JP7779283B2 - Goods transport equipment - Google Patents

Description

The present invention relates to an item transport facility that includes a transport vehicle for transporting items, a travel route along which the transport vehicle travels, and a section control device that issues passage permission to the transport vehicle traveling along a specific section of the travel route and controls the transport vehicle.

One example of such an item transport system is disclosed in Japanese Patent Application Laid-Open No. 2006-313463 (Patent Document 1) as a transport cart system. Below, in the description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

In the system disclosed in Patent Document 1, lock points are set at branching or merging points on the travel route of the transport vehicle (5), and a decision is made as to whether or not the transport vehicle (5) is allowed to pass through the lock points for each section where such a lock point is set (hereinafter referred to as a "control section").

Before entering a controlled section where a lock point is provided, a transport vehicle (5) issues a blocking request to the zone controller (11) to prevent other transport vehicles (5) from entering the controlled section. If the zone controller (11) is to allow the transport vehicle (5) that issued the blocking request to pass through the controlled section, it issues a blocking permission and prevents other transport vehicles (5) from passing through. After the transport vehicle (5) has passed through, the zone controller (11) releases the blocking in the controlled section, making it ready to accept other transport vehicles (5).

Japanese Patent Application Laid-Open No. 2006-313463

However, in the system disclosed in Patent Document 1, the permission or denial of passage of a transport vehicle (5) at a lock point is determined on a control section basis, so multiple transport vehicles (5) cannot be present in one control section at the same time. As a result, the efficiency of transport vehicle passage in that control section is low, and when there are many similar control sections, there are limits to improving the transport efficiency of the entire item transport facility.

In light of the above situation, there is a need for technology that can improve the overall transport efficiency of item transport equipment by efficiently managing the passage of transport vehicles through sections of the travel route that include branching or merging points.

a transport vehicle for transporting an article;
a travel route along which the transport vehicle travels;
a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route,
the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path,
each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side;
a first passing point is set downstream of the first connection portion on the first route,
a second passing point is set downstream of the second connection portion on the second route,
When the transport vehicle travels along the first route through the first connection part, the transport vehicle requests a first passage permission, which is the passage permission to pass through the first passing point, from the section control device upstream of the first connection part, and when the first passage permission is obtained, the transport vehicle passes through the first connection part and heads toward the first passing point, and when the first passage permission is not obtained, the transport vehicle stops upstream of the first connection part,
When the transport vehicle travels along the second route through the second connection part, the transport vehicle requests a second passage permission, which is the passage permission to pass through the second pass point, from the section control device upstream of the second connection part, and if the second passage permission is obtained, the transport vehicle passes through the second connection part and heads toward the second pass point, and if the second passage permission is not obtained, the transport vehicle stops upstream of the second connection part,
when the section control device issues the first passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the first passing point related to the first passing permission, and when the section control device issues the second passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the second passing point related to the second passing permission,
When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device;
When both the first passing permission and the second passing permission are requested by the transport vehicle, the section control device allows the transport vehicle to travel from the first route or the second route to the connecting route, provided that both the first passing point and the second passing point are unoccupied and not occupied by another preceding transport vehicle, and causes the transport vehicle that has been allowed to travel to occupy both the first passing point and the second passing point.

In the specific section described above, the first route and the second route do not intersect, so if there are no transport vehicles traveling on the connecting route, separate transport vehicles can travel on both the first route and the second route simultaneously. With this configuration, the first passing point on the first route and the second passing point on the second route can individually determine whether a transport vehicle is allowed to pass. Therefore, if multiple transport vehicles travel on the first route or the second route without traveling on the connecting route, the multiple transport vehicles can travel on the first route and the second route simultaneously. This allows for more efficient transport vehicle passage in the specific section than if the passage of a transport vehicle is determined based on the entire specific section. On the other hand, when a transport vehicle travels from the first route to the second route or from the second route to the first route via a connecting route, the section control device allows the transport vehicle to travel and occupies both the first pass point and the second pass point, provided that both the first pass point and the second pass point are unoccupied by other transport vehicles. This prevents multiple transport vehicles from interfering with each other in a specific section. As a result, the overall transport efficiency of the item transport equipment can be improved while preventing multiple transport vehicles from interfering with each other.

Further features and advantages of the technology disclosed herein will become more apparent from the following description of exemplary, non-limiting embodiments, which proceeds with reference to the drawings.

Plan view of the goods transport facility Control Block Diagram A diagram showing the control of a transport vehicle traveling in a specific section. A diagram showing the control of a transport vehicle traveling in a specific section. flowchart FIG. 10 is an explanatory diagram illustrating a case where the transport vehicle travels along a first route. FIG. 10 is an explanatory diagram illustrating a case where the transport vehicle travels along a second route. FIG. 10 is an explanatory diagram illustrating a case where a transport vehicle travels from a first route to a second route via a connecting route. A diagram showing the speed change of the transport vehicle upstream of the stopping point FIG. 10 is a diagram showing a change in the speed of a transport vehicle when the transport vehicle is granted permission to pass while decelerating. FIG. 10 is a diagram showing a change in the speed of a transport vehicle when the transport vehicle is granted permission to pass while traveling at a constant speed. FIG. 10 is a plan view showing a specific section according to another embodiment; FIG. 10 is a plan view showing a specific section according to another embodiment; FIG. 10 is a plan view showing a specific section according to another embodiment;

An embodiment of the item transport equipment will be described below with reference to the drawings.

As shown in Figures 1 and 2, the item conveying equipment 100 includes a transport vehicle V that transports items, a travel route R along which the transport vehicle V travels, and a section control device Cz that controls the transport vehicle V by issuing a passage permit Sp (see Figure 5, etc.) to the transport vehicle V traveling along a specific section Za (see Figure 3), which is a specific section of the travel route R.

In this embodiment, the travel route R is divided into multiple control areas Z. Each of the multiple control areas Z includes one or more specific sections Za (see Figure 3). A section control device Cz is provided corresponding to each of the multiple control areas Z. In this example, each section control device Cz is configured to control the transport vehicle V in the control area Z that it is responsible for. More specifically, each section control device Cz is configured to determine whether or not to allow the transport vehicle V to pass through a specific section Za (see Figure 3) that is provided in the control area Z that it is responsible for.

