Conveying system
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- DAIFUKU CO LTD
- Filing Date
- 2023-04-26
- Publication Date
- 2026-05-15
Smart Images
Figure 0007859379000001 
Figure 0007859379000002 
Figure 0007859379000003
Abstract
Description
Technical Field
[0001] The present invention relates to a conveying system.
Background Art
[0002] Conventionally, as a passage for a cart that conveys articles, a lattice-shaped passage provided adjacent to a conveyor is known (for example, see Patent Document 1).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In this type of passage, for example, it would be beneficial if the conveyance efficiency of articles could be further improved.
[0005] Therefore, an object of the present invention is to obtain a conveying system that can further improve the conveyance efficiency of articles in a conveyance path having a plurality of passages that intersect each other, for example.
Means for Solving the Problems
[0006] The transport system of the present invention comprises: a first group of passages consisting of a plurality of linear passages extending in a first direction, which are passages for a plurality of trolleys; a second group of passages consisting of a plurality of linear passages extending in a second direction intersecting the first direction, which are passages for a plurality of trolleys; a plurality of transfer sections where the trolleys stop for at least one of loading and unloading; and a control unit that controls the movement of the plurality of trolleys in the first group of passages and the second group of passages, wherein at least one passage in the first group of passages and at least one passage in the second group of passages intersect, and the control unit controls the movement of the plurality of trolleys in the first passage included in the first group of passages such that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time. [Brief explanation of the drawing]
[0007] [Figure 1] Figure 1 is an exemplary and schematic plan view of a transport path applied to the transport system of the first embodiment. [Figure 2] Figure 2 is an illustrative block diagram of a centralized control device included in the transport system of the first embodiment. [Figure 3] Figure 3 is an exemplary block diagram of a trolley included in the transport system of the first embodiment. [Figure 4] Figure 4 is a schematic plan view showing an example of the movement path of a trolley determined by the transport system of the first embodiment relative to the transport path in Figure 1. [Figure 5] Figure 5 is a schematic plan view showing another example of the trolley's movement path determined by the transport system of the first embodiment relative to the transport path in Figure 1. [Figure 6] Figure 6 is an exemplary and schematic plan view of a transport path applied to the transport system of the second embodiment. [Figure 7] Figure 7 is an exemplary and schematic plan view of a transport path applied to the transport system of the third embodiment. [Figure 8] Figure 8 is an exemplary and schematic plan view of a transport path applied to the transport system of the fourth embodiment. [Figure 9] Figure 9 is an exemplary and schematic plan view of a transport path applied to the transport system of the fifth embodiment. [Figure 10] Figure 10 is an exemplary block diagram of a centralized control device included in the transport system of the sixth embodiment. [Figure 11] Figure 11 is an exemplary and schematic plan view of a portion of the transport path applied to the transport system of the seventh embodiment. [Modes for carrying out the invention]
[0008] The following describes exemplary embodiments of the present invention. The configurations of the embodiments shown below, as well as the operations and results (effects) obtained from such configurations, are examples only. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derived effects) that can be obtained by the following configurations.
[0009] In this specification, ordinal numbers may be assigned for convenience to distinguish directions, groups of pathways, pathways, etc. However, ordinal numbers do not indicate priority or order, nor do they specify a number.
[0010] Furthermore, in some diagrams, the directions within the conveying system are indicated by arrows. The X, Y, and Z directions intersect and are also perpendicular to each other. The Z direction is roughly aligned with the vertical, and arrow Z points vertically upward. The X and Y directions are roughly aligned with the horizontal.
[0011] [Conveyor path configuration] Figure 1 is a plan view of the transport path CP1 applied to the transport system 1000A(1000) of the first embodiment. As shown in Figure 1, a transport path CP1 is provided on a substantially horizontal floor F, including a plurality of passages 111, 121, 131, 132, 201-207 arranged in a grid pattern. The passages 111, 121, 131, 132 which are substantially aligned in the X direction and the passages 201-207 which are substantially aligned in the Y direction intersect in a cross shape or a T shape.
[0012] Multiple conveyors 301-303 face the Y-direction end of the transport path CP1, and multiple conveyors 401-403 face the opposite Y-direction end of the transport path CP1. Transfer positions P11-P13 and P21-P23 for item A are provided at positions on the transport path CP1 facing each of the conveyors 301-303 and 401-403. Transfer positions P11-P13 and P21-P23 are the positions of the trolley 10 when transferring item A between each of the conveyors 301-303 and 401-403 and the trolley 10. A transfer device (not shown) transfers item A, that is, loads or unloads item A onto the trolley 10, when the trolley 10 is located at transfer positions P11-P13 and P21-P23.
[0013] The trolley 10 can move along the transport path CP1 between any two of the transfer positions P11-P13 and P21-P23. That is, the trolley 10 moving along the transport path CP1 can transport item A between any two of the conveyors 301-303 and 401-403. Also, an empty trolley 10 without item A can move along the transport path CP1 between any two of the transfer positions P11-P13 and P21-P23. Furthermore, if a pool of empty trolleys 10 (not shown) is provided outside the transport path CP1, the trolley 10 can move between this pool and the transfer positions P11-P13 and P21-P23. In Figure 1, the white arrows indicate the direction of movement of the trolley 10 or item A, and the circles indicate a state where the trolley 10 is temporarily stopped.
