Article conveyance facility

Abstract

To improve the conveyance efficiency of an article conveyance facility as a whole.SOLUTION: When a conveyance vehicle 1 passes through a merging point Ij after passing through a branch point Id and is about to pass through a branching-merging area Z, an area control device causes the conveyance vehicle 1 to occupy a target point closest to the branch point Id on a scheduled traveling route Rf and a point closest to the branch point Id on a non-scheduled traveling route Rn, out of an occupying target point P and an auxiliary occupying target point Ps.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to an article transport facility including a transport vehicle for transporting articles, a travel route along which the transport vehicle travels, and an area control device for controlling the transport vehicle in a predetermined branching and merging area. [Background technology]

[0002] An example of such an article transport facility is disclosed as a transport cart system in Japanese Patent Laid-Open Publication No. 2006-313463 (Patent Document 1). In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] In the system disclosed in Patent Document 1, lock points are provided at intersections where the travel routes of the transport vehicle (5) intersect, and a decision is made as to whether or not the transport vehicle (5) is allowed to pass through the lock point for each zone where such a lock point is provided (hereinafter referred to as an "intersection zone").

[0004] Before entering an intersection zone where a lock point is provided, the transport vehicle (5) issues a blocking request to the zone controller (11) to request that other transport vehicles (5) be prevented from entering the intersection zone. If the zone controller (11) is to permit the transport vehicle (5) that issued the blocking request to pass through the intersection zone, the zone controller (11) issues a blocking permission and excludes other transport vehicles (5). This configuration makes it possible to avoid interference between transport vehicles (5) in the intersection zone. After the transport vehicle (5) has passed through, the zone controller (11) releases the blocking in the intersection zone, making it possible to accept other transport vehicles (5). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2006-313463 A Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, in the intersection zone, multiple transport vehicles (5) compete with each other for the zone. Only the transport vehicle (5) that occupies the zone is allowed to pass, and the passage of other transport vehicles (5) is restricted. In this way, in the intersection zone, the transport vehicle (5) is subject to restrictions arising from its relationship with the other transport vehicles (5). However, if the restrictions are too great, the travel of the transport vehicle (5) may be unnecessarily hindered, which may result in a decrease in the transport efficiency of the entire facility.

[0007] In view of the above circumstances, it is desirable to improve the conveying efficiency of the article conveying facility as a whole. [Means for solving the problem]

[0008] A transport vehicle for transporting an article; A travel route along which the transport vehicle travels; an area control device that controls the transport vehicles in a predetermined branching and merging area including a branching point where the travel paths branch off and a merging point where the travel paths merge, At least an occupation target point to be occupied by the transport vehicle is provided downstream of the junction, an auxiliary occupation target point that is to be auxiliary occupied by the transport vehicle is provided between the branch point and the junction point on the travel route; When the transport vehicle passes through the junction point and attempts to pass through the junction and junction area after passing the junction point, the area control device causes the transport vehicle to occupy, among the occupied target points and the auxiliary occupied target points, the target point that branches off from the junction point and is closest to the junction point on the planned driving path along which the transport vehicle is to travel after passing the junction point, and the target point that is closest to the junction point on a non-planned driving path that branches off from the junction point on a side different from the planned driving path.

[0009] According to this configuration, the