport vehicle 10 (i.e., a variable value). The control system 40 makes the number of reservation settings different depending on at least one of the position and direction of travel of the transport vehicle 10.

[0037] For example, the control system 40 sets the first number of reserved settings, which is the number of reserved settings when the transport vehicle 10 is traveling along the Y direction, to be greater than the second number of reserved settings, which is the number of reserved settings when the transport vehicle 10 is traveling along the X direction. In this embodiment, the first number of reserved settings is the number of unit areas U corresponding to the distance traveled by the transport vehicle 10 from accelerating to a predetermined maximum speed until it decelerates at a predetermined deceleration rate and comes to a stop. The maximum speed, which is one of the criteria for determining the first number of reserved settings, may be set based on the specifications of the transport vehicle 10, or it may be set arbitrarily by the user of the equipment. The deceleration, which is one of the criteria for determining the first number of reserved settings, is preferably set so as not to drop the item A during transport. This deceleration may also be set based on the specifications of the transport vehicle 10, or it may be set arbitrarily by the user of the equipment.

[0038] By setting the first number of reservations from this perspective, the transport efficiency of the transport vehicle 10 traveling along the Y direction can be prioritized. In this example, for the sake of explanation, the first number of reservations is set to "20". In this case, the area O occupied by the transport vehicle 10 traveling along the Y direction is a collection of 20 unit areas U arranged in the Y direction starting from the position of the transport vehicle 10.

[0039] On the other hand, the second set reservation number is set to be less than or equal to the number of unit areas U in the X direction from the unit area U corresponding to the exit section 66 to the unit area U corresponding to the target entrance section 67S (hereinafter referred to as the "entrance corresponding area E"). In this embodiment, as described above, the transport vehicle 10 proceeds along the X direction when the position of the starting point S in the X direction and the position of the destination point D in the X direction are different. For this reason, the second set reservation number is set to be less than or equal to the number of unit areas U in the X direction from the unit area U of the first direction change point T1 to the entrance corresponding area E.

[0040] Furthermore, if the current position of the transport vehicle 10 is the first turning point T1, the number of unit areas U from the unit area U of the first turning point T1 to the entrance area E in the X direction becomes the second set reservation number. If the transport vehicle 10 is moving beyond the first turning point T1 toward the entrance area E, the number of unit areas U from the unit area U corresponding to the current position of the transport vehicle 10 in the X direction to the entrance area E becomes the second set reservation number.

[0041] In this embodiment, as an example, adjacent supply areas R1 in the X direction are separated by a unit area U of 10 squares. For this reason, the second set reservation number is set to "12 or less," and in this case, the area O occupied by the transport vehicle 10 moving along the X direction is a collection of multiple unit areas U (an integer of 12 or less) arranged in the X direction, starting from the position of the transport vehicle 10 and ending at the entrance corresponding area E.

[0042] Furthermore, if the position of the starting point S in the X direction and the position of the destination point D in the X direction are different, the destination point D may be located in a passage area R3 connected by a passage entrance 67 different from the target entrance 67S. In such cases, when the entrance corresponding area E is reached, the control system 40 updates the passage entrance 67 that is closest in the X direction from there as the new target entrance 67S, and sets the second set reservation number in the same manner as above. However, if multiple passage areas R3 are provided at equal intervals in the X direction, it is not necessary to update the target entrance 67S.

[0043] Furthermore, when the transport vehicle 10 is moving along the X direction, the transport vehicle 10 changes direction at the first turning point T1 so that its direction of travel changes from the Y direction to the X direction, and then changes direction at the second turning point T2 so that its direction of travel changes from the X direction to the Y direction. In such cases, the control system 40 sets only the area corresponding to the travel path P up to the turning point T as the occupied area O until the transport vehicle 10 reaches the turning point T. In other words, for transport vehicles 10 that are scheduled to change direction afterward, the control system 40 does not include the area corresponding to the travel path P after the change of direction in the occupied area O. Then, after the transport vehicle 10 has changed direction at the turning point T, the control system 40 sets the area corresponding to the travel path P from the turning point T as the occupied area O.