[0014] In the transport path CP1, the multiple passages 111, 121, 131, and 132 extending in the X direction are examples of passages included in the first passage group 100, and the multiple passages 201 to 207 extending in the Y direction are examples of passages included in the second passage group 200. The X direction is an example of the first direction, and the Y direction is an example of the second direction. Also, the transfer positions P11 to P13 and P21 to P23 are examples of transfer sections.
[0015] In this embodiment, the carriage 10 is, as an example, a path-guided automated guided vehicle. In this case, the passages 111, 121, 131, 132, 201 to 207 are determined by a plurality of guiding members (not shown) installed on the floor F. The guiding members are, for example, magnetic guiding members such as magnetic rods or magnetic tapes, optical guiding members such as optical reflection tapes, image recognition guiding members such as one-dimensional codes or two-dimensional codes, laser guiding members such as reflectors, and the like. The carriage 10 has sensors corresponding to the type of the guiding member.
[0016] In this embodiment, as an example, the carriage 10 moves along the passages 111, 121, 131, 132, 201 to 207 indicated by the instruction signal and along the path indicated by the instruction signal according to the wireless instruction signal from the centralized control device 1100 (see FIG. 2), while being guided by a plurality of guiding members.
[0017] The passages 111 and 121 extend between the passage 131 and the passage 132. The passage 111 is set as a passage along which the carriage 10 mainly moves in the X direction, and the passage 121 is set as a passage along which the carriage 10 mainly moves in the opposite direction of the X direction. The moving direction of the carriage 10 is determined by the control of the carriage 10 by the centralized control device 1100. Thus, in this case, the centralized control device 1100 controls the carriage 10 to mainly move in the X direction in the passage 111 and controls the carriage 10 to mainly move in the opposite direction of the X direction in the passage 121. The passage 111 is an example of the first passage, and the passage 121 is an example of the second passage. Also, the centralized control device 1100 is an example of the control unit.
[0018] The passage 131 extends between the passage 111 and the conveyors 401 to 403, and the passage 132 extends between the passage 121 and the conveyors 301 to 303. The passages 131 and 132 are set as passages along which the carriage 10 can move in the X direction and the opposite direction of the X direction. That is, the centralized control device 1100 controls the carriage 10 to move in the X direction or the opposite direction of the X direction in the passages 131 and 132. The passages 131 and 132 are examples of the third passage.
[0019] Furthermore, passages 201 to 207 are configured as passages from which the trolley 10 can move in the Y direction and in the opposite direction to the Y direction. That is, the central control device 1100 controls the trolley 10 to move in the Y direction or in the opposite direction to the Y direction in passages 201 to 207.
[0020] As described above, when a primary direction of movement for the trolley 10 is set for each of the passages 111 and 121, and these primary directions of movement are set to be opposite to each other, it is possible to prevent multiple trolleys 10 from moving closer to each other and colliding in each of the passages 111 and 121, and to suppress the decrease in the movement speed of each trolley 10 to avoid such collisions, which would increase the transport time of item A.
[0021] The fact that the main direction of movement for the trolleys 10 is set in the passages 111 and 121 can be determined, for example, from the movement status of the trolleys 10 passing through the passages 111 and 121 over a predetermined period of time. Specifically, if, over a predetermined period of time, all the trolleys 10 move in the X direction along the passage 111, if the majority of the trolleys 10 (for example, 3 / 4 or more) move in the X direction along the passage 111, or if the number of trolleys 10 moving in the X direction in the passage 111 over a predetermined period of time is greater than the number of trolleys 10 moving in the opposite direction to the X direction, then the central control device 1100 can determine that it is controlling the trolleys 10 to move mainly in the X direction along the passage 111. Similarly, if, within a predetermined time, all the trolleys 10 move in the opposite direction to the X direction along the passage 121, if the majority of the trolleys 10 (for example, 3 / 4 or more) move in the opposite direction to the X direction along the passage 121, or if the number of trolleys 10 moving in the opposite direction to the X direction along the passage 121 is greater than the number of trolleys 10 moving in the X direction along the passage 121 within a predetermined time, the central control device 1100 can determine that it is controlling the trolleys 10 to move primarily in the opposite direction to the X direction along the passage 121.
[0022] Here, the predetermined time can be set to, for example, a time equal to or greater than the average time required for at least two of the transfer positions P11-P13 and P21-P23 in the transport path CP1. Alternatively, the predetermined time may be set to, for example, the time from when one cart 10 enters either passage 111 or passage 121 while there are no carts 10 in either passage 111 or passage 121, until the next time there are no carts 10 in either passage 111 or passage 121. The central control device 1100 can swap the main direction of movement of the cart 10 set in passage 111 with the main direction of movement of the cart 10 set in passage 121. In this case, the predetermined time is set so as not to span the timing of the swap.