In this embodiment, the article transport equipment 100 is equipped with a host control device Ct. The host control device Ct is configured to control multiple section control devices Cz. The transport vehicle V, the multiple section control devices Cz, and the host control device Ct are configured to be able to communicate with each other.

In this embodiment, the article transport equipment 100 is equipped with multiple transport vehicles V. Each of the multiple transport vehicles V is configured to perform its own task based on transport commands given by the host control device Ct. Examples of transport vehicles V include automated transport vehicles that travel along the floor surface and ceiling transport vehicles that travel near the ceiling.

A variety of items are handled by the item transport equipment 100. For example, when the item transport equipment 100 is used in a semiconductor manufacturing factory, the items include wafer containers (known as FOUPs: Front Opening Unified Pods) that store wafers and reticle containers (known as reticle pods) that store reticles. In this case, the transport vehicle V transports items such as wafer containers and reticle containers between processes along the travel path R.

The host control device Ct is configured to control multiple transport vehicles V and multiple section control devices Cz. For example, the host control device Ct is configured to issue transport commands to each transport vehicle V specifying the source and destination of the item. The host control device Ct is configured to be able to communicate with each transport vehicle V, and is able to grasp the current position of each transport vehicle V by receiving current position information Iv (see Figure 4) from each transport vehicle V. In other words, the host control device Ct is able to grasp the planned route each transport vehicle V will travel. The host control device Ct is also configured to be able to communicate with each section control device Cz, and is able to grasp the status of each control area Z or each specific section Za by receiving status reports (reports on traffic conditions, etc.) regarding each control area Z or each specific section Za from each section control device Cz.

Each section control device Cz is configured to control the transport vehicles V traveling in the specific section Za of the control area Z that it is responsible for. Specifically, the section control device Cz controls the travel of multiple transport vehicles V in the specific section Za so that they do not interfere with each other. For example, Figure 3 shows a state in which two transport vehicles V (one designated as the first transport vehicle V1 and the other designated as the second transport vehicle V2) are traveling in the specific section Za. When the first transport vehicle V1 and the second transport vehicle V2 are scheduled to pass through the same junction in the specific section Za, the section control device Cz causes them to pass at different times. In the example shown in Figure 3, the section control device Cz controls the travel of the first transport vehicle V1 to pass the junction first, and the second transport vehicle V2 to pass the junction after the first transport vehicle V1 by slowing down or stopping it. As will be described later, the section control device Cz is configured to issue a passage permission Sp (see Figure 5, etc.) to a transport vehicle V passing through a specific section Za.

The host control device Ct and the zone control device Cz each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through cooperation between this hardware and a program executed on the processor of a computer, etc. The item transport equipment 100 includes a control system that includes at least the host control device Ct and the zone control device Cz. This control system may also include other control devices in addition to the host control device Ct and the zone control device Cz.

As shown in FIG. 3, the specific section Za includes a first route R1 and a second route R2 that do not intersect with each other, and a connecting route Rc that connects a first connection point C1 on the first route R1 with a second connection point C2 on the second route R2. Each of the first route R1 and the second route R2 is a route along which the transport vehicle V travels in one direction from upstream to downstream.

In this embodiment, the first path R1 and the second path R2 are arranged parallel to each other in a plan view. The connecting path Rc connecting the first path R1 and the second path R2 is arranged at an angle relative to both the first path R1 and the second path R2. In other words, in this example, the first path R1, the second path R2, and the connecting path Rc form an N-shape in a plan view.

At the end of the specific section Za, i.e., the downstream end of the specific section Za, a pass point Pp is set, which serves as an indication that the transport vehicle V has passed through the specific section Za. The pass point Pp includes a first pass point Pp1 and a second pass point Pp2. The first pass point Pp1 is set downstream of the first junction C1 on the first route R1. The second pass point Pp2 is set downstream of the second junction C2 on the second route R2. That is, in this embodiment, pass points Pp, which the transport vehicle V will pass through if it obtains passage permission Sp (see Figure 5, etc.), are set downstream of the first junction C1 on the first route R1 and downstream of the second junction C2 on the second route R2.

In this embodiment, a stop point Ps is set at the start of the specific section Za, i.e., the upstream end of the specific section Za, which serves as a guideline for the transport vehicle V to stop before the specific section Za. The stop points Ps include a first stop point Ps1 and a second stop point Ps2. The first stop point Ps1 is set upstream of the first junction C1 on the first route R1. The second stop point Ps2 is set upstream of the second junction C2 on the second route R2. In other words, in this embodiment, stop points Ps where the transport vehicle V will stop if it does not obtain passage permission Sp (see Figure 5, etc.) are set upstream of the first junction C1 on the first route R1 and upstream of the second junction C2 on the second route R2.

In this embodiment, a deceleration section Ad is set upstream of the stop point Ps on each of the first route R1 and the second route R2, where the transport vehicle V decelerates in order to stop at the respective stop point Ps. If the transport vehicle V stops at the stop point Ps without obtaining a passage permit Sp, it decelerates in the deceleration section Ad and then stops at the stop point Ps.

In this embodiment, constant speed sections Ac are set in addition to deceleration sections Ad. That is, constant speed sections Ac are set upstream of the stop point Ps on each of the first route R1 and the second route R2, where the transport vehicle V travels at a constant speed in order to stop at the respective stop point Ps. If the transport vehicle V stops at the stop point Ps without obtaining passage permission Sp, it travels at a constant speed in the constant speed section Ac and decelerates in the deceleration section Ad before stopping at the stop point Ps. The deceleration section Ad is located adjacent to the stop point Ps on the upstream side, but constant speed sections Ac and other deceleration sections Ad may be located further upstream of the deceleration section Ad.