[0044] Specifically, the control system 40 sets the occupied area O to be only the area along the Y direction up to the first turning point T1 until the transport vehicle 10 reaches the first turning point T1. Furthermore, the control system 40 sets the occupied area O to be only the area along the X direction up to the second turning point T2 from the time the transport vehicle 10 changes direction in the X direction at the first turning point T1 until it reaches the second turning point T2. Subsequently, the control system 40 sets the occupied area O to be only the area along the Y direction up to the destination point D from the time the transport vehicle 10 changes direction in the Y direction at the second turning point T2.

[0045] Furthermore, when the area along the Y-direction up to the first turning point T1 or the area along the Y-direction from the second turning point T2 onward is set as the occupied area O, if its length is greater than or equal to the length of the unit area U of the first set reservation, then, as described above, the set of unit areas U of the first set reservation arranged in the Y-direction starting from the position of the transport vehicle 10 is designated as the occupied area O.

[0046] Similarly, when the area along the X direction from the first turning point T1 onwards is set as the occupied area O, and its length is greater than or equal to the length of the unit area U of the second set reservation, then, as described above, the set of unit areas U of the second set reservation arranged in the X direction starting from the position of the transport vehicle 10 is set as the occupied area O.

[0047] The control system 40 sets an occupied area O for each of the multiple transport vehicles 10 according to the above criteria, so the occupied areas O of different transport vehicles 10 may intersect. In the following, a unit area U that overlaps as the occupied area O of multiple transport vehicles 10 will be referred to as an overlapping area L. When such an overlapping area L occurs, the control system 40 performs traffic control processing to avoid collisions between the transport vehicles 10.

[0048] In the traffic control process, the control system 40 designates the transport vehicle 10 that has set the overlapping area L as its occupied area O first among the multiple transport vehicles 10 as the priority transport vehicle 10P, and allows this priority transport vehicle 10P to travel through the overlapping area L first. At that time, the control system 40 has the transport vehicles 10 other than the priority transport vehicle 10P, among the multiple transport vehicles 10 that have set the overlapping area L as their occupied area O, wait in front of the overlapping area L in their respective occupied areas O, as necessary. After the priority transport vehicle 10P has passed through the overlapping area L, the control system 40 moves the other transport vehicles 10 to the overlapping area L.

[0049] Below, we will describe in more detail an example of the route reservation process and traffic control process performed by the control system 40 of this embodiment.

[0050] As shown in Figure 5, when an item A is supplied to a transport vehicle 10 (hereinafter referred to as "10A" to distinguish it from other transport vehicles 10) at a supply unit 20, a travel path P is drawn with the starting point S at that location and the destination point D at the location corresponding to the receiving unit 30 where the container C into which the item A should be placed is installed. In this example, the X-direction position of the starting point S and the X-direction position of the destination point D are different, and the travel path P includes two turning points T.

[0051] In this case, the control system 40 sets the occupied area O to be only the area along the Y direction up to the first turning point T1 until the transport vehicle 10A reaches the first turning point T1. The control system 40 then makes the transport vehicle 10A travel through this occupied area O. As the transport vehicle 10A travels, its current position changes moment by moment, and the occupied area O gradually shortens, but the end point of the occupied area O along the Y direction remains unchanged at the first turning point T1.

[0052] When the transport vehicle 10A reaches the first turning point T1, the control system 40 changes the direction of travel from the Y direction to the X direction. Once the direction change is complete, as shown in Figure 6, the control system 40 sets only the area along the X direction from the first turning point T1 to the entrance corresponding area E (the unit area U corresponding to the target entrance 67S, which is the passage entrance 67 that is closest to the exit 66 in the X direction) as the occupied area O.