[0023] Furthermore, if the trolley 10 is controlled to move in the main direction of movement in passages 111 and 121, and is controlled to move in the X direction and the opposite direction of the X direction in passages 131 and 132, (1) The ratio of the number of carts 10 moving in the X direction to the total number of carts 10 moving in aisle 131 in a predetermined time is lower than the ratio of the number of carts 10 moving in the X direction to the total number of carts 10 moving in aisle 111 in a predetermined time, and the ratio of the number of carts 10 moving in the opposite direction to the X direction to the total number of carts 10 moving in aisle 132 in a predetermined time is lower than the ratio of the number of carts 10 moving in the opposite direction to the X direction to the total number of carts 10 moving in aisle 121 in a predetermined time. (2) The absolute value of the average speed of all trolleys 10 moving through passages 111 and 121 in a predetermined time is greater than the absolute value of the average speed of all trolleys 10 moving through passages 131 and 132 in a predetermined time. The above (1) and (2) may serve as evidence that the main direction of movement of the trolley 10 is set in passages 111 and 121, and that passages 131 and 132 are used as passages from which the trolley 10 can move in the X direction and in the opposite direction of the X direction.
[0024] [Configuration of the centralized control system] Figure 2 is a block diagram of the centralized control unit 1100. As shown in Figure 2, the centralized control unit 1100 is configured as a computer having, for example, an arithmetic processing unit 1110, a main memory unit 1120, an auxiliary memory unit 1130, etc. The arithmetic processing unit 1110 is, for example, a central processing unit (CPU), the main memory unit 1120 is, for example, random access memory (RAM) or read-only memory (ROM), and the auxiliary memory unit 1130 is, for example, a solid state drive (SSD) or a hard disk drive (HDD). The arithmetic processing unit 1110 includes a trolley information acquisition unit 1110a, a transport information acquisition unit 1110b, a current traffic information acquisition unit 1110c, a future traffic information calculation unit 1110d, a route determination unit 1110e, a trolley control unit 1110f, etc. The arithmetic processing unit 1110 operates according to the installed program, functioning as the trolley information acquisition unit 1110a, transport information acquisition unit 1110b, current traffic information acquisition unit 1110c, future traffic information calculation unit 1110d, route determination unit 1110e, trolley control unit 1110f, etc., and executes processing using a predetermined algorithm defined in the program.
[0025] The bogie information acquisition unit 1110a acquires bogie information, such as the position and speed of each bogie 10, wirelessly via the communication device 1200 from sensors installed on the floor F or on each bogie 10.
[0026] The transport information acquisition unit 1110b acquires transport information, for example, from a higher-level device via the communication device 1200, which includes instructions for transporting item A via conveyors 301-303 and 401-403.
[0027] Currently, the traffic information acquisition unit 1110c acquires current traffic information, such as the arrangement of the trolleys 10 on the transport path CP1 and the movement speed of each trolley 10, from the trolley information of multiple trolleys 10 acquired by the trolley information acquisition unit 1110a. Currently, the traffic information acquisition unit 1110c calculates and updates the traffic information at predetermined time intervals.
[0028] The future traffic information calculation unit 1110d predicts the arrangement and movement speed of the trolleys 10 on the transport path CP1 at a predetermined future timing, based on the traffic information acquired by the current traffic information acquisition unit 1110c and the trolley information acquired by the trolley information acquisition unit 1110a, and calculates the traffic information at that timing. The future traffic information calculation unit 1110d also determines whether the traffic information at the predetermined future timing satisfies acceptable conditions. These acceptable conditions are, for example, that the distance between two trolleys 10 that are close to each other is greater than or equal to a predetermined distance. Furthermore, if the acceptable conditions are not met, the future traffic information calculation unit 1110d can modify the arrangement and movement speed of the two trolleys 10.
[0029] The route determination unit 1110e determines the allocation of the trolleys 10 and the movement route, etc., based, for example, on the future traffic information calculated by the future traffic information calculation unit 1110d and the transport information acquired by the transport information acquisition unit 1110b. In the following, among the conveyors 301-303 and 401-403, the conveyors that transport goods A into the transport path CP1 will be simply referred to as the input conveyors, and among the conveyors 301-303 and 401-403, the conveyors that discharge goods A from the transport path CP1 will be referred to as the output conveyors.
[0030] Specifically, the route determination unit 1110e, for example, (1) Assigning a cart 10 to transport item A from among the empty carts 10, (2) The movement path of the assigned trolley 10 to the transfer position corresponding to the loading conveyor, (3) A transfer path from a transfer position corresponding to an input conveyor to a transfer position corresponding to an output conveyor. (4) The subsequent movement path of the empty trolley 10 after the transfer of item A to the transport conveyor. It is possible to determine such things.
[0031] Subsequently, the future traffic information calculation unit 1110d calculates traffic information at a predetermined future timing, including the trolley 10 whose movement path has been determined by the route determination unit 1110e, and determines whether or not the acceptable conditions are met. The unit may then modify the arrangement and movement speed of the trolley 10. If the acceptable conditions cannot be met even after such modifications, the route determination unit 1110e may change the movement path of the trolley 10.
