JP7351348B2 - 搬送システム及びグリッドシステム - Google Patents
搬送システム及びグリッドシステム Download PDFInfo
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Description
図1は、一実施形態に係る搬送システムSYSの一例を示す斜視図である。図2は、図1の搬送システムSYSで用いられる搬送台車Vの斜視図である。図3は、図2の搬送台車Vを示す側面図である。図4は、図1の搬送システムSYSを示すブロック図である。
Claims (12)
- 複数の搬送台車と、複数の前記搬送台車を制御するコントローラと、を備えた搬送システムであって、
前記搬送台車は、当該搬送台車を走行させる走行部、及び、前記走行部に対して水平方向に沿って移動して載置台との間で物品を移載する移載部を有し、
前記コントローラは、前記搬送台車により物品を前記載置台との間で移載させる移載時には、平面視において物品の移載の際に当該搬送台車に占有される領域に対応するブロッキング領域へ、当該搬送台車以外の他の搬送台車が進入することを禁止するブロッキング制御を行い、
前記搬送台車は、物品を前記載置台との間で移載する場合、第1の方向と、前記第1の方向と異なる第2の方向と、のうちの前記第1の方向を決定し、当該載置台へ前記第1の方向からアクセスする経路に沿って走行し、
前記搬送台車が前記第1の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積以下である、搬送システム。 - 前記搬送台車は、平面視で格子状に配置された走行路に沿って走行可能に設けられ、
前記第1の方向は、前記第2の方向と直角な方向であり、
前記ブロッキング領域は、前記走行路のマス目に対応するセル単位で区画され、
前記ブロッキング領域の面積の大小は、前記ブロッキング領域を区画する前記セルの数の大小に対応する、請求項1に記載の搬送システム。 - 前記走行路は、水平方向に沿って延び且つ吊り下げられたレールであり、
前記走行部は、前記レール上を転動する走行車輪を有し、
前記移載部は、前記レールの下側で物品を保持する物品保持部を有する、請求項2に記載の搬送システム。 - 前記コントローラには、複数の前記載置台と、前記載置台への複数のアクセス方向毎に定められ前記ブロッキング領域の面積に関する情報と、が互いに関連付けられたマップが記憶されており、
前記コントローラは、前記マップを用いて、前記ブロッキング領域の面積が最も小さくなる前記アクセス方向を前記第1の方向として決定する、請求項1~3の何れか一項に記載の搬送システム。 - 前記コントローラは、前記搬送台車によってアクセスされる前記載置台を決定した後に、当該載置台への複数のアクセス方向毎に前記ブロッキング領域の面積に関する情報を演算し、演算した前記情報に基づいて前記ブロッキング領域の面積が最も小さくなる前記アクセス方向を前記第1の方向として決定する、請求項1~3の何れか一項に記載の搬送システム。
- 前記搬送台車の前記移載部は、水平面内において前記搬送台車の走行方向と直角な方向に前記走行部に対して移動し、
前記搬送台車が前記第1の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積よりも小さく、
前記搬送台車が前記第1の方向から前記載置台へアクセスする場合は、平面視において物品の移載時に前記走行部から前記移載部がはみ出さず、
前記搬送台車が前記第2の方向から前記載置台へアクセスする場合は、平面視において物品の移載時に前記走行部から前記移載部がはみ出す、請求項1~5の何れか一項に記載の搬送システム。 - 前記載置台を含む複数の載置台は、所定の並設方向に沿って並設されており、
前記搬送台車が前記第1の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積と等しく、
前記第1の方向は、前記第2の方向よりも前記所定の並設方向に沿う方向である、請求項1~6の何れか一項に記載の搬送システム。 - 前記所定の並設方向が存在しない場合、前記搬送台車が前記第1の方向から当該載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ搬送台車が到達するまでの到達時間は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間よりも短い、請求項7に記載の搬送システム。
- 前記搬送台車が前記第1の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの前記ブロッキング領域の面積と等しく、
前記搬送台車が前記第1の方向から当該載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間よりも短い、請求項1~6の何れか一項に記載の搬送システム。 - 前記搬送台車が前記第1の方向から前記載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間は、前記搬送台車が前記第2の方向から当該載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間よりも長い、請求項1~7の何れか一項に記載の搬送システム。
- 前記コントローラは、複数の前記搬送台車のうち、前記第1の方向から前記載置台へアクセスするときの当該載置台との間で物品を移載可能な位置へ前記搬送台車が到達するまでの到達時間が最も短い何れかの搬送台車に対して、前記経路に沿って走行させる指令を送信する、請求項1~10の何れか一項に記載の搬送システム。
- 水平方向に沿って延び、格子状に配置されたレールと、
前記レールに沿って走行可能な複数の搬送台車と、
複数の前記搬送台車を制御するコントローラと、を備えたグリッドシステムであって、
前記搬送台車は、当該搬送台車を走行させる走行部、及び、水平面内において当該搬送台車の走行方向と直角な方向に前記走行部に対して移動して載置台との間で物品を移載する移載部を有し、
前記コントローラは、前記搬送台車により物品を前記載置台との間で移載させる移載時には、平面視において物品の移載の際に当該搬送台車に占有される領域であって前記レールのマス目に対応するセル単位で区画されたブロッキング領域へ、当該搬送台車以外の他の搬送台車が進入することを禁止するブロッキング制御を行い、
前記搬送台車は、物品の移載時に前記移載部を移動させた際に前記走行部が占有する前記セルに隣接する他のセルに当該移載部がはみ出さないアクセス方向である第1の方向が存在する場合、前記載置台へのアクセスを当該第1の方向から実現する、グリッドシステム。
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