JP5493329B2 - Transport system - Google Patents

Description

  The present invention relates to a technical field of a transfer system including a plurality of transfer means for transferring loads such as various substrates for manufacturing semiconductor devices.

  As this type of transport system, for example, there is a system that includes a plurality of area controllers that are respectively disposed in a plurality of areas and that respectively manage transport vehicles existing in each of the plurality of areas (see Patent Document 1). According to the transport system, when changing the route or a part thereof, the route information stored in one area controller of the plurality of area controllers is updated. Then, the updated route information is transmitted from the one area controller to the other area controllers, and the route information stored in the other area controllers is updated. Then, the updated route information is transmitted from each of the plurality of area controllers to the plurality of transport vehicles under their management, and the route information stored in the plurality of transport vehicles is updated.

Japanese Patent Laid-Open No. 2004-227058

  However, according to Patent Document 1 described above, as a method of transmitting route information to a transport vehicle, route information is transmitted to only one transport vehicle in one communication, or route information is simultaneously transmitted to a plurality of transport vehicles. Transmission is described, and communication time between the area controller and the transport vehicle is reduced.

  In contrast to the contents described above, the inventors of the present application know that, for example, in the case of transmitting one vehicle at a time, that is, in the case of an individual distribution method, the communication time is “transmission time for one vehicle”. Multiplied by the “number of transported vehicles”, and communication may take a long time.

  Also, for example, when broadcasting to a plurality of transport vehicles by broadcast method, if communication is interrupted due to poor communication, part of the route information will be skipped and complete route information cannot be received. Simultaneous transmission ends in failure. That is, if communication failure occurs even once during communication, simultaneous transmission is executed again. Therefore, there is a technical problem that communication may be prolonged in an environment where frequent communication failures occur.

  The present invention has been made in view of the above-described problems. For example, the present invention provides a transport system capable of efficiently delivering reference data while shortening the delivery time of reference data such as map data and teaching data as much as possible. Is an issue.

In order to solve the above-described problem, the transport system according to the present invention provides a reference data in which the correction is reflected among the reference data when the reference data including the map data indicating the map relating to the trajectory is corrected. A data generating means for generating correction data that is a part, a distribution means for distributing the generated correction data by a broadcast method, and a plurality of transport means, each of which is capable of traveling on the track. A transport vehicle that is capable of transporting a load, a communication means for receiving the distributed correction data, and traveling and transporting in a transport plan according to the reference data that can be updated with the received correction data, The plurality of transports, comprising transport control means for controlling the transport vehicle, and error detection means for detecting an error related to communication of the received correction data. And redistribution control means for controlling the distribution means so that the generated correction data is distributed again when the error is detected, and the redistribution control means If detected, the generated correction data is distributed again by the broadcast method, or is individually distributed to the communication means of one of the plurality of transport means in which the error is detected. Select whether to distribute again by the method.

  According to the transport system of the present invention, for example, in a factory for manufacturing a semiconductor device, a load such as FOUP (Front Opening Unified Pod), for example, is produced by a transport means such as an OHT (Overhead Hoist Transport), a vehicle, One or a plurality of work devices such as a stocker (or stacker) are provided, for example, on a track such as a rail laid on the ceiling or floor.

  For example, all the transport means on the track usually control a transport vehicle such as a vehicle so as to transport while traveling according to a transport plan according to the same reference data. When corrections or adjustments are made to the reference data serving as a reference for the transport, the reference data to be corrected is distributed all at once, but depending on the distribution method, the distribution time (that is, communication time) is long. It may become. Here, the “conveyance plan” means, for example, planning how the transport vehicle transports on a track.

  However, in the present invention, for example, when correction is made to the reference data during traveling or conveyance of a plurality of conveying means, first, for example, by the data generating means included in OHVC (Overhead Hoist Vehicle Controller), Among them, correction data that is a part of the reference data reflecting the correction is generated. Then, for example, the generated correction data is distributed by a broadcast method by a distribution unit included in OHVC. Here, the “correction data” may be, for example, reference data for correction for correcting or adjusting the reference data, or for updating the reference data. Absent. One such correction data may be generated in the reference data, or a plurality of correction data may be generated. The “broadcast method” typically means delivery to the entirety of a plurality of transport means in a network that accommodates the receiving means in each of the delivery means and the plurality of transport means. For example, instead of specifying the individually assigned addresses of the receiving means provided in each of the plurality of conveying means, by specifying a special address that means the whole of the plurality of receiving means in all the conveying means Done.

  When the distribution described above is performed, the distributed correction data is received by the communication means including the reception means in each of the plurality of transport means. Then, an error relating to the communication of the received correction data is detected by the error detection means. Here, “communication” means, for example, distribution by a distribution unit, reception by a communication unit in each of a plurality of transport units, communication between the distribution unit and the communication unit, and the like. “Error” related to such communication means, for example, inability to deliver or receive due to noise, interference, etc., and inability to read received correction data, and an error is detected when the error is detected. Information for identifying the transporting means and the correction data may be indicated.