[0032] The bogie control unit 1110f calculates control information to control each bogie 10 to a predetermined position and speed, based on traffic information at a predetermined future timing determined by the future traffic information calculation unit 1110d, i.e., the position and speed of each bogie 10. The control information is then transmitted wirelessly to the bogies 10 via the communication device 1200. The control information may also be referred to as instruction information.
[0033] [Bogie configuration] Figure 3 is a block diagram of the trolley 10. As shown in Figure 3, the control device 11 of the trolley 10 is configured as a computer having, for example, an arithmetic processing unit 11a, a main memory unit 11b, an auxiliary memory unit 11c, etc. The arithmetic processing unit 11a is, for example, a central processing unit (CPU), the main memory unit 11b is, for example, RAM or ROM, and the auxiliary memory unit 11c is, for example, an SSD or HDD. The arithmetic processing unit 11aa has a control information acquisition unit 11a1, a detection control unit 11a2, a running control unit 11a3, an information output control unit 11a4, etc. The arithmetic processing unit 11aa operates according to the installed program and functions as the control information acquisition unit 11a1, the detection control unit 11a2, the running control unit 11a3, the information output control unit 11a4, etc.
[0034] The control information acquisition unit 11a1 acquires control information from the central control device 1100 wirelessly, for example, via the communication device 12.
[0035] The detection control unit 11a2 acquires detection information from, for example, the sensor 13. The sensor 13 is, for example, a position sensor that detects the position of the trolley 10 on the transport path CP1, or a speed sensor that detects the speed of the trolley 10. The speed sensor detects, for example, the rotational speed of the motor, which is the drive device 14.
[0036] The driving control unit 11a3 controls the drive unit 14 of the bogie 10 so that the bogie 10 is in the state instructed by the control information, based on, for example, the control information acquired by the control information acquisition unit 11a1 and the detection information acquired by the detection control unit 11a2. The drive unit 14 includes, for example, an electric motor, an inverter that drives the electric motor, a brake, a brake actuator, etc.
[0037] The information output control unit 11a4 controls the communication device 12 to transmit, for example, detection information acquired by the detection control unit 11a2 and information indicating the status of the drive unit 14 acquired by the driving control unit 11a3 to the central control unit 1100 wirelessly.
[0038] [Example of setting a travel route (1)] Figure 4 shows an example of setting a movement path Pt1 for a trolley 10 carrying item A, from transfer position P11 to transfer position P23. In this case, the trolley 10 moves from transfer position P11, which corresponds to conveyor 301, to transfer position P23, which corresponds to conveyor 403, in order to transport item A from conveyor 301 to conveyor 403 along the transport path CP1. Transfer position P11 is the starting position on the movement path Pt1, and transfer position P23 is the arrival position on the movement path Pt1. Here, as shown in Figure 4, transfer position P23 is shifted in the X direction and in the opposite direction in the Y direction relative to transfer position P11. In this case, the path determination unit 1110e first determines the movement path as the movement path Pt1 in Figure 4, which includes only the section moving in the X direction and the section moving in the opposite direction in the Y direction, and ensures that the section moving in the X direction is as long as possible in the passage 111.
[0039] Furthermore, if the travel path Pt1 determined by the procedure described above fails to satisfy the acceptable conditions, the route determination unit 1110e may modify the travel path Pt1 to include a detour route Pt1r, as shown by the thick dashed line in Figure 4. In this case, it is preferable that the detour route Pt1r includes the passage 111.
[0040] [Example of setting a travel route (2)] Figure 5 shows an example of setting a movement path Pt2 for a trolley 10 carrying item A, from transfer position P22 to transfer position P12. In this case, the trolley 10 moves from transfer position P22, which corresponds to conveyor 402, to transfer position P12, which corresponds to conveyor 302, in order to transport item A from conveyor 402 to conveyor 302 along the transport path CP1. Transfer position P22 is the starting position on the movement path Pt2, and transfer position P12 is the arrival position on the movement path Pt2. Here, as shown in Figure 5, transfer position P12 is shifted in the opposite direction to the X direction and also shifted in the Y direction relative to transfer position P22. In this case, the path determination unit 1110e first determines the travel path Pt2 in Figure 5, which includes only the section moving in the opposite direction of the X direction and the section moving in the Y direction, and ensures that the section moving in the opposite direction of the X direction is as long as possible in the passage 121.
[0041] Furthermore, if the travel path Pt2 determined by the procedure described above fails to satisfy the acceptable conditions, the route determination unit 1110e may modify the travel path Pt2 to include a detour route Pt2r, as shown by the thick dashed line in Figure 5. In this case, it is preferable that the detour route Pt2r includes the passage 121.
[0042] [Trolley on standby] The trolley 10 can wait in a predetermined waiting position.