In this embodiment, the deceleration section Ad includes a first deceleration section Ad1 and a second deceleration section Ad2. In the example shown in FIG. 3 , the first route R1 and the second route R2 are each provided with a first deceleration section Ad1 upstream of the stop point Ps, where the transport vehicle V decelerates to stop at the respective stop point Ps. The first route R1 and the second route R2 are also provided with a constant speed section Ac downstream of the first deceleration section Ad1, where the transport vehicle V travels at a constant speed. The second route R1 and the second route R2 are also provided with a second deceleration section Ad2 downstream of the constant speed section Ac, where the transport vehicle V decelerates until it stops at the stop point Ps. The stop point Ps is also provided downstream of the second deceleration section Ad2. A creep section where the transport vehicle V creeps (travels at a very slow speed) may be provided between the second deceleration section Ad2 and the stop point Ps.

As described above, the section control device Cz is configured to issue a passage permission Sp (see Figure 5, etc.) to a transport vehicle V passing through the specific section Za. This allows a transport vehicle V that has been granted a passage permission Sp to pass through the specific section Za, and allows a transport vehicle V that has not been granted a passage permission Sp to stop upstream of the specific section Za.

In this embodiment, after a transport vehicle V receives a passage permission Sp from the section control device Cz, it passes through the first passing point Pp1 or the second passing point Pp2 and then sends a passing completion notification Sc (see Figure 5, etc.) to the section control device Cz. As a result, the section control device Cz, having received the passing completion notification Sc, becomes ready to accept the next transport vehicle V into the specific section Za.

Here, there may be cases where the transport vehicle V that has been granted passage permission Sp does not subsequently respond to the section control device Cz (in this example, a passage completion notification Sc). This can occur due to poor communication or a malfunction. If there is no response from the transport vehicle V, the section control device Cz will be in a state where it is unclear whether the transport vehicle V is present or not.

As shown in FIG. 4, in this embodiment, the section control device Cz makes an inquiry Si to the upper control device Ct if there is no subsequent response (passage completion notification Sc) from the transport vehicle V to which it has been given passage permission Sp. In this example, after giving passage permission Sp to the transport vehicle V, the section control device Cz makes an inquiry Si to the upper control device Ct if there is no response (passage completion notification Sc) from the transport vehicle V within a predetermined specified period of time. This "specified period" is determined appropriately based on the travel distance of the transport vehicle V in the specific section Za, the travel speed of the transport vehicle V, etc.

In this embodiment, when an inquiry Si is received from the section control device Cz, the upper control device Ct determines whether the transport vehicle V has passed the first passing point Pp1 or the second passing point Pp2 based on the presence or absence of the transport vehicle V in the specific section Za. In this example, upon receiving the inquiry Si, the upper control device Ct confirms the presence or absence of the transport vehicle V in the specific section Za based on the current position information Iv of the transport vehicle V obtained from the transport vehicle V, and sends a response Sa to the section control device Cz regarding the confirmation result. Upon receiving the response Sa, the section control device Cz continues to control the transport vehicle V in the specific section Za based on the presence or absence of the transport vehicle V in the specific section Za obtained from the response Sa. With the above configuration, even if there is no response from the transport vehicle V to the section control device Cz, cooperation between the section control device Cz and the upper control device Ct enables more appropriate control of the transport vehicle V in the specific section Za. In this example, the host control device Ct determines whether the transport vehicle V has passed the first passing point Pp1 or the second passing point Pp2 as described above only when an inquiry Si is received from the section control device Cz. By linking the section control device Cz and the host control device Ct only when necessary, the processing load on the host control device Ct can be reduced while appropriately controlling the transport vehicle V in the specific section Za.

The control in the specific section Za is explained in detail below.

As shown in FIG. 5, when the transport vehicle V attempts to pass through the specific section Za, specifically the passing point Pp, it issues a passing permission request Sr to request permission to pass (step #1). In this embodiment, the transport vehicle V issues a passing permission request Sr to the section control device Cz upstream of the specific section Za (specifically the first connection C1 or the second connection C2).

If the section control device Cz determines that the transport vehicle V that issued the pass permission request Sr can pass through the specific section Za, it registers the pass point Pp related to the pass permission request Sr for the transport vehicle V that issued the pass permission request Sr to occupy it (step #2) and simultaneously issues a pass permission Sp to the transport vehicle V (step #3). The section control device Cz determines whether the pass point Pp related to the pass permission request Sr is occupied by another transport vehicle V that is preceding the transport vehicle V that issued the pass permission request Sr, or whether it is unoccupied. If the pass point Pp is unoccupied, the section control device Cz determines that the transport vehicle V that issued the pass permission request Sr can pass through the pass point Pp. In this example, the section control device Cz has a memory unit M that stores occupation status information indicating whether each pass point Pp is occupied or unoccupied (see Figure 2). The section control device Cz issues a pass permission Sp to the transport vehicle V based on the occupation status information stored in the memory unit M. In addition, the section control device Cz is configured to update the occupancy status information stored in the memory unit M as needed, depending on the status of the specific section Za.

After receiving passage permission Sp, the transport vehicle V passes through the specific section Za, specifically the passing point Pp (step #4), and after passing through, sends a passage completion notification Sc to the section control device Cz (step #5).

Upon receiving the passage completion notification Sc, the section control device Cz cancels the registration of the pass point Pp that was occupied by the transport vehicle V that issued the passage completion notification Sc (step #6). As a result, the unregistered pass point Pp becomes unoccupied, and the section control device Cz becomes able to accept the next transport vehicle V at the pass point Pp.

The above-mentioned pass permission request Sr, pass permission Sp, and pass completion notification Sc are each transmitted and received as a signal between the section control device Cz and the transport vehicle V. For example, the pass permission request Sr is transmitted and received as a pass request signal. The pass permission Sp is transmitted and received as a pass permission signal. The pass completion notification Sc is transmitted and received as a pass completion signal. The pass request signal may be of a type that allows the section control device Cz to recognize that the transport vehicle V has passed through the pass point Pp. Various pass request signals are possible, such as a signal requesting passage through the pass point Pp or a signal requesting occupation of the pass point Pp.