  When the above-described error is actually detected, the distribution unit is controlled by, for example, the redistribution control unit included in the OHVC, and the correction data is distributed again by the broadcast method or the individual distribution method, for example. As a result of the distribution, the correction data distributed again is received again by at least the conveyance means in which an error is detected among the plurality of conveyance means. After that, at a suitable timing, for example, by replacing the reference data of the transport unit with the correction data received again by the transport control unit such as a controller, the reference data serving as the transport reference is obtained. Updated. Thereafter, the transport vehicle is controlled based on the transport plan according to the updated reference data.

  In this way, when corrections are made to the reference data, the correction data, which is a part of the reference data that has been corrected, is not broadcast directly, but the reference data that has been corrected is not distributed directly. By distributing, minimize the time required for distribution. That is, for example, even in an environment where communication failures frequently occur, an error indicating correction data that has failed to be distributed is detected, and the correction data indicated by the error is distributed again to be distributed again. The reference data is corrected on the conveying means side by the complete correction data. Therefore, it is possible to efficiently update the reference data while shortening the delivery time of the correction data that can update the reference data.

  In one aspect of the transport system of the present invention, when the error is detected, the redistribution control means uses the generated correction data as the one of the plurality of transport means in which the error is detected. The delivery means is controlled so as to be delivered again by the individual delivery method to the receiving means provided in the transport means.

  According to this aspect, when the error is actually detected by the error detection means, the distribution means is controlled by the redistribution control means, and the correction data by the data generation means is transferred to the one conveying means in which the error is detected. On the other hand, it is delivered again by the individual delivery method. Here, “individual distribution method” means, for example, distribution to a specific conveying means within a network that accommodates receiving means in each of the distributing means and the plurality of conveying means. For example, this is done by designating the address assigned to each receiving means. In this way, when the delivery of the correction data fails, the reference data is reliably updated to the one transport means that should receive the correction data by individually delivering the correction data again. It becomes possible to do.

In another aspect of the transport system of the present invention, the data generation unit further includes a specifying unit that specifies a progress value indicating a progress of the distribution after the distribution of the correction data is completed by the distribution unit. Divides the correction data into a plurality of correction data sections, the distribution means distributes the plurality of correction data sections in a plurality of times, and the specifying means includes the plurality of correction data sections. After the distribution of the data is completed, the progress value is determined according to the number of the correction data sections in which the error is detected, and the redistribution control means has the specified progress value larger than a predetermined threshold value. In this case, the distribution means is controlled to distribute the correction data again by the individual distribution method, and the correction data is broadcasted when the specified progress value is smaller than a predetermined threshold value. To deliver again in the door system.

  According to this aspect, when the distribution of the correction data is completed, the progress value is specified by the specifying unit. Here, “one way” means, for example, a series of distribution from the first time to the n-th time when correction data is divided and the divided correction data portion is distributed in n times. To do. The “progress value” may be, for example, the number of a plurality of conveyance means for which distribution of all correction data portions has been completed, the total number of correction data portions for which distribution has failed, or the like. “Specification” for such a progress value is, for example, investigating the progress in a plurality of transport means selected at random, and calculating the progress value in all the transport means based on the progress value indicating the result of the investigation. , Estimation, or identification. Note that “investigating” the progress status may be, for example, reading the correction data portions received by the communication means one by one or checking the reception record in the communication means.

  When the progress value is specified, the redistribution control means redistributes the correction data by the individual distribution method when the progress value is larger than a predetermined threshold value. On the other hand, when the progress value is smaller than the predetermined threshold value, the correction data is distributed again by the broadcast method. Here, the “predetermined threshold value” may be a threshold value for determining whether the distribution of the correction data is performed by the individual distribution method or the broadcast method, for example. Such a threshold value may be set in consideration of, for example, the data amount of correction data to be distributed again, the distribution time thereof, the total number of conveying means to be distributed by the individual distribution method, and the like. When the progress value is the same as the predetermined threshold value, the distribution may be performed by either method. The correction data distributed again may be, for example, only the correction data portion indicated by the error in the correction data.

  As described above, by switching the distribution method according to the progress of distribution, it is possible to distribute the reference data more efficiently while further reducing the communication time of the reference data.

  In another aspect of the transport system of the present invention, the distribution unit divides the correction data into a plurality of segments and distributes the correction data in order for each segment. An error is detected, and the redistribution control unit controls the distribution unit so that the generated correction data is distributed again in units of segments when the error is detected.