[0053] In this example, at that time, as shown in Figure 7, item A is supplied to another transport vehicle 10 (hereinafter referred to as "10B") at a supply unit 20 located at the same X-direction position as the entrance area E for transport vehicle 10A. Then, for this transport vehicle 10B, a travel path P is drawn with its position as the starting point S and the position corresponding to the receiving unit 30 where the container C into which item A should be placed is installed as the destination point D. In this example, the X-direction position of the starting point S and the X-direction position of the destination point D are the same, so the travel path P is a straight line along the Y direction.

[0054] In this example, the number of unit areas from the departure point S to the destination point D of the transport vehicle 10B is greater than the number of units reserved in the first setting, so the control system 40 sets the set of unit areas U of the number of units reserved in the first setting, arranged in the Y direction from the departure point S, as the occupied area O for the transport vehicle 10B. Then, the occupied area O of the transport vehicle 10A and the occupied area O of the transport vehicle 10B overlap at the entrance corresponding area E, which is the downstream end of the occupied area O of the transport vehicle 10A.

[0055] In this example, prior to the setting of the occupied area O of transport vehicle 10B, the occupied area O of transport vehicle 10A has already been set, and the overlapping area L has been reserved in advance by transport vehicle 10A. Therefore, the control system 40 designates transport vehicle 10A, which has set the overlapping area L as its occupied area O first, as the priority transport vehicle 10P. Then, as shown in Figure 8, the control system 40 readjusts the occupied area O of transport vehicle 10B, which is not the priority transport vehicle 10P, to the unit area U before the overlapping area L. As a result, as shown in Figure 9, the control system 40 has transport vehicle 10B wait in the unit area U before the overlapping area L, and has transport vehicle 10A, which is the priority transport vehicle 10P, travel through the overlapping area L first.

[0056] When the transport vehicle 10A reaches the overlapping area L, the control system 40 resets the set of multiple unit areas U arranged in the X direction from that position to the second turning point T2 as the occupied area O for the transport vehicle 10A.

[0057] In this example, as suggested in Figure 9, before the transport vehicle 10A travels through the overlapping area L, it is assumed that item A was supplied to another transport vehicle 10 (hereinafter referred to as "10C") at a supply unit 20 located at the same X-direction position as the second turning point T2 for transport vehicle 10A. The travel path P of this transport vehicle 10C is a path that starts at its position S and ends at its destination D, which corresponds to the receiving unit 30 where the container C into which item A should be placed is installed. In this example, it is assumed that the X-direction position of the starting point S and the X-direction position of the destination D are the same, and the travel path P is a straight line along the Y-direction.

[0058] When the transport vehicle 10A reaches the previously overlapping area L, and its occupied area O is updated to include the second turning point T2, the occupied area O of transport vehicle 10A and the occupied area O of transport vehicle 10C overlap at the second turning point T2. Thus, a new overlapping area L is created as a result of the update of the occupied area O of transport vehicle 10A.

[0059] In this example, prior to the update (re-setting) of the occupied area O of transport vehicle 10A, the occupied area O of transport vehicle 10C has already been set, and the newly created overlapping area L has been reserved in advance by transport vehicle 10C. Therefore, the control system 40 designates transport vehicle 10C, which has set the overlapping area L as its occupied area O first, as the priority transport vehicle 10P. Then, as shown in Figure 10, the control system 40 re-sets the occupied area O of transport vehicle 10A, which is not the priority transport vehicle 10P, to extend to the unit area U before the overlapping area L. As a result, the control system 40 allows transport vehicle 10C, which is the priority transport vehicle 10P, to travel through the overlapping area L first.

[0060] As the transport vehicle 10A moves forward, the initial overlapping area L in relation to the transport vehicle 10B disappears, and the control system 40 releases the restriction on the occupied area O for the transport vehicle 10B. As a result, the occupied area O of the transport vehicle 10B is updated (reconfigured) into a set of multiple unit areas U arranged in the Y direction from its current position to the destination point D, and the transport vehicle 10B begins to travel toward the destination point D again.