Figures 6 to 8 show examples in which the transport vehicle V passes through the specific section Za under the control of the section control device Cz. Figure 6 shows, as Example 1, a case in which the transport vehicle V travels along the first route R1 through the first connection C1. Figure 7 shows, as Example 2, a case in which the transport vehicle V travels along the second route R2 through the second connection C2. Figure 8 shows, as Example 3, a case in which the transport vehicle V travels from the first route R1 to the second route R2 via the connecting route Rc.

Example 1
6 , when the guided vehicle V travels through the first junction C1 along the first route R1, the guided vehicle V requests a first pass permission Sp1, which is a pass permission Sp for passing through the first pass point Pp1, from the section control device Cz upstream of the first junction C1. In this example, the guided vehicle V requests the first pass permission Sp1 from the section control device Cz while traveling upstream of the first stop point Ps1 on the first route R1. If the first pass permission Sp1 is obtained, the guided vehicle V passes through the first junction C1 and heads toward the first pass point Pp1, and if the first pass permission Sp1 is not obtained, the guided vehicle V stops upstream of the first junction C1.

As shown in FIG. 6(a), in this embodiment, when a transport vehicle V attempts to pass through the first pass point Pp1, it issues a first pass permission request Sr1 to the section control device Cz. Upon receiving the first pass permission request Sr1 from the transport vehicle V, the section control device Cz checks whether the first pass point Pp1 is occupied by another preceding transport vehicle V, and if it is not occupied, determines that the transport vehicle V that issued the first pass permission request Sr1 can pass through the first pass point Pp1. In other words, the section control device Cz determines whether the first pass point Pp1 is occupied or unoccupied, and if it is unoccupied, determines that the transport vehicle V can pass through the first pass point Pp1. The section control device Cz then issues a first pass permission Sp1 to the transport vehicle V that issued the first pass permission request Sr1.

In this embodiment, when the section control device Cz issues a first pass permission Sp1 to a transport vehicle V, it causes the transport vehicle V to occupy the first pass point Pp1 specified in the first pass permission Sp1. This places the first pass point Pp1 in an occupied state for the transport vehicle V. In this example, the section control device Cz registers the first pass point Pp1 specified in the first pass permission Sp1 in order to cause the transport vehicle V to occupy the first pass point Pp1. This causes the section control device Cz to exclude other transport vehicles V, preventing them from passing through the first pass point Pp1.

As shown in FIG. 6(b), in this embodiment, after the transport vehicle V passes through the first pass point Pp1, it sends a passing completion notification Sc to the section control device Cz. After receiving the passing completion notification Sc from the transport vehicle V, the section control device Cz releases the transport vehicle V from occupying the first pass point Pp1 associated with the passing completion notification Sc. This places the first pass point Pp1 in an unoccupied state. In this example, upon receiving the passing completion notification Sc, the section control device Cz cancels the registration of the first pass point Pp1 that had been occupied by the transport vehicle V that sent the passing completion notification Sc. This releases the transport vehicle V from occupying the first pass point Pp1, making it available to accept other transport vehicles V.

Example 2
7 , when the guided vehicle V travels along the second route R2 through the second junction C2, the guided vehicle V requests a second passage permission Sp2, which is a passage permission Sp for passing through the second passing point Pp2, from the section control device Cz upstream of the second junction C2. In this example, the guided vehicle V requests the second passage permission Sp2 from the section control device Cz while traveling upstream of the second stopping point Ps2 on the second route R2. If the second passage permission Sp2 is obtained, the guided vehicle V passes through the second junction C2 and heads toward the second passing point Pp2, and if the second passage permission Sp2 is not obtained, the guided vehicle V stops upstream of the second junction C2.

As shown in FIG. 7(a), in this embodiment, when a transport vehicle V attempts to pass through the second pass point Pp2, it issues a second pass permission request Sr2 to the section control device Cz. Upon receiving the second pass permission request Sr2 from the transport vehicle V, the section control device Cz checks whether the second pass point Pp2 is occupied by another preceding transport vehicle V, and if it is not occupied, determines that the transport vehicle V that issued the second pass permission request Sr2 can pass through the second pass point Pp2. In other words, the section control device Cz determines whether the second pass point Pp2 is occupied or unoccupied, and if it is unoccupied, determines that the transport vehicle V can pass through the second pass point Pp2. The section control device Cz then issues a second pass permission Sp2 to the transport vehicle V that issued the second pass permission request Sr2.

In this embodiment, when the section control device Cz issues a second passage permission Sp2 to a transport vehicle V, it causes the transport vehicle V to occupy the second passage point Pp2 specified in the second passage permission Sp2. This places the second passage point Pp2 in an occupied state for the transport vehicle V. In this example, the section control device Cz registers the second passage point Pp2 specified in the second passage permission Sp2 in order to cause the transport vehicle V to occupy the second passage point Pp2. This causes the section control device Cz to exclude other transport vehicles V, preventing them from passing through the second passage point Pp2.

As shown in FIG. 7(b), in this embodiment, after the transport vehicle V passes through the second pass point Pp2, it sends a passage completion notification Sc to the section control device Cz. After receiving the passage completion notification Sc from the transport vehicle V, the section control device Cz releases the transport vehicle V from occupying the second pass point Pp2 associated with the passage completion notification Sc. This places the second pass point Pp2 in an unoccupied state. In this example, upon receiving the passage completion notification Sc, the section control device Cz cancels the registration of the second pass point Pp2 that had been occupied by the transport vehicle V that sent the passage completion notification Sc. This releases the transport vehicle V from occupying the second pass point Pp2, making it available to accept other transport vehicles V.

Example 3
8 , when a guided vehicle V travels from the first route R1 or the second route R2 to the connecting route Rc, the guided vehicle V requests both a first pass permission Sp1 and a second pass permission Sp2 from the section control device Cz upstream of the first connection point C1 or the second connection point C2. When the guided vehicle V requests permission to travel from the first route R1 or the second route R2 to the connecting route Rc, the section control device Cz permits the guided vehicle V to travel from the first route R1 or the second route R2 to the connecting route Rc, and causes the guided vehicle V that has been permitted to travel to occupy both the first pass point Pp1 and the second pass point Pp2, on the condition that both the first pass point Pp1 and the second pass point Pp2 are not occupied by another preceding guided vehicle V.