  According to this aspect, when the correction data is generated by the data generation unit, the generated correction data is divided into a plurality of segments by the distribution unit, and distributed in order for each of the divided segments. Here, the “segment” is a correction data portion such as broadcast data, for example, and may mean a unit for dividing or distributing enormous reference data or correction data of, for example, several hundred kilobytes. Alternatively, it may mean an error correction unit such as an ECC block, or a relatively small arbitrary unit such as one or a plurality of packets or a set of packets.

  When the correction data is distributed for each segment, an error is detected for each segment of the distributed correction data by the error detection means in each of the plurality of transport means. Then, when an error is actually detected, the distribution unit is controlled by the redistribution control unit, and the generated correction data is distributed again in units of segments.

  In this way, by dividing the correction data into a plurality of segments and distributing or redistributing each of the plurality of segments, the time required for the distribution or redistribution can be minimized.

  In this aspect, the data generation means may generate the correction data in the unit of the segment and store the generated correction data in the unit of the segment.

  With this configuration, when correction is made to the reference data, correction data is generated in units of segments by the data generation means. Then, the generated correction data is stored in a storage unit such as a database in units of segments. For example, the correction data is divided into n segments. In this case, the first segment, the second segment,..., The nth segment are generated, and the generated first segment, second segment,. In this way, by handling the correction data in units of segments from the correction data generation stage, each part of the transport system can have the same data configuration. Therefore, for example, when the correction data is distributed, conversion of the correction data (specifically, classification) becomes unnecessary, and the reference data can be updated more efficiently.

  In this aspect, the segment may correspond to each of a plurality of areas in which the entire region where the track is laid is divided.

  With this configuration, for example, when the entire region is divided into a plurality of areas, the reference data corresponding to the entire region is divided into a plurality of segments so as to respectively correspond to the plurality of areas. Thereby, the reference data can be updated in units of areas, and the reference data can be distributed more efficiently.

  In this aspect, the segment may be obtained by further subdividing data blocks respectively corresponding to a plurality of areas into which the entire area where the track is laid is divided.

  With this configuration, for example, when the entire area is divided into a plurality of areas, the reference data corresponding to the entire area is divided into a plurality of data blocks to respectively correspond to the plurality of areas. One data block corresponding to one area is further subdivided into a plurality of segments. Here, the “segmented segment” is, for example, a frame, which is a segmentation of data that is unrelated to an area or region on the map. Thereby, the reference data can be updated in units of data blocks and in units of segments, and the reference data can be distributed more efficiently.

  In another aspect of the transport system of the present invention, the transport control means includes a storage means for storing the reference data, and the received reference data stored in the reference data received in response to a predetermined trigger. According to the updating means for replacing or overwriting at least a part of the data, and according to the stored reference data, it is determined how the transport vehicle is transported on the track, and is transported as determined. Determination control means for controlling the transport vehicle.

  According to this aspect, for example, during travel or conveyance of the plurality of conveyance units, the correction data from the distribution unit is received by the communication unit in each of the plurality of conveyance units. After this, when a predetermined trigger is received, at least a part of the reference data stored by the storage means such as a memory is replaced by the update means without delay or after a predetermined time has elapsed (that is, the reference data is updated). ) Then, the transport vehicle is controlled by the decision control means, and transport is performed according to the updated reference data. Here, the “predetermined trigger” may be, for example, a signal from the outside of the transport unit or a command instructed inside the transport unit after satisfying a predetermined condition. The “at least part” in the reference data may be, for example, only the part of the reference data that has been modified, or the entire reference data. In this way, the reference data is updated with the correction data in a relatively short time in response to a predetermined trigger without actually receiving the reference data from the distribution means. This makes it possible to efficiently update the reference data while shortening the reference data distribution time.

In another aspect of the transport system of the present invention, the reference data includes reference map data including a map element, and the reference map data includes the arrangement of the trajectory, the arrangement of various devices along the trajectory, and the At least one of the mark arrangements attached to the track and readable by the carrier vehicle is included as a map element.

  According to this aspect, for example, the arrangement of the track such as the addition or removal of the track portion, the arrangement of various devices such as adding or excluding one manufacturing device, and moving, adding or deleting the identification code, for example, etc. At least one of the mark arrangements is included in the reference map data as a map element. The reference data can be efficiently updated when corrections are made to the reference data in accordance with such changes in the map elements.

In another aspect of the transport system of the present invention, the reference data is previously taught as a reference for positioning when stopping on the track or transferring the load in addition to reference map data including map elements. Reference teaching data.

  According to this aspect, in addition to the reference map data, the reference data includes reference teaching data indicating, for example, the stop position of the transport vehicle, the transfer position, and the like. The reference data can be efficiently updated when the reference data is modified along with the change of the reference teaching data.