[0043] In this embodiment, as shown in Figure 1, standby positions 511 and 512 are provided. Standby position 511 faces either passage 111 or passage 121 extending in the X direction, and also faces one passage 204 extending in the Y direction. Standby position 512 faces either passage 111 or passage 121 extending in the X direction, and also faces two passages extending in the Y direction (passages 202 and 203, or passages 204 and 205). In this case, the trolley 10 can enter the standby positions 511 and 512 and wait before entering the passage facing those standby positions 511 and 512. This provides the effect of suppressing interference with other trolleys 10 in the passage, for example. Furthermore, the standby positions 511 and 512 are provided adjacent to one of the passages in the transport path CP1. This provides the effect that, for example, the trolley 10 can enter the adjacent passage from the waiting positions 511 and 512 more smoothly and quickly. The waiting positions 511 and 512 are examples of waiting areas.
[0044] The future traffic information calculation unit 1110d may determine the arrangement and movement speed of the trolley 10, including waiting at the waiting positions 511 and 512, and the route determination unit 1110e may determine the movement route including the waiting positions 511 and 512.
[0045] Furthermore, the trolley 10 may wait in passages 131, 132, 201-207 other than passages 111, 121, which are designated as the main directions of movement. In other words, the waiting area may be included in passages 131, 132, 201-207. In this case, the trolley 10 may wait by temporarily stopping or moving at a low speed that allows it to stop immediately. Also, waiting in passages 131, 132, 201-207 may be before entering passages 111, 121, or before moving to transfer positions P11-P13, P21-P23. This provides the effect of being able to secure more waiting positions and more diverse positions by utilizing passages 131, 132, 201-207. Passages 131, 132, 201-207 are examples of waiting areas.
[0046] As described above, in this embodiment, the transport path CP1 is equipped with a passage 111 (first passage) or passage 121 (second passage) for which a primary direction of movement is set. As a result, for example, the trolley 10 can move at a higher speed in the passages 111 and 121, so the trolley 10 can move more quickly on the transport path CP1 compared to when the transport path CP1 is not equipped with the passages 111 and 121, and consequently, the transport efficiency of the item A on the transport path CP1 can be increased.
[0047] Here, the passages 111 and 121, which have a designated main direction of movement, may be, for example, passages where the number of carts 10 moving in the main direction of movement during a predetermined time is greater than the number of carts 10 moving in the opposite direction to the main direction of movement during a predetermined time, or passages where all passing carts 10 move in the main direction of movement.
[0048] Furthermore, in this embodiment, the transport path CP1 includes passages 131, 132, 201-207 that are not passages 111, 121 for which a main direction of movement is set. If a main direction of movement were set for all passages, the constraints on the movement path of the trolley 10 would increase, and there is a risk that the movement speed of the trolley 10 would decrease. In this embodiment, since the transport path CP1 includes passages 131, 132 (third passage) and passages 201-207 for which a main direction of movement is not set, in addition to passages 111, 121 (first and second passages), for example, the constraints on the movement path of the trolley 10 are reduced, and a more flexible movement path can be set, thereby suppressing a decrease in the movement speed of the trolley 10, and consequently, the transport efficiency of item A in the transport path CP1 can be further increased.
[0049] Here, the passage 131 (third passage) for which no primary direction of movement is set may, for example, be a passage in which the ratio of the number of trolleys 10 moving in the X direction to the total number of trolleys 10 passing through the passage 131 in a predetermined time is lower than the ratio of the number of trolleys 10 moving in the X direction to the total number of trolleys 10 passing through the passage 111 in a predetermined time, or the absolute value of the average speed of all trolleys 10 passing through the passage 131 in a predetermined time is smaller than the absolute value of the average speed of all trolleys 10 passing through the passage 111 in a predetermined time. On the other hand, a passage 132 (third passage) for which no primary direction of movement is set may be a passage in which the ratio of the number of trolleys 10 moving in the opposite direction to the X direction to the total number of trolleys 10 passing through the passage 132 during a predetermined time is lower than the ratio of the number of trolleys 10 moving in the opposite direction to the X direction to the total number of trolleys 10 passing through the passage 121 during the same predetermined time, or the absolute value of the average speed of all trolleys 10 passing through the passage 132 during the same predetermined time is lower than the absolute value of the average speed of all trolleys 10 passing through the passage 121 during the same predetermined time.
[0050] Furthermore, in this embodiment, as shown in Figure 1, the transfer positions P11-P13 and P21-P23 are included in either passage 131 or passage 132. This provides the advantage that, for example, the transfer positions P11-P13 and P21-P23 can be arranged more efficiently using passages 131 and 132 without requiring special space to be secured on the floor F.
[0051] Furthermore, in this embodiment, as shown in Figure 1, each of the transfer positions P11 to P13 is aligned in the Y direction with one of the passages 202 to 204. In other words, passages 201 to 207 include passages 202 to 204 which are aligned in the Y direction with one of the transfer positions P11 to P13. This provides the effect that, for example, the trolley 10 can move more smoothly and quickly from the transfer positions P11 to P13 to one of the passages 202 to 204.
[0052] Furthermore, in this embodiment, as shown in Figure 1, the transfer positions P21 to P23 are each offset in the X direction or the opposite direction of the X direction with respect to the passages 201 to 207. In other words, all of the passages 201 to 207 are offset in the X direction or the opposite direction of the X direction with respect to the transfer positions P21 to P23. This provides the effect of preventing, for example, the trolley 10 located at the transfer positions P21 to P23 from obstructing the passage of other trolleys 10 between the passages 201 to 207 and the passage 131.