Figure 8 illustrates an example in which a transport vehicle V attempts to pass through a second pass point Pp2 on a second route R2 from a first route R1 via a connecting route Rc. In Figure 8, the transport vehicle V makes a first pass permission request Sr1 to the section control device Cz to request a first pass permission Sp1, and a second pass permission request Sr2 to request a second pass permission Sp2. The transport vehicle V makes the first pass permission request Sr1 and the second pass permission request Sr2 upstream of the first connection C1. The section control device Cz then grants the first pass permission Sp1 and the second pass permission Sp2 to the transport vehicle V that made the first pass permission request Sr1 and the second pass permission request Sr2, on the condition that both the first pass point Pp1 and the second pass point Pp2 are unoccupied. If at least one of the first passing point Pp1 and the second passing point Pp2 is occupied by another preceding guided vehicle V, the section control device Cz denies (does not permit) the guided vehicle V that requested passage permission Sp from traveling. In this case, the guided vehicle V whose travel is denied stops upstream of the connecting route Rc. In this example, the guided vehicle V stops upstream of the first connection point C1.

As illustrated in FIG. 8(a), when a transport vehicle V travels from the first route R1 to the connecting route Rc and attempts to pass through the second pass point Pp2, it issues a first pass permission request Sr1 and a second pass permission request Sr2 to the section control device Cz. Upon receiving the first pass permission request Sr1 and the second pass permission request Sr2 from the transport vehicle V, the section control device Cz checks whether both the first pass point Pp1 and the second pass point Pp2 are occupied by another preceding transport vehicle V, and if they are not occupied, determines that it is possible for the transport vehicle V to pass through the second pass point Pp2. In other words, the section control device Cz determines whether both the first pass point Pp1 and the second pass point Pp2 are occupied or unoccupied, and if both are unoccupied, determines that it is possible for the transport vehicle V to pass through the second pass point Pp2. The section control device Cz then issues a first pass permission Sp1 and a second pass permission Sp2 to the transport vehicle V that made the first pass permission request Sr1 and the second pass permission request Sr2. Similarly, the transport vehicle V also issues a first pass permission request Sr1 and a second pass permission request Sr2 when traveling from the second route R2 to the connecting route Rc and attempting to pass through the first pass point Pp1. The section control device Cz then determines whether both the first pass point Pp1 and the second pass point Pp2 are occupied or unoccupied, and if both are unoccupied, issues a first pass permission Sp1 and a second pass permission Sp2 to the transport vehicle V that made the first pass permission request Sr1 and the second pass permission request Sr2.

As illustrated in FIG. 8(b), the transport vehicle V travels from the first route R1 along the connecting route Rc and passes the second pass point Pp2 on the second route R2, and then issues a passage completion notification Sc to the section control device Cz. In this embodiment, after receiving the passage completion notification Sc from the transport vehicle V, the section control device Cz releases the transport vehicle V from occupying the first pass point Pp1 and the second pass point Pp2. As a result, the first pass point Pp1 and the second pass point Pp2 become unoccupied. In this example, upon receiving the passage completion notification Sc, the section control device Cz cancels the registration of the first pass point Pp1 and the second pass point Pp2 that had been occupied by the transport vehicle V that issued the passage completion notification Sc. As a result, the first pass point Pp1 and the second pass point Pp2 are released from occupation by the transport vehicle V, and become available to accept other transport vehicles V. Furthermore, after the transport vehicle V travels from the second route R2 along the connecting route Rc and passes the first pass point Pp1 on the first route R1, it similarly sends a pass completion notification Sc to the section control device Cz. After receiving the pass completion notification Sc from the transport vehicle V, the section control device Cz releases the transport vehicle V from occupying both the first pass point Pp1 and the second pass point Pp2.

In this way, when a transport vehicle V travels through a junction along the first route R1, it requests only a first passage permission Sp1, which is permission to pass through the first passage point Pp1, from the section control device Cz. When a transport vehicle V travels through a junction along the second route R2, it requests only a second passage permission Sp2, which is permission to pass through the second passage point Pp2. The section control device Cz allows the transport vehicle V requesting permission to occupy the passage point Pp, provided that the passage point Pp for which permission is requested is unoccupied. With this configuration, when multiple transport vehicles V travel along the first route R1 or the second route R2 without traveling along the connecting route Rc, the multiple transport vehicles V can travel along the first route R1 and the second route R2 simultaneously. This enables the transport vehicles V to travel through the specific section Za more efficiently than when determining whether or not to allow the transport vehicles V to pass through the entire specific section Za.

When a transport vehicle V travels along the connecting route Rc and changes its travel route between the first route R1 and the second route R2, it passes through either the first pass point Pp1 or the second pass point Pp2, and requests both a first pass permission Sp1 and a second pass permission Sp2 from the section control device Cz. In this case, the section control device Cz permits the requested transport vehicle V to travel and allows the transport vehicle to occupy both the first pass point Pp1 and the second pass point Pp2, provided that both the first pass point Pp1 and the second pass point Pp2 are unoccupied. This configuration makes it easier to avoid multiple transport vehicles V interfering with each other in the specific section Za.

Explaining in more detail, in this embodiment, the section control device Cz is configured such that after issuing a passage permission Sp to a transport vehicle V, it cannot determine the location of the transport vehicle V until it receives a passage completion notification Sc from the transport vehicle V. Therefore, for example, even if a transport vehicle V scheduled to travel from the first route R1 through the connecting route Rc to the second route R2 stops midway for some reason after receiving a passage permission Sp from the section control device Cz, the section control device Cz cannot determine the stopping position of the transport vehicle V. If the stopping position of the transport vehicle V is on the first junction C1 or on the first route R1 upstream of the first junction C1, causing another following transport vehicle V to travel on the first route R1 will interfere with the stopped transport vehicle V. Furthermore, even if the stopping position of the transport vehicle V is near the first junction C1 on the connecting route Rc, the stopped transport vehicle V may interfere with the other following transport vehicle V. Therefore, when a transport vehicle V is involved in both the first route R1 and the second route R2 by passing through the connecting route Rc, even if the target pass point Pp is either the first pass point Pp1 or the second pass point Pp2, it is necessary to occupy both the first pass point Pp1 and the second pass point Pp2. According to this configuration, in the above case, because the transport vehicle V occupies both the first pass point Pp1 and the second pass point Pp2, even if the transport vehicle V stops midway, the following transport vehicle V can be stopped at the stop point Ps. This prevents interference between multiple transport vehicles V.