  In another aspect of the transport system of the present invention, the data generation means includes a plurality of area-specific data generation means corresponding to a plurality of areas into which the entire area where the track is laid is divided, and the distribution means includes Each of the plurality of areas corresponding to each of the plurality of areas, and each of the plurality of areas further receiving the distributed correction data; The error detection means for each area that detects an error related to the communication of the correction data to be generated, and when the error is detected in other areas other than the area to which the self corresponds, among the plurality of areas, the generated A redistribution control unit for each area that controls the distribution unit for each area in the area corresponding to the area so that the correction data is distributed again to the other area.

  According to this aspect, each of the plurality of areas is provided with area-specific data generation means, area-specific distribution means, and area-specific redistribution control means. For example, when correction is made to one data block corresponding to one area of reference data during traveling or conveyance of a plurality of conveying means in one area, one area-specific data generating means Thus, correction data that is a part of one data block in which the correction is reflected in one data block is generated. Then, the generated correction data is distributed by the broadcast method by the distribution means for each area.

  When the distribution described above is performed, the distributed correction data is received by the area-specific communication means in each of the plurality of transport means. Then, the error relating to the communication of the received correction data is detected by the area-specific error detection means.

  When the above-mentioned error is actually detected in each of the other areas other than the area to which it corresponds, the area-specific redistribution control means controls the area-specific distribution means in the area to which it corresponds. The correction data is distributed again to other areas other than the corresponding area by, for example, the broadcast method or the individual distribution method. As a result of the distribution, the correction data distributed again is received again by at least the conveyance means in which an error is detected among the plurality of conveyance means. After that, at a suitable timing, the reference data serving as the transport reference is updated by replacing, for example, one data block of the transport means with the correction data received again by the transport control means for each area by the area-specific transport control means. Is done. Thereafter, the transport vehicle is controlled based on the transport plan according to the updated reference data.

  In this way, even when a correction is made to one data block, the time required for the distribution by distributing the correction data that is a part of the one data block in which the correction is reflected by the broadcast method. To minimize. That is, an error indicating correction data for which delivery has failed is detected, and the correction data indicated by the error is distributed again. This makes it possible to efficiently update the reference data while reducing the delivery time of the reference data (or frankly, correction data that can update the reference data).

  The operation and other advantages of the present invention will become apparent from the best mode for carrying out the invention described below.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)

  First, the configuration of the transport system according to the first embodiment of the present invention will be described. FIG. 1 shows functions of the transport system according to the first embodiment, and FIG. 2 shows a configuration of reference data according to the first embodiment.

  In FIG. 1, a transport system 100 according to the present embodiment includes a track 1, a plurality of vehicles 3, a transport controller 10, and a manufacturing instruction unit 20. The manufacturing instruction unit 20 is connected to the transfer controller 10 by wire, and instructs the transfer controller 10 to transfer or transfer a FOUP (not shown) according to the semiconductor element manufacturing process.

  The conveyance controller 10 designs a conveyance schedule based on an instruction from the manufacturing instruction unit 20, and comprehensively controls the plurality of vehicles 3 according to the designed conveyance schedule. The transport controller 10 is connected to a plurality of vehicles 3 by radio. In the present embodiment, the transport controller 10 includes a data generation unit 11, a distribution unit 12, and a redistribution control unit 13.

  As an example of the “data generation unit” according to the present invention, the data generation unit 11 classifies the reference data that reflects the correction when the reference data used for the design of the transportation plan is corrected. The generated reference data portion is generated as a plurality of broadcast data (an example of “correction data” according to the present invention). The broadcast data obtained by dividing the reference data reflecting the correction in this way means a map data portion that needs to be adjusted when a change is made to a track or a device along the track. It can also be called “adjusted map data”.

  In FIG. 2, six broadcast data 20 are respectively associated with six broadcast numbers, and are provided in each of a plurality of vehicles 3 and storage means (not shown) provided in the transport controller 10 in units of broadcast data. It is stored in the memory 5 described later.

  As an example of the “distribution means” according to the present invention, the distribution unit 12 distributes the six broadcast data by the data generation unit 11 in the order of the smallest broadcast number for each broadcast data (that is, distribution by the broadcast method). The distribution unit 12 distributes a progress inquiry signal for confirming the progress of the distribution after the distribution of the broadcast data.

  As an example of the “redistribution control unit” and the “specifying unit” according to the present invention, the redistribution control unit 13 receives at least a broadcast indicated in the error signal according to the progress of distribution when an error signal described later is received. The distribution unit 12 is controlled to distribute the data again.

  Specifically, for example, the error signal is received for the second broadcast data F2 distributed second and the sixth broadcast data F6 distributed sixth. In this case, the redistribution control unit 13 specifies the progress value indicating the progress of distribution as “4”, which is a value obtained by subtracting the number of broadcast data “2” indicated in the error signal from the total number of broadcasts “6”. . For example, the redistribution control unit 13 sets a predetermined progress value threshold (that is, an example of the “predetermined threshold” according to the present invention) to half of the six broadcast data “3”. In this case, the redistribution control unit 13 controls the distribution unit 12 on the assumption that the identified progress value “4” is equal to or greater than the progress value threshold “3”, and the second broadcast data F2 indicated in the error signal and Only the sixth broadcast data F6 is distributed again.