[0053] [Second Embodiment] Figure 6 is a plan view of the transport path CP2 applied to the transport system 1000B(1000) of the second embodiment. As shown in Figure 6, in this embodiment as well, similar to the first embodiment, a transport path CP2 is provided on a substantially horizontal floor F, including a plurality of passages 111, 121, 131, 132, 201~207 arranged in a grid pattern.
[0054] As can be seen by comparing Figure 6 with Figure 1, in this embodiment, the spacing in the Y direction between the multiple passages 111, 121, 131, and 132 extending in the X direction is narrow. This provides the effect that, for example, the transport path CP2 can be applied to a floor F that is narrow in the Y direction.
[0055] However, in this embodiment, it becomes difficult to provide standby positions 511 and 512 between passages 111, 121, 131, and 132, and passages 201 to 207 extending in the Y direction become difficult to use as standby positions.
[0056] Therefore, the transport path CP2 is provided with waiting positions 521 and 522 facing either passage 131 or passage 132. This provides the effect of securing more waiting positions, for example.
[0057] Furthermore, each of the standby positions 521 and 522 is adjacent to at least one conveyor. Standby position 521 is adjacent to one conveyor (conveyor 303 or conveyor 403), and standby position 522 is adjacent to two conveyors (conveyors 301, 302, or conveyors 401, 402) that are adjacent in the X direction. In addition, in this case, for example, by providing a transfer device corresponding to each of the standby positions 521 and 522, it becomes possible to transfer item A between the trolley 10 located at the standby positions 521 and 522 and the conveyors 301-303 and 401-403. This provides the effect of further increasing the transport efficiency of item A. In this case, standby positions 521 and 522 are examples of transfer units.
[0058] [Third Embodiment] Figure 7 is a plan view of the transport path CP3 applied to the transport system 1000C(1000) of the third embodiment. In this embodiment, a transport path CP3 is provided on a substantially horizontal floor F, which does not include passages 131, 132 (see Figure 1) but includes a plurality of passages 111, 121, 201-207 arranged in a ladder-like manner. That is, the first passage group 100 of the transport path CP3 has passages 111, 121 in which the main direction of movement of the trolley 10 is set, but does not have passages 131, 132 in which the trolley 10 can move in both the X direction and the opposite direction of the X direction. In this case, for example, the effect is that the processing load of the central control device 1100 can be reduced because there are fewer passages to manage.
[0059] As shown in Figure 7, in this embodiment, a passage 600 is provided that protrudes from passages 111 and 121 toward each conveyor 301-303 and 401-403 in the Y direction or the opposite direction of the Y direction, and transfer positions P11-P13 and P21-P23 are provided in this passage 600. That is, the transfer positions P11-P13 and P21-P23 are offset from passages 111 and 121 in the Y direction or the opposite direction of the Y direction. This has the effect of preventing, for example, a trolley 10 located at transfer positions P11-P13 and P21-P23 from obstructing the passage of other trolleys 10 in passages 111 and 121.
[0060] Furthermore, in this embodiment, as shown in Figure 7, standby positions 521 and 522 are provided. Standby position 521 faces either passage 111 or passage 121, as well as one passage 600. Standby position 522 faces either passage 111 or passage 121, as well as two passages 600. In this case, the trolley 10 can enter these standby positions 521 and 522 and wait before entering passages 111, 121, and 600. This provides the effect of suppressing interference with other trolleys 10 in passages 111, 121, and 600. Also, standby positions 521 and 522 are provided adjacent to passages 111, 121, and 600. This provides the effect of allowing the trolley 10 to enter adjacent passages 111, 121, and 600 more smoothly and quickly from standby positions 521 and 522. Furthermore, the standby positions 521 and 522 are adjacent to the passage 600 where the transfer positions P11-P13 and P21-P23 are located. Therefore, if another trolley 10 is located at one of the transfer positions P11-P13 or P21-P23, and the trolley 10 is waiting at the standby positions 521 or 522 to move to those positions, the trolley 10 can move to those positions P11-P13 or P21-P23 immediately after the other trolley 10 has moved from those positions.
[0061] The passage 600, to which the transfer positions P11-P13 and P21-P23 are provided, may also be provided in the transport paths CP1 and CP2 of the first and second embodiments described above (see Figures 1 and 6). In this case, the passage 600 is provided between passage 131 and each conveyor 401-403, and between passage 132 and each conveyor 301-303. In this configuration, passage 131 is provided between passage 111 and transfer positions P21-P23, and passage 132 is provided between passage 121 and transfer positions P11-P13. In this case, for example, the effect is obtained that the carts 10 located at transfer positions P11-P13 and P21-P23 can be prevented from obstructing the passage of other carts 10 in passages 131 and 132.