As described above, in this embodiment, deceleration sections Ad are set upstream of the stop points Ps on each of the first route R1 and the second route R2, where the transport vehicle V decelerates in order to stop at the respective stop points Ps. In this example, the deceleration sections Ad are set in order from upstream to downstream as a first deceleration section Ad1 and a second deceleration section Ad2. Furthermore, a constant speed section Ac is set between the first deceleration section Ad1 and the second deceleration section Ad2 on the travel route R.

As shown in FIG. 9, in this embodiment, the deceleration of the transport vehicle V in the deceleration section Ad is constant. In this example, the deceleration of the transport vehicle V in the first deceleration section Ad1 and the deceleration of the transport vehicle V in the second deceleration section Ad2 are set to be constant. This configuration makes it easy to simplify the deceleration control of the transport vehicle V. This type of deceleration control is used not only when the transport vehicle V travels through the deceleration section Ad, but also, for example, when it stops at a transfer location that is the destination, or when it travels on a curved road.

In this embodiment, the transport vehicle V issues a pass permission request Sr to the section control device Cz upstream of the deceleration section Ad or in the deceleration section Ad. If the transport vehicle V receives a pass permission Sp from the section control device Cz upstream of the deceleration section Ad, it maintains its current traveling speed without decelerating. If the transport vehicle V does not receive a pass permission Sp by the time it reaches the deceleration section Ad, it begins decelerating, and if it does not receive a pass permission Sp by the time it reaches the stopping point Ps, it stops. As described above, in this embodiment, in addition to the deceleration section Ad, a constant speed section Ac is set in which the transport vehicle V travels at a constant speed, ensuring a relatively long time for the transport vehicle V to completely stop. If the transport vehicle V receives a pass permission Sp before it completely stops, it can continue traveling without stopping.

However, there are cases where the transport vehicle V cannot immediately obtain a passage permission Sp from the section control device Cz due to its relationship with the other transport vehicle V, for example, when another transport vehicle V is ahead in the specific section Za. In this case, the transport vehicle V decelerates in the first deceleration section Ad1, travels at a constant speed in the constant speed section Ac, and then decelerates again in the second deceleration section Ad2, assuming that it will stop at the stopping point Ps. The transport vehicle V then waits for a passage permission Sp from the section control device Cz while traveling through the first deceleration section Ad1, the constant speed section Ac, and the second deceleration section Ad2.

As shown in FIG. 10, if a transport vehicle V receives a passage permission Sp while decelerating in the deceleration section Ad, it transitions from decelerated travel to constant-speed travel and then accelerates. In the illustrated example, if a transport vehicle V receives a passage permission Sp while traveling in the first deceleration section Ad1, it transitions from decelerated travel in the first deceleration section Ad1 to constant-speed travel, accelerates after constant-speed travel, and travels at the same speed as before entering the first deceleration section Ad1. In this way, even if a transport vehicle V receives a passage permission Sp while decelerating, it does not immediately accelerate, but instead travels at constant speed before accelerating. This reduces the burden on the travel drive source, such as a motor, installed in the transport vehicle V. It also reduces vibrations acting on items being transported by the transport vehicle V. Although detailed illustrations are omitted, the transport vehicle V similarly transitions to constant-speed travel and then accelerates even when a passage permission Sp is received while traveling in the second deceleration section Ad2.

As shown in FIG. 11 , if a transport vehicle V receives a passage permission Sp while traveling at a constant speed in the constant speed section Ac, it accelerates immediately after receiving the passage permission Sp. In the example shown, if the transport vehicle V receives a passage permission Sp while traveling at a constant speed in the constant speed section Ac after decelerating in the first deceleration section Ad1, it accelerates immediately after receiving the passage permission Sp and travels at the same speed as before entering the first deceleration section Ad1. In this way, if the transport vehicle V receives a passage permission Sp while traveling at a constant speed rather than while traveling at a decelerating speed, it can immediately accelerate, thereby shortening the time required to reach the destination. Note that transitioning from constant speed traveling to accelerating traveling places less strain on the travel drive source, such as a motor, than transitioning from decelerating traveling to accelerating traveling.

Other Embodiments
Next, other embodiments of the article transport facility will be described.

(1) In the above embodiment, an example was described in which the first path R1, the second path R2, and the connection path Rc formed an N-shape in a plan view. However, without being limited to this example, the connection path Rc may be arranged so that it is perpendicular to the first path R1 and the second path R2, which are arranged parallel to each other, in a plan view. In this case, the first path R1, the second path R2, and the connection path Rc form an H-shape in a plan view. Furthermore, without being limited to the above example, the specific section Za can be set arbitrarily, and any portion of the travel path R may be the specific section Za as long as the connection path Rc intersects with the first path R1 and the second path R2. Furthermore, for example, as shown in Figures 12 to 14, the connection path Rc may intersect with the first path R1 and the second path R2 at any angle, or at least one of the three paths may be curved. Furthermore, multiple connection paths Rc may be connected to the first path R1 and the second path R2. For example, as shown in FIG. 14, a specific section Za having the above configuration may be set in a portion (inter-process path) where multiple bays (intra-process paths) on the travel path R are connected.

(2) In the above embodiment, an example was described in which a constant speed section Ac was set in addition to a deceleration section Ad upstream of the stop point Ps on the travel route R. However, the present invention is not limited to this example, and a constant speed section Ac does not have to be set. In this case, it is preferable that a continuous deceleration section Ad is set at a position adjacent to the upstream side of the stop point Ps.