  On the other hand, for example, the error signal is received for the second broadcast data F2 to the sixth broadcast data F6. In this case, the redistribution control unit 13 specifies the progress value as “2” which is a value obtained by subtracting the number of broadcast data “4” indicated in the error signal from the total number of broadcasts “6”. The redistribution control unit 13 determines that the identified progress value “2” is not equal to or greater than the progress value threshold “3”, and controls the distribution unit 12 to transmit all broadcast data (first broadcast data F1 to sixth broadcast data F6). To be delivered again. In this way, the redistribution control unit 13 performs either one of an individual distribution method for redistributing only broadcast data indicated by the error signal or a broadcast method for redistributing all broadcast data according to the progress of distribution. A delivery method selection process to be selected is performed. Such a distribution method selection process is incorporated in the information distribution process according to the present invention.

  The plurality of vehicles 3 are controlled by the transport controller 10 as an example of the “plural transport means” according to the present invention, and travel on the track 1 and transport the FOUP to a working device (not shown) (or the working device). Between them). Each of the plurality of vehicles 3 includes a control unit 4, a memory 5, and an error detection unit 6.

  The control unit 4 controls each unit of the vehicle 3 as an example of the “transport control unit” according to the present invention. The control part 4 is made to convey, making it drive | work by the conveyance plan according to the newest reference data by the control.

  The memory 5 stores six broadcast data from the distribution unit 12 in units of broadcast data as an example of the “storage unit” according to the present invention. Also, the reference data is configured from the latest six stored broadcast data. The memory 5 updates the reference data every time broadcast data from the distribution unit 12 is received by a communication unit (not shown).

The error detection unit 6 detects an error related to communication with the distribution unit 12 as an example of the “error detection unit” according to the present invention. Specifically, for example, when the communication with the distribution unit 12 is interrupted while the third broadcast data F3 distributed third is received by the communication unit, the error detection unit 6 An error is detected for the broadcast data F3. In addition, a signal indicating the detected error (hereinafter referred to as “error signal”) is transmitted to the transport controller 10. In the present embodiment, the time when the error signal is transmitted is after the progress inquiry signal from the distribution unit 12 is received.
(Delivery method selection processing of the present invention)

  Next, a distribution method selection process by the redistribution control unit 13 will be described with reference to FIG. FIG. 3 is a flowchart showing the distribution method selection processing according to the present invention.

  In FIG. 3, first, the distribution unit 12 starts distribution of six broadcast data (that is, “BC data” in FIG. 3) by the broadcast method (step S41). It is determined whether or not the process has been completed (step S42). As a result of this determination, when the process is not completed (step S42: NO), the determination is repeated until the process is completed.

  On the other hand, as a result of the determination in step S42, when the distribution is completed (step S42: YES), the distribution unit 12 transmits a progress inquiry signal and confirms the distribution progress (step S43). Then, in each of all the vehicles 3 that have received the progress inquiry signal, it is determined whether or not an error signal has been transmitted by the error detection unit 6 (that is, whether or not storage of all broadcast data has been completed) ( Step S44). As a result of this determination, when an error signal is transmitted by any one of the error detection units 6 (that is, when all the broadcast data is not yet stored in all the vehicles 3) (step S44: NO), the error signal is transmitted again. The delivery control unit 13 identifies the progress value based on the information indicated in the received error signal, and determines whether or not the identified progress value is equal to or greater than a predetermined progress value threshold value (step S45). If the result of this determination is less than the progress value threshold (step S45: NO), the processing of step S41 (ie, delivery again by the broadcast method) is performed.

  On the other hand, as a result of the determination in step S45, if the identified progress value is equal to or greater than the progress value threshold (step S45: YES), the broadcast data indicated by the error signal is distributed again by the individual distribution method (step S46). . Thereafter, the process of step S43 (that is, confirmation of the progress of distribution) is performed.

  On the other hand, as a result of the determination in step S44, in each of all the vehicles 3 that have received the progress inquiry signal, the error signal by the error detection unit 6 is not transmitted (that is, when all the broadcast data has already been stored) (step S40). (S44: YES) In the first embodiment in which one area is set in the transport system 100, the process of step S47 is skipped, and a series of distribution method selection processes ends.

  In the second embodiment, which will be described later, in which a plurality of areas are set in the transport system, all the broadcast data is stored in all the vehicles 3 for each of the plurality of areas after step S44 is determined as “YES”. It is determined whether it has been stored (step S47). As a result of this determination, if all broadcast data is not yet stored in all the vehicles 3 in any area (step S47: NO), the process of step S44 is performed for that area.