[0061] As shown in Figure 11, in this example, in the relationship between transport vehicles 10A and 10C, transport vehicle 10C reaches the overlapping area L before transport vehicle 10A reaches the unit area U before the overlapping area L. When transport vehicle 10C proceeds beyond the overlapping area L, the overlapping area L disappears, and the control system 40 releases the restriction on the occupied area O for transport vehicle 10A. As a result, the occupied area O of transport vehicle 10A is updated (reconfigured) to a set of multiple unit areas U arranged in the X direction from its current position to the second turning point T2, and then transport vehicle 10A proceeds to the second turning point T2 without waiting along the way.

[0062] When the transport vehicle 10A reaches the second turning point T2, the control system 40 changes the direction of travel from the X direction to the Y direction. Once the direction change is complete, as shown in Figure 12, the control system 40 sets the area along the Y direction from the second turning point T2 to the destination point D as the occupied area O. Transport vehicles 10A and 10C then travel toward their respective destination points D.

[0063] By performing the route reservation and traffic control processes described above, it is possible to avoid collisions between transport vehicles and prevent an excessive amount of overlapping area L from occurring, thereby improving the overall transport efficiency of the goods transport equipment 1.

[0064] [Other Embodiments] (1) In the above embodiment, a configuration in which the number of reservation settings for setting the occupied area O is a variable value according to the state of the transport vehicle 10 was described as an example. However, the configuration is not limited to such a configuration, and the number of reservation settings for setting the occupied area O may be a fixed value that does not depend on the state of the transport vehicle 10.

[0065] (2) In the above embodiment, a configuration was described as in which the number of first set reservations when the direction of travel of the transport vehicle 10 is along the Y direction is greater than the number of second set reservations when the direction of travel of the transport vehicle 10 is along the X direction. However, the configuration is not limited to such a configuration, and the number of first set reservations when the direction of travel of the transport vehicle 10 is along the Y direction may be the same as or less than the number of second set reservations when the direction of travel of the transport vehicle 10 is along the X direction.

[0066] (3) In the above embodiment, the first set reservation number was described as an example in which the number of unit areas U corresponding to the distance traveled by the transport vehicle 10 from the time it accelerates to a predetermined maximum speed until it decelerates at a predetermined deceleration rate and comes to a stop. However, the first set reservation number is not limited to such an embodiment, and may be set according to different criteria. For example, the first set reservation number may be set to a value determined according to the size of the goods transport equipment 1 (or the number of unit areas U set on the floor 6).

[0067] (4) In the above embodiment, a configuration in which the second set reservation number is set based on the relationship with the unit area U (entrance corresponding area E) corresponding to the target entrance section 67S was described as an example. However, the configuration is not limited to such a configuration, and the second set reservation number may be set according to different criteria. For example, the second set reservation number may be set to a value that is smaller than the first set reservation number by a predetermined fixed value.

[0068] (5) In the above embodiment, the control system 40 was described as setting the area corresponding to the travel path P from the direction change point T after the transport vehicle 10 has turned around at the direction change point T as the occupied area O. However, the control system 40 is not limited to such a configuration, and the control system 40 may set the area corresponding to the travel path P after the direction change at the direction change point T when the transport vehicle 10 has reached the direction change point T as the occupied area O.

[0069] (6) In the above embodiments, the supply area R1, connection area R2, and passage area R3 were mainly assumed to represent areas demarcated by the actual outer edge of the floor 6. However, the invention is not limited to such a configuration, and the supply area R1, connection area R2, and passage area R3 may be virtual areas that are simply set up on the floor 6.

[0070] (7) In the above embodiment, a configuration in which the supply area R1 and the passage area R3 are linear areas extending along the Y direction, and the connection area R2 is a rectangular area in plan view that extends in the X and Y directions was described as an example. However, the configuration is not limited to such a configuration, and for example, at least one of the supply area R1 and the passage area R3 may be a rectangular area in plan view that extends in the X and Y directions, or the entirety of the supply area R1, the connection area R2, and the passage area R3 may be a rectangular area in plan view that extends in the X and Y directions.