(3) In the above embodiment, an example was described in which the section control device Cz registers the pass point Pp related to the pass permission request Sr so that the transport vehicle V that made the pass permission request Sr can occupy it, and at the same time issues a pass permission Sp to the transport vehicle V. However, without being limited to this example, the section control device Cz may register the pass point Pp and issue a pass permission Sp to the transport vehicle V in a different time sequence. In this case, the pass point Pp may be registered first, and the pass permission Sp to the transport vehicle V may be issued later. Alternatively, conversely, the pass permission Sp to the transport vehicle V may be issued first, and the pass point Pp may be registered later.

(4) In the above embodiment, an example was described in which the passage permission request Sr, passage permission Sp, and passage completion notification Sc were each transmitted and received as signals between the section control device Cz and the transport vehicle V. However, without being limited to this example, each of the above signals may be transmitted and received between the section control device Cz and the transport vehicle V via the upper control device Ct.

(5) In the above embodiment, an example was described in which the transport vehicle V requests a first pass permission Sp1 from the section control device Cz when traveling along the first route R1 through the first connection C1, requests a second pass permission Sp2 from the section control device Cz when traveling along the second route R2 through the second connection C2, and requests both the first pass permission Sp1 and the second pass permission Sp2 from the section control device Cz when traveling along the connecting route Rc. However, without being limited to this example, the first pass permission Sp1 and the second pass permission Sp2 do not have to be distinguished. In this case, the transport vehicle V simply requests a pass permission Sp from the section control device Cz regardless of which route it travels. The section control device Cz may be configured to obtain information about the route along which the transport vehicle V is scheduled to travel from a higher-level control device Ct that is aware of the route, and to occupy either or both of the first pass point Pp1 and the second pass point Pp2 based on that information. In other words, if the transport vehicle V that has requested passage permission Sp is scheduled to travel through the first pass point Pp1, the section control device Cz can grasp this schedule via the higher-level control device Ct. Therefore, in this case, the section control device Cz causes the transport vehicle V to occupy the first pass point Pp1. If the transport vehicle V that has requested passage permission Sp is scheduled to travel through the second pass point Pp2, the section control device Cz causes the transport vehicle V to occupy the second pass point Pp2. If the transport vehicle V that has requested passage permission Sp is scheduled to travel along the connecting route Rc, the section control device Cz causes the transport vehicle V to occupy both the first pass point Pp1 and the second pass point Pp2.

(6) Note that the configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments, provided that no contradictions arise. With regard to other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[Summary of the above embodiment]
The above-described article transport facility will now be described.

a transport vehicle for transporting an article;
a travel route along which the transport vehicle travels;
a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route,
the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path,
each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side;
a first passing point is set downstream of the first connection portion on the first route,
a second passing point is set downstream of the second connection portion on the second route,
When the transport vehicle travels along the first route through the first connection part, the transport vehicle requests a first passage permission, which is the passage permission to pass through the first passing point, from the section control device upstream of the first connection part, and when the first passage permission is obtained, the transport vehicle passes through the first connection part and heads toward the first passing point, and when the first passage permission is not obtained, the transport vehicle stops upstream of the first connection part,
When the transport vehicle travels along the second route through the second connection part, the transport vehicle requests a second passage permission, which is the passage permission to pass through the second pass point, from the section control device upstream of the second connection part, and if the second passage permission is obtained, the transport vehicle passes through the second connection part and heads toward the second pass point, and if the second passage permission is not obtained, the transport vehicle stops upstream of the second connection part,
when the section control device issues the first passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the first passing point related to the first passing permission, and when the section control device issues the second passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the second passing point related to the second passing permission,
When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device;
When both the first passing permission and the second passing permission are requested by the transport vehicle, the section control device allows the transport vehicle to travel from the first route or the second route to the connecting route, provided that both the first passing point and the second passing point are unoccupied and not occupied by another preceding transport vehicle, and causes the transport vehicle that has been allowed to travel to occupy both the first passing point and the second passing point.

In the specific section described above, the first route and the second route do not intersect, so if there are no transport vehicles traveling on the connecting route, separate transport vehicles can travel on both the first route and the second route simultaneously. With this configuration, the first passing point on the first route and the second passing point on the second route can individually determine whether a transport vehicle is allowed to pass. Therefore, if multiple transport vehicles travel on the first route or the second route without traveling on the connecting route, the multiple transport vehicles can travel on the first route and the second route simultaneously. This allows for more efficient transport vehicle passage in the specific section than if the passage of a transport vehicle is determined based on the entire specific section. On the other hand, when a transport vehicle travels from the first route to the second route or from the second route to the first route via a connecting route, the section control device allows the transport vehicle to travel and occupies both the first and second pass points, provided that both the first and second pass points are unoccupied by another preceding transport vehicle. This prevents multiple transport vehicles from interfering with each other in a specific section. As a result, the overall transport efficiency of the item transport equipment can be improved while preventing multiple transport vehicles from interfering with each other.

After passing the first pass point or the second pass point, the transport vehicle notifies the section control device of completion of passage;
Preferably, after receiving the passage completion notification from the transport vehicle, the section control device releases the transport vehicle from occupancy of the first pass point or the second pass point related to the passage completion notification.

With this configuration, after receiving a passage completion notification from a transport vehicle, the section control device releases the transport vehicle from occupancy of the first or second pass point related to the passage completion notification. This makes it possible for another following transport vehicle to be accepted at the first or second pass point.

a stop point where the guided vehicle will stop when the passage permission is not obtained is set on the upstream side of the first connection portion on the first path and on the upstream side of the second connection portion on the second path,
Preferably, the transport vehicle requests the first passing permission or the second passing permission from the section control device while traveling upstream of the stopping point on each of the first route and the second route.