[0062] [Fourth Embodiment] Figure 8 is a plan view of the transport path CP4 applied to the transport system 1000D(1000) of the fourth embodiment. As can be seen by comparing Figure 8 with Figure 1, the transport path CP4 of this embodiment differs from the transport path CP1 of the first embodiment in that a passage 133 extending in the X direction is provided between two passages 111 and 121 for which a main direction of movement is set. This passage 133 is a passage that extends in the X direction and for which no main direction of movement is usually set, that is, a passage for which the trolley 10 can move in both the X direction and the opposite direction of the X direction, and is an example of a third passage. In this case, for example, the trolley 10 can wait in passage 133 by temporarily stopping or moving at a low speed that allows it to stop immediately before entering passages 111 and 121. In other words, passage 133 is an example of a waiting area.
[0063] Furthermore, passage 133 is connected to both passages 111 and 121 via multiple passages 201 to 207, and is located between both passages 111 and 121, as well as in relatively close proximity to both passages 111 and 121. Therefore, for example, if the number of carts 10 passing through either passage 111 or passage 121 increases, passage 133 can be used as an auxiliary passage to the passage 111 or passage 121 where the number of carts 10 has increased. Specifically, if the number of carts 10 moving in the X direction in passage 111 increases, passage 133 can be temporarily used as a passage where carts 10 primarily move in the X direction, and if the number of carts 10 moving in the opposite direction to the X direction in passage 121 increases, passage 133 can be temporarily used as a passage where carts 10 primarily move in the opposite direction to the X direction. This can be used to suppress congestion of carts 10 and improve the transport efficiency of goods A.
[0064] [Fifth Embodiment] Figure 9 is a plan view of the transport path CP5 applied to the transport system 1000E(1000) of the fifth embodiment. In the transport paths CP1 to CP4 of the first to fourth embodiments described above, the trolley 10, which is roughly rectangular in plan view, moved in a posture that is long in the X direction and short in the Y direction. In this embodiment, the trolley 10 moves along the transport path CP5 in a posture that is short in the X direction and long in the Y direction, that is, in a posture that is rotated 90° in plan view compared to the posture of the trolley 10 in the transport paths CP1 to CP4. This provides the effect that, for example, the transport path CP5 can be made shorter in the X direction compared to the transport paths CP1 to CP4. In other words, the layout of the transport paths CP1 to CP5 and the posture in which the trolley 10 moves can be appropriately selected according to the size and shape of the floor F on which the transport paths CP1 to CP5 are installed.
[0065] [Sixth Embodiment] Figure 10 is a block diagram of the central control device 1100 of the transport system 1000F(1000) of the sixth embodiment. In this embodiment, the transport path CP1 (see Figure 1) has a grid-like passage similar to that of the first embodiment. However, in this embodiment, the transport system 1000F is equipped with a drive system 1400 that includes a plurality of linear motors. The trolley 10 does not move under its own power, but moves by the operation of linear motors provided on the transport path CP1. The linear motors are arranged at predetermined intervals in the direction of extension of each of the passages 111, 121, 131, 132, 201-207. The central control device 1100 changes the position and moving speed of the trolley 10 by appropriately switching the direction of current supply to the plurality of linear motors, thereby changing the direction of magnetic flux and changing the relationship of attraction or repulsion with the magnets provided on the trolley 10. In this case, the sensor 1300 is installed on the floor F, for example, and includes a position sensor that detects the position of the trolley 10 on the transport path CP1, a speed sensor that detects the speed of the trolley 10, and an identification sensor that detects the identifier of each trolley 10. The trolley information acquisition unit 1110a acquires trolley information from the sensor 1300, for example, the position and speed of each trolley 10. The trolley control unit 1110f then calculates control information for each linear motor to control each trolley 10 to a predetermined position and speed, based on the traffic information at a predetermined future timing calculated by the future traffic information calculation unit 1110d, i.e., the arrangement and movement speed of each trolley 10, and controls the linear motor.
[0066] With this configuration, the same transport paths CP1 to CP5 as in the above embodiments can be constructed, and the same effects as in the above embodiments can be obtained. Furthermore, according to this embodiment, for example, the configuration of the trolley 10 applied to the transport system 1000F can be simplified.
[0067] [Seventh Embodiment] Figure 11 is a plan view of a portion of the transport path CP7 applied to the transport system 1000G(1000) of the seventh embodiment. In the example in Figure 11, a passage 700 is provided at the intersection of a passage 111 extending in the X direction and a passage 202 extending in the Y direction, through which the trolley 10 moves diagonally with respect to the X and Y directions. The passage 700 has a shape such that the corners of the passages 111 and 202 are chamfered. By setting up such a passage 700, the movement path Pt of the trolley 10 can include sections Pts through which it moves diagonally. This provides effects such as enabling the trolley 10 to move more smoothly and quickly between two intersecting passages at an intersection, suppressing sudden changes in acceleration in the trolley 10, and consequently suppressing displacement of the item A on the trolley 10. The passage 700 may also be called a shortcut passage.
[0068] Although embodiments of the present invention have been illustrated above, these embodiments are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, each configuration and specification (structure, type, orientation, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be modified as appropriate.