[0071] (8) In the above embodiment, a configuration in which multiple outlets 66 are provided corresponding to the multiple supply areas R1 being spaced apart in the X direction was described as an example. However, the configuration is not limited to such a configuration, and for example, there may be only one outlet 66.

[0072] (9) In the above embodiment, a configuration in which multiple passage areas R3 are provided at equal intervals in the X direction was described as an example. However, the configuration is not limited to such a configuration, and the intervals between adjacent passage areas R3 in the X direction may be slightly different. In this case, when focusing on one exit section 66, the distances to adjacent passage entrance sections 67 in the X direction may be different. In such cases, the closer of the two adjacent passage entrance sections 67 in the X direction may be designated as the target entrance section 67S and the second set reservation number may be set, or different second set reservation numbers may be set for one side and the other side in the X direction.

[0073] (10) In the above embodiment, a configuration in which the receiving section 30 is arranged along the passage area R3 was described as an example. However, the configuration is not limited to such a configuration, and for example, multiple receiving sections 30 may be arranged scattered over a wide area. Multiple receiving sections 30 may be arranged spaced apart from each other at least in the X direction and also spaced apart from each other in the Y direction.

[0074] (11) In the above embodiment, the control device 41 constituting the control system 40 was mainly described assuming a configuration comprising a higher-level control device and a control terminal device mounted on each transport vehicle 10 that can communicate with the higher-level control device. However, the system is not limited to such a configuration, and for example, the control system 40 may be a system in which control terminal devices mounted on each of the multiple transport vehicles 10 communicate with each other and operate autonomously based on their own judgments. Also, a position information holder is not required to be provided on the floor 6, in which case the control system 40 may acquire the position information of the transport vehicles 10 by sensors, cameras, etc., installed on the transport vehicles 10 or the equipment side.

[0075] (12) In the above embodiment, a configuration in which the goods transport equipment 1 is used in a logistics center (for example, a goods sorting facility) was described as an example. However, the configuration is not limited to such a configuration, and the goods transport equipment 1 of this embodiment can be used in any facility that needs to transport goods A, such as a factory or warehouse.

[0076] (13) The configurations disclosed in each of the above-described embodiments (including the above-described embodiments and other embodiments; the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, insofar as they do not cause a conflict. With respect to other configurations, the embodiments disclosed herein are illustrative in all respects and can be modified as appropriate without departing from the spirit of the disclosure.

[0077] [Summary of the Embodiments] In summary, the article transport equipment relating to this disclosure preferably comprises the following components.

[0078] An article transporting system comprising a plurality of transport vehicles that travel across the floor to transport articles, and a control system that controls the transport vehicles, The control system is The aforementioned floor is divided into multiple unit areas of a size that can accommodate the transport vehicle and managed accordingly. The transport vehicle is controlled to move sequentially through adjacent unit areas from the unit area at the starting point to the unit area at the destination point. Each of the multiple transport vehicles is designated as a target transport vehicle, and the unit area of ​​the set number of reservations is set as the area occupied by the target transport vehicle in the direction of travel along the travel path from the current position of the target transport vehicle to the destination point. If the same unit area overlaps as the occupied area of ​​multiple transport vehicles, the transport vehicle that first sets the overlapping unit area as its occupied area will be designated as the priority transport vehicle, and after the priority transport vehicle has passed through the overlapping area, the other transport vehicles that have set the overlapping area as their occupied area will be moved to the overlapping area.

[0079] This configuration allows multiple transport vehicles to travel to their respective destinations while avoiding collisions between them. For each transport vehicle, only a set number of reserved unit areas are designated as its occupied area, along its travel path to the destination. This avoids the creation of excessively large overlapping areas between occupied areas. As a result, each transport vehicle avoids excessively frequent deceleration or stopping to avoid collisions with other vehicles. Therefore, it becomes easier to increase the travel speed of each transport vehicle, thereby improving the overall efficiency of the goods transport system.

[0080] As one aspect, A supply unit that supplies the articles to the transport vehicle, The vehicle further comprises a plurality of receiving sections for receiving the articles from the transport vehicle, Let a specific direction along the floor be the X direction, and let a direction along the floor that is perpendicular to the X direction be the Y direction. Multiple receiving portions are arranged spaced apart from each other in the X direction. The supply unit and the plurality of receiving units are arranged spaced apart in the Y direction. In the control system, it is preferable that the first set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the Y direction, is greater than the second set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the X direction.

[0081] In this configuration, a transport vehicle traveling along the Y-direction from the supply unit to the receiving unit will have a longer occupied area than a transport vehicle traveling along the X-direction to one of the multiple receiving units. Therefore, transport vehicles traveling along the Y-direction are more likely to have overlapping areas designated as their occupied area first and are more likely to have priority in passing through. This makes it easier to increase the travel speed of transport vehicles traveling along the Y-direction from the supply unit to the receiving unit. In general, the route from the supply unit to the receiving unit is often longer than the route to one of the multiple receiving units, and as a result, the overall efficiency of transporting goods in the goods transport system can be further increased.

[0082] As one aspect, The floor includes a supply area where the supply unit is provided, a plurality of passage areas that extend along the Y direction and are arranged in line along the X direction, and a connecting area that connects the supply area and the plurality of passage areas. Multiple receiving units are arranged along each of the multiple passage areas, The aforementioned connection area is an area that extends in the X direction and the Y direction so as to connect the exit of the supply area and the passage entrances, which are the entrances to each of the multiple passage areas, The passage entrance portion, which is located at a position in the X direction different from the aforementioned exit portion, and which is the passage entrance portion that is closest to the aforementioned exit portion in the X direction, is designated as the target entrance portion. In the control system, it is preferable that the second set reservation number be less than or equal to the number of unit areas in the X direction, from the unit area corresponding to the exit portion to the unit area corresponding to the target entrance portion.

[0083] This configuration makes it easier to reduce the frequency with which the movement of transport vehicles attempting to enter the aisle area from the connection area is obstructed by transport vehicles attempting to move in the X direction toward the aisle area that has emerged from the exit and is spaced apart in the X direction. Therefore, it is easier to increase the travel speed of transport vehicles entering the aisle area from the connection area. As a result, it is easier to increase the travel speed of transport vehicles traveling relatively long distances along the aisle area, thereby further improving the overall efficiency of goods transport in the goods transport system.

[0084] As one aspect, The control system preferably sets the second number of reserved settings for the transport vehicle traveling along the X-direction toward the entrance-compatible area, which is a unit area corresponding to the target entrance in the X-direction, to the number of unit areas from the unit area corresponding to the current position of the target transport vehicle toward the entrance-compatible area in the X-direction.

[0085] This configuration prevents the area occupied by a transport vehicle traveling along the X-direction from extending beyond the intersection with a path along the Y-direction that connects to the passage area. This prevents the area occupied by a transport vehicle traveling along the X-direction from becoming unnecessarily large, regardless of whether the transport vehicle crosses the intersection and travels along the X-direction or merges with the path along the Y-direction at the intersection. Therefore, the possibility of other transport vehicles being obstructed by the area occupied by a transport vehicle traveling along the X-direction is reduced, making it easier to further improve the overall efficiency of transporting goods in the goods transport system.

[0086] As one aspect, The control system preferably sets the first set reservation number to the number of unit areas corresponding to the distance traveled by the transport vehicle from when it accelerates to a predetermined maximum speed until it decelerates at a predetermined deceleration rate and comes to a stop.

[0087] This configuration makes it easier to ensure that transport vehicles traveling along the Y-direction can maintain their maximum speed for a longer period, thereby further improving the overall efficiency of transporting goods within the goods transport system.

[0088] As one aspect, In the case where there is a turning point in the travel path of the target transport vehicle, it is preferable that the control system sets only the occupied area corresponding to the travel path up to the turning point until the target transport vehicle reaches the turning point, and then sets the occupied area corresponding to the travel path from the turning point after the target transport vehicle reaches the turning point.