On the other hand, when all the broadcast data has already been stored in all the vehicles 3 in all the areas (step S47: YES), a series of distribution method selection processing is completed.
(Information distribution process of the first embodiment)

  Next, information distribution processing by the transport system according to the first embodiment will be described with reference to FIG. FIG. 4 is a sequence chart showing information distribution processing according to the first embodiment. In the information distribution process of the first embodiment, the reference data stored in each of the three vehicles 3a to 3c is updated by one transport controller 10.

  In FIG. 3, when correction is made to the reference data, first, in the transport controller 10, six broadcast data F <b> 1 to F <b> 6 are generated from the reference data in which the correction is reflected by the data generation unit 11, and the distribution unit 12. Thus, the first broadcast data F1 is distributed (step S51). Subsequently, the second broadcast data F2 is distributed (step S52). At this time, an error is detected by the error detection unit 6 in one vehicle 3c (step S53).

  Subsequently, the third broadcast data F3 is distributed (step S54). At this time, an error is detected by the error detection unit 6 in the vehicle 3b (step S55). Thereafter, the fourth broadcast data F4 to the sixth broadcast F6 are distributed (step S56). Thereafter, a progress inquiry signal is distributed by the distribution unit 12 (step S57). Then, in response to this, the error signal is not transmitted from the error detection unit 6 in the vehicle 3a (that is, it is indicated that the update of the reference data is completed) (step S58). In the vehicle 3b, the error detection unit 6 transmits an error signal including the information of the third broadcast data F3 to the transport controller 10 (that is, it indicates that the update of the third broadcast data F3 has not been completed yet). (Step S59). In the vehicle 3c, the error detection unit 6 transmits an error signal including the information of the second broadcast data F2 to the transport controller 10 (that is, the update of the second broadcast data F2 has not been completed yet). (Step S60).

  After the error signal is transmitted by the vehicles 3b and 3c, the third broadcast F3 is again distributed to the vehicle 3b by the redistribution control unit 13 (step S61). Then, when the distribution is completed, a signal indicating that the distribution is completed is transmitted to the transport controller 10 by the vehicle 3b (step S62). Subsequently, the second broadcast F2 is again distributed to the vehicle 3c by the redistribution control unit 13 (step S63). Then, when the distribution is completed, a signal indicating that the distribution is completed is transmitted to the transport controller 10 by the vehicle 3c (step S64). Thereby, a series of information distribution processing ends.

Thus, according to the information distribution processing of the first embodiment, when correction is made to the reference data, a plurality of broadcast data is generated from the reference data reflecting the correction, and this is distributed by the broadcast method. To minimize the time it takes to deliver. That is, an error indicating distribution that has failed is detected, and at least broadcast data indicated by the error is distributed again. Accordingly, it is possible to efficiently update the reference data while shortening the communication time of the reference data (or frankly, a plurality of broadcast data that can update the reference data).
(Second Embodiment)

  Next, the structure of the conveyance system which concerns on 2nd Embodiment of this invention is demonstrated with reference to FIGS. Here, FIG. 5 shows functions of the transport system according to the second embodiment, FIG. 6 shows a plurality of areas traveled by the plurality of transport means in FIG. 5, and FIG. 7 shows the second embodiment. The structure of the reference data is shown. In the second embodiment, elements that are configured in the same manner as the transport system of FIG. 1 are not described and are denoted by the same reference numerals, and only differences from the transport system of FIG. 1 are described.

  5, the transfer system 300 according to the present embodiment includes a track 1, a plurality of vehicles 103, a transfer controller 110x (110a, 110b,... 110f), and a manufacturing instruction unit 120. The manufacturing instruction unit 120 is connected to the plurality of transport controllers 110 by wire, and instructs the plurality of transport controllers 110 to transport or transfer the FOUP.

  The track 1 is laid over a plurality of areas Ax. In FIG. 6, each of the plurality of areas Ax indicates a unit for dividing the reference data.

  The plurality of transport controllers 110x correspond to the plurality of areas Ax, respectively. The plurality of transport controllers 110x set the reference data for each of the plurality of areas Ax divided by the corresponding plurality of areas Ax as reference data blocks (an example of the “data block” according to the present invention). Each transport controller 110x is wirelessly connected to the vehicle 3 in the area Ax corresponding to itself, and manages the reference data block corresponding to itself while controlling the connected vehicle 3. Each transport controller 110x includes a data generation unit 11, a distribution unit 12, and an error detection unit 13 in the same manner as the transport controller 10 of FIG.

  Next, each part of each transport controller 110x will be described. In FIG. 6, six transport controllers 110a to 110f correspond to six areas A1 to A6, respectively. Here, the area corresponding to the reference data block to be corrected is “A1” (that is, the area set on the leftmost and upper side in FIG. 6), and the area corresponding to the reference data block to which no correction is applied is “ A2 to A6 ”.