[0069] For example, the layout and specifications of the passages in a transport path can be changed in various ways. For instance, the lengths of the multiple passages included in the first passage group, the spacing in the second direction, and the positions in the first direction can all be changed in various ways, as can the lengths of the multiple passages included in the second passage group, the spacing in the first direction, and the positions in the second direction. [Explanation of Symbols]
[0070] 10... Dolly 11…Control device 11a... Arithmetic Processing Unit 11a1...Control information acquisition unit 11a2...Detection and Control Unit 11a3... Driving control unit 11a4... Information output control unit 11b...Main memory section 11c…Auxiliary storage unit 12…Communication devices 13...Sensor 14…Drive system 100...First aisle group 111...Aisle (first aisle) 121...Aisle (second aisle) 131,132,133...Aisle (third aisle, waiting area) 200…Second aisle group Rooms 201-207... Passageway (waiting area) 301-303, 401-403... Conveyor 511,512,521,522…Standby position (standby section) 600... Passageway 700... Passageway 1000, 1000A~1000G... Conveyor System 1100...Centralized control unit (control unit) 1110... Arithmetic Processing Unit 1110a...Bogie information acquisition unit 1110b...Transportation information acquisition unit 1110c...Current traffic information acquisition unit 1110d...Future traffic information calculation unit 1110e... Route determination unit 1110f... Bogie control unit 1120...Main memory 1130…Auxiliary storage unit 1200...Communication device 1300...Sensor 1400… Drive System A…Goods CP1~CP5, CP7... Conveyor path F... Floor P11~P13,P21~P23…Transfer position (transfer section) Pt, Pt1, Pt2... Travel Path Pt1r, Pt2r... detour route Pts... section X…direction (first direction) Y…direction (second direction) Z…direction
Claims
1. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, A transport system in which the ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the first passage in the same predetermined time, and the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the second passage in the same predetermined time.
2. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, A transport system in which the absolute value of the average speed of all trolleys moving through the third passage in a predetermined time is less than the absolute value of the average speed of all trolleys moving through the first passage in the same predetermined time, and less than the absolute value of the average speed of all trolleys moving through the second passage in the same predetermined time.
3. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, The third passage is a transport system including the plurality of transfer units.
4. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, The ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the first passage in the same predetermined time, and the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the second passage in the same predetermined time. The third passage is a transport system including the plurality of transfer units.
5. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, The third passage is a transport system provided between the first passage or the second passage and the plurality of transfer units.
6. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The first group of passages includes a third passage separate from the first and second passages, The ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the first direction to the total number of trolleys moving in the first passage in the same predetermined time, and the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the third passage in a predetermined time is lower than the ratio of the number of trolleys moving in the opposite direction to the first direction to the total number of trolleys moving in the second passage in the same predetermined time. The third passage is a transport system provided between the first passage or the second passage and the plurality of transfer units.
7. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group such that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time. A waiting area is provided for waiting for the trolley to proceed to either the passage or the transfer area. The waiting section is provided adjacent to at least one of the transfer section and the passage, in a transport system.
8. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. A waiting area is provided for waiting for the trolley to proceed to either the passage or the transfer area. The waiting section is provided adjacent to at least one of the transfer section and the passage, in a transport system.
9. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group such that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time. The second group of passages is a transport system that includes a passage aligned in the second direction with one of the plurality of transfer units.
10. A first group of passages consisting of multiple linear passages extending in a first direction, which are passages for multiple trolleys, A second group of passages consisting of multiple linear passages extending in a second direction that intersects the first direction among the passages of the aforementioned multiple trolleys, The trolley includes a plurality of transfer sections where it stops for at least one of loading and unloading, A control unit that controls the movement of the plurality of trolleys in the first and second aisle groups, Equipped with, At least one passage of the first passage group and at least one passage of the second passage group intersect, The control unit controls the movement of the plurality of trolleys in the first passage included in the first passage group so that the number of trolleys moving in the first direction during a predetermined time is greater than the number of trolleys moving in the opposite direction to the first direction during a predetermined time, and controls the movement of the plurality of trolleys in the second passage, which is a passage included in the first passage group but is separate from the first passage, so that the number of trolleys moving in the opposite direction to the first direction during a predetermined time is greater than the number of trolleys moving in the first direction during a predetermined time. The second group of passages is a transport system that includes a passage aligned in the second direction with one of the plurality of transfer units.
11. The transport system according to any one of claims 1 to 10, wherein the control unit controls the movement of the plurality of trolleys so that all of the trolleys passing through the first passage move in the first direction.
12. The transport system according to any one of claims 1 to 6, 8, or 10, wherein the control unit controls the movement of the plurality of trolleys so that all of the trolleys passing through the second passage move in the opposite direction to the first direction.
13. The transport system according to any one of claims 1 to 10, wherein at least a portion of the plurality of transfer sections are provided at a position offset from the passages included in the first passage group in the second direction or in the opposite direction to the second direction.
14. The transport system according to any one of claims 1 to 10, wherein the control unit controls the trolley to wait in a passage included in the second group of passages for the trolley to move to one of the passages and the plurality of transfer units.
15. The transport system according to any one of claims 1 to 10, wherein the second group of passages includes a passage offset in the first direction from one of the plurality of transfer sections.