With this configuration, if a transport vehicle does not receive permission to pass before reaching a stopping point, it will stop at that stopping point, but if permission to pass is received upstream of the stopping point, it can continue traveling without stopping. This makes it possible to further improve the efficiency of transport vehicle traffic in specific sections.

a deceleration section in which the guided vehicle decelerates and travels in order to stop at each of the stopping points is set on each of the first route and the second route upstream of the stopping points;
Preferably, when the passage permission is obtained while the transport vehicle is traveling at a reduced speed in the deceleration section, the transport vehicle transitions from the decelerated traveling to a constant speed traveling and then accelerates.

With this configuration, when a transport vehicle receives permission to pass while decelerating in a deceleration section, it does not immediately accelerate, but instead travels at a constant speed for a while before accelerating, thereby reducing the burden on the drive source, such as a motor.

Preferably, the first route and the second route each have a first deceleration section set upstream of the stop point, where the transport vehicle decelerates to stop at the respective stop point; a constant speed section set adjacent to the downstream side of the first deceleration section, where the transport vehicle travels at a constant speed; and a second deceleration section set adjacent to the downstream side of the constant speed section, where the transport vehicle decelerates until it stops at the stop point.

With this configuration, when a transport vehicle attempts to stop at a stopping point, it decelerates in the first deceleration section, travels at a constant speed in the constant speed section, and then decelerates in the second deceleration section. In this way, a constant speed section is set up for the transport vehicle to travel at a constant speed until it stops at the stopping point, ensuring a relatively long time for the transport vehicle to come to a complete stop. Furthermore, if the transport vehicle receives permission to pass before it comes to a complete stop, it can continue traveling without stopping. This contributes to improved transport efficiency.

A host control device is provided,
The travel route is divided into a plurality of control areas,
Each of the plurality of control regions includes one or more of the specific sections,
The zone control device is provided corresponding to each of the plurality of control areas,
The upper control device is configured to control a plurality of the section control devices,
Preferably, when an inquiry is received from the section control device, the upper control device determines whether the transport vehicle has passed the first passing point or the second passing point based on the presence or absence of the transport vehicle in the specific section.

With this configuration, the section control device and the higher-level control device can work together to appropriately control transport vehicles in specific sections.

The technology disclosed herein can be used in an item transport facility that includes a transport vehicle that transports items, a travel route along which the transport vehicle travels, and a section control device that issues passage permission to the transport vehicle traveling along a specific section of the travel route and controls the transport vehicle.

100: Article transport equipment V: Transport vehicle Ct: Upper control device Cz: Section control device Z: Control area Za: Specific section R: Travel route R1: First route R2: Second route Rc: Connecting route Ad: Deceleration section Ad1: First deceleration section Ad2: Second deceleration section Ac: Constant speed section C1: First connection section C2: Second connection section Pp: Passing point Pp1: First passing point Pp2: Second passing point Ps: Stopping point Si: Inquiry Sp: Passing permission Sp1: First passing permission Sp2: Second passing permission Sc: Passing completion notification

Claims (6)

a transport vehicle for transporting an article;
a travel route along which the transport vehicle travels;
a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route,
the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path,
each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side;
a first passing point is set downstream of the first connection portion on the first route,
a second passing point is set downstream of the second connection portion on the second route,
When the transport vehicle travels along the first route through the first connection part, the transport vehicle requests a first passage permission, which is the passage permission to pass through the first passing point, from the section control device upstream of the first connection part, and when the first passage permission is obtained, the transport vehicle passes through the first connection part and heads toward the first passing point, and when the first passage permission is not obtained, the transport vehicle stops upstream of the first connection part,
When the transport vehicle travels along the second route through the second connection part, the transport vehicle requests a second passage permission, which is the passage permission to pass through the second pass point, from the section control device upstream of the second connection part, and if the second passage permission is obtained, the transport vehicle passes through the second connection part and heads toward the second pass point, and if the second passage permission is not obtained, the transport vehicle stops upstream of the second connection part,
when the section control device issues the first passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the first passing point related to the first passing permission, and when the section control device issues the second passing permission to the transport vehicle, the section control device causes the transport vehicle to occupy the second passing point related to the second passing permission,
When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device;
When both the first passing permission and the second passing permission are requested by the transport vehicle, the section control device allows the transport vehicle to travel from the first route or the second route to the connecting route, and causes the transport vehicle that has been allowed to travel to occupy both the first passing point and the second passing point, provided that both the first passing point and the second passing point are unoccupied and not occupied by another preceding transport vehicle. After passing the first pass point or the second pass point, the transport vehicle notifies the section control device of completion of passage;
The article transport facility according to claim 1, wherein, after receiving the passage completion notification from the transport vehicle, the section control device releases the transport vehicle from occupancy of the first pass point or the second pass point related to the passage completion notification. a stop point where the guided vehicle will stop when the passage permission is not obtained is set on the upstream side of the first connection portion on the first path and on the upstream side of the second connection portion on the second path,
The article transport facility according to claim 1 , wherein the transport vehicle requests the first passage permission or the second passage permission from the section control device while traveling upstream of the stopping point on each of the first route and the second route. a deceleration section in which the guided vehicle decelerates and travels in order to stop at each of the stopping points is set on each of the first route and the second route upstream of the stopping points;
4. The article transport facility according to claim 3, wherein, when the passage permission is obtained while the transport vehicle is traveling at a reduced speed in the deceleration section, the transport vehicle accelerates after transitioning from the decelerated traveling to a constant speed traveling. The article transport facility of claim 3, wherein the first route and the second route each have a first deceleration section set upstream of the stop point, where the transport vehicle decelerates to stop at the respective stop point; a constant speed section set downstream adjacent to the first deceleration section, where the transport vehicle travels at a constant speed; and a second deceleration section set downstream adjacent to the constant speed section, where the transport vehicle decelerates until it stops at the stop point. A host control device is provided,
The travel route is divided into a plurality of control areas,
Each of the plurality of control regions includes one or more of the specific sections,
The zone control device is provided corresponding to each of the plurality of control areas,
The upper control device is configured to control a plurality of the section control devices,
6. An article transport facility as described in any one of claims 1 to 5, wherein, when an inquiry is received from the section control device, the upper control device determines whether the transport vehicle has passed the first passing point or the second passing point based on the presence or absence of the transport vehicle in the specific section.