  The data generation unit 11 (hereinafter simply referred to as “data generation unit 11 of area A1”) included in the transport controller 110a corresponding to the area A1 is used when the reference data block B1 corresponding to the area A1 is corrected. The reference data block in which the correction is reflected is divided, and a plurality of divided reference data blocks are generated as a plurality of broadcast data.

  In FIG. 7, each of the six reference data blocks 220 (that is, B1 to B6) corresponding to the six areas A1 to A6 shown in FIG. 6 is subdivided into six broadcast data. The six broadcast data constituting each of the six reference data blocks B1 to B6 are respectively linked to the six broadcast numbers, and in the broadcast data unit, storage means (not shown) in each transport controller 110x and each vehicle 3 Stored in the memory 5.

  The distribution unit 12 in the area A1 distributes a plurality of broadcast data from the data generation unit 11 in the area A1 to the transport controllers 110b to 110f in the areas A2 to A6 and the vehicle 103 in the area A1 by a broadcast method.

  Each distribution unit 12 in the areas A2 to A6 receives the plurality of broadcast data from the distribution unit 12 in the area A1, and transmits the received plurality of broadcast data to the vehicle 3 in its own region A2 to A6. Delivered with.

  Each distribution unit 12 in the areas A1 to A6 distributes a progress inquiry signal for confirming the progress of the distribution to the vehicle 3 in its own area A1 to A6 after performing a single distribution.

  When each of the redistribution control units 13 in the areas A1 to A6 receives an error signal from the error detection unit 6 in the vehicle 3, it redistributes at least the broadcast data indicated by the error signal according to the progress of the distribution. Next, the distribution unit 12 is controlled.

Each of the plurality of vehicles 3 is controlled by the transport controller 110 in the area Ax in which the vehicle 3 is present, and executes transport or transfer of the FOUP.
(Information distribution processing of the second embodiment)

  Next, information distribution processing by the transport system according to the second embodiment will be described with reference to FIG. FIG. 8 is a sequence chart showing the information distribution process according to the second embodiment. In the information distribution process of the second embodiment, the vehicle 3 changes between two areas corresponding to the two transport controllers 10 during the distribution of broadcast data.

  In FIG. 8, when the reference data block corresponding to the area A1 is modified, first, the first broadcast data F1 among the n pieces of broadcast data F1 to Fn generated by the data generation unit 11 in the area A1. Is distributed by the distribution unit 12 to the transport controller 110b in the area A2 and the vehicle 3 in the area A1 (step S71). Subsequently, the second broadcast data F2 is distributed to the transport controller 110b in the area A2 and the vehicle 3 in the area A1 (step S72). Here, the vehicle 3 in the area A1 is transferred to the area A2 by the control unit 4. In parallel with this transfer, in the area A1, the distribution unit 12 distributes the third broadcast data F3, the fourth broadcast data F4... (Step S74), and in the area A2, the distribution unit 12 The first to fourth broadcast data F1 to F4 are distributed (step S75).

  Subsequently, the fifth broadcast data F5 is distributed by the distribution unit 12 in the area A2. Then, the fifth broadcast data F5 is received by the vehicle 3 in the current area A2 that has transferred from the area 1 (step S76). Thereafter, the data is distributed up to the last n-th broadcast data Fn (step S77). Then, a progress inquiry signal is transmitted to the vehicle 3 in the area A2 by the distribution unit 12 (step S78). Then, in the vehicle 3 that has received the progress inquiry signal, the redistribution control unit 13 sequentially reads the first broadcast data F1 to the nth broadcast data Fn to be stored. If the third broadcast data is not read during this reading, an error signal indicating the third broadcast data F3 is transmitted to the transport controller 110b (that is, the absence of the third broadcast data F3 is indicated) (step S79). . Then, the third broadcast data F3 is distributed by the individual distribution method by the distribution unit 12 (step S80). When the subsequent fourth broadcast data F4 is not read, an error signal indicating the fourth broadcast data F4 is transmitted to the transport controller 110b (that is, the absence of the fourth broadcast data F4 is indicated) (step S81). . Then, the fourth broadcast data F4 is distributed by the distribution unit 12 (step S82). Thereafter, in the vehicle 3 in the area A2, when all the fifth broadcast data F5 to the nth broadcast data Fn are read, a signal indicating that all the broadcast data has been distributed is transmitted to the transport controller 110b. (Step S83). Thereby, a series of information distribution processing ends.