[0089] This configuration avoids the need for the transport vehicle's occupied area to become unnecessarily large. Therefore, the possibility of the occupied area obstructing the movement of other transport vehicles is reduced, making it easier to further improve the overall efficiency of transporting goods in the goods transport system.

[0090] The goods transport equipment relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of symbols]

[0091] 1. Goods handling equipment 6 floors 10 Transport vehicles 10P Priority Transport Vehicle 20 Supply section 30 Reception Department 40 Control Systems 66 Exit section 67 Passageway entrance 67S Target entrance section R1 Supply Area R2 Connection Area R3 Passageway Area U Unit Area O Occupied Area L Overlap area E Entrance Area P Driving Route S Starting point D Destination point T-shaped turning point T1 First turning point T2 Second turning point A Goods

Claims

1. An article transporting system comprising: a plurality of transport vehicles that travel on a floor to transport articles; a supply unit that supplies the articles to the transport vehicles; a plurality of receiving units that receive the articles from the transport vehicles; and a control system that controls the transport vehicles, Let a specific direction along the floor be the X direction, and let a direction along the floor that is perpendicular to the X direction be the Y direction. Multiple receiving portions are arranged spaced apart from each other in the X direction. The supply unit and the plurality of receiving units are arranged spaced apart in the Y direction. The floor includes a supply area where the supply unit is provided, a plurality of passage areas that extend along the Y direction and are arranged in line along the X direction, and a connecting area that connects the supply area and the plurality of passage areas. Multiple receiving units are arranged along each of the multiple passage areas. The aforementioned connection area is an area that extends in the X direction and the Y direction so as to connect the exit of the supply area and the passage entrances, which are the entrances to each of the multiple passage areas, The passage entrance portion, which is located at a position in the X direction different from the aforementioned exit portion, and which is the passage entrance portion that is closest to the aforementioned exit portion in the X direction, is designated as the target entrance portion. The control system is The aforementioned floor is divided into multiple unit areas of a size that can accommodate the transport vehicle and managed accordingly. The transport vehicle is controlled to move sequentially through adjacent unit areas from the starting unit area to the destination unit area. Each of the multiple transport vehicles is designated as a target transport vehicle, and the unit area of ​​the set number of reservations is set as the area occupied by the target transport vehicle in the direction of travel along the travel path from the current position of the target transport vehicle to the destination point. The second set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the X direction, is the number of unit areas from the unit area corresponding to the current position of the target transport vehicle in the X direction to the entrance corresponding area, which is the unit area corresponding to the target entrance in the X direction. The first set reservation number, which is the number of set reservations when the direction of travel of the transport vehicle is along the Y direction, is made greater than the second set reservation number. If the same unit area overlaps as the occupied area of ​​multiple transport vehicles, the transport vehicle that first sets the overlapping unit area as its occupied area is designated as the priority transport vehicle, and after the priority transport vehicle has passed through the overlapping area, the other transport vehicles that have set the overlapping area as their occupied area are moved to the overlapping area.

2. The article transport equipment according to Claim 1, wherein when the transport vehicle moves beyond the entrance corresponding area along the X direction, the control system updates the passage entrance that is closest in the X direction from the entrance corresponding area as the new target entrance, and the second set reservation number is the number of unit areas from the unit area corresponding to the current position of the target transport vehicle to the unit area corresponding to the new target entrance in the X direction.

3. The article transport equipment according to claim 1 or 2, wherein the control system sets the first set reservation number to the number of unit areas corresponding to the distance traveled by the transport vehicle from the time it accelerates to a predetermined maximum speed until it decelerates at a predetermined deceleration rate and comes to a stop.

4. The article transport equipment according to claim 1 or 2, wherein the control system, when there is a turning point in the travel path of the target transport vehicle to change direction, sets only the occupied area corresponding to the travel path up to the turning point until the target transport vehicle reaches the turning point, and sets the occupied area corresponding to the travel path from the turning point after the target transport vehicle reaches the turning point.

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