  As described above, according to the information distribution process of the second embodiment, when one reference data block corresponding to one area is corrected, a plurality of broadcast data is transmitted from the one reference data block in which the correction is reflected. Is generated and distributed in a broadcast manner, thereby minimizing the time required for the distribution. That is, an error indicating distribution that has failed is detected, and at least broadcast data indicated by the error is distributed again. Accordingly, it is possible to efficiently update the reference data while reducing the communication time of the reference data divided into a plurality of reference data blocks (to be frank, a plurality of broadcast data that can update the reference data). Become.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. It is included in the technical scope of the present invention.

It is a block diagram which shows the structure of the conveyance system which concerns on 1st Embodiment. It is explanatory drawing which shows the structure of the reference | standard data which concern on 1st Embodiment. It is a flowchart which shows the delivery method selection process which concerns on embodiment. It is a sequence chart which shows the information delivery process of 1st Embodiment. It is a block diagram which shows the structure of the conveyance system which concerns on 2nd Embodiment. It is a top view which shows the several area drive | worked by the several conveyance means of FIG. It is explanatory drawing which shows the structure of the reference | standard data concerning 2nd Embodiment. It is a sequence chart which shows the information delivery process of 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 3 ... Vehicle, 5 ... Memory, 6 ... Error detection part, 10 ... Conveyance controller, 11 ... Data generation part, 12 ... Distribution part, 13 ... Redistribution control part, 100 ... Conveyance system

Claims (10)

Data correction means for generating correction data, which is a reference data portion in which the correction is reflected in the reference data, when correction is made to the reference data including map data indicating a map relating to the trajectory;
Distribution means for distributing the generated correction data by a broadcast method;
A plurality of transport means, each of which is capable of traveling on the track and capable of transporting a load; a communication means for receiving the distributed correction data; and updating with the received correction data A transport control means for controlling the transport vehicle so as to travel and transport the transport plan according to the reference data that can be performed, and an error detection means for detecting an error related to the communication of the received correction data, A plurality of conveying means;
Redistribution control means for controlling the distribution means so as to distribute the generated correction data again when the error is detected, and
When the error is detected, the re-distribution control unit distributes the generated correction data again by the broadcast method, or one of the plurality of transport units in which the error is detected It is selected whether to deliver again by the individual delivery method to the communication means of the means . After the distribution of the correction data is completed by the distribution means, the information processing apparatus further comprises a specifying means for specifying a progress value indicating the progress of the distribution,
The data generation means divides the correction data into a plurality of correction data sections,
The distribution means distributes the plurality of correction data sections in a plurality of times,
The specifying means specifies the progress value according to the number of the correction data sections in which the error is detected after the delivery of the plurality of correction data sections is completed,
The redistribution control means controls the distribution means to redistribute the correction data by an individual distribution method when the specified progress value is larger than a predetermined threshold, and the specified progress value 2. The transport system according to claim 1, wherein the correction data is delivered again by the broadcast method when is smaller than a predetermined threshold. The distribution means divides the correction data into a plurality of segments and distributes the segments in order for each segment.
The error detection means detects the error for each segment,
The redistribution control means controls the distribution means so as to redistribute the generated correction data in units of the segments when the error is detected. 2. The transport system according to 2. The transport system according to claim 3, wherein the data generation unit generates the correction data in units of the segments and stores the generated correction data in units of the segments.   5. The transport system according to claim 3, wherein each of the segments corresponds to a plurality of areas in which the entire region where the track is laid is divided.   The transport system according to claim 3 or 4, wherein the segment is obtained by further subdividing data blocks respectively corresponding to a plurality of areas into which the entire area where the track is laid is divided. The transport control means includes
Storage means for storing the reference data;
An updating means for receiving a predetermined trigger and replacing or overwriting at least a part of the stored reference data with the received correction data;
Determination control means for determining how the transport vehicle is transported on the track according to the stored reference data, and for controlling the transport vehicle so as to transport the transport vehicle as determined. The transfer system according to any one of claims 1 to 6. The reference data includes reference map data including map elements,
The reference map data includes at least one of the arrangement of the trajectory, the arrangement of various devices along the trajectory, and the arrangement of marks attached to the trajectory and readable by the carrier vehicle as a map element. The conveyance system according to claim 1, wherein the conveyance system is included.   In addition to the reference map data including map elements, the reference data includes pre-taught reference teaching data that serves as a positioning reference when stopping on the track or transferring the load. The transport system according to any one of claims 1 to 8. The data generation means includes a plurality of area-specific data generation means corresponding to a plurality of areas into which the entire region where the trajectory is laid is divided, and the distribution means includes a plurality of areas corresponding to the plurality of areas. Have distribution means by area,
In correspondence with each of the plurality of areas,
Area-specific communication means for receiving the distributed correction data;
Area-specific error detection means for detecting an error relating to communication of the received correction data;
When the error is detected for an area other than the area corresponding to the area among the plurality of areas, the generated correction data is distributed again to the other area. An area-specific redistribution control means for controlling the area-specific distribution means in an area corresponding to the transport system according to any one of claims 1 to 9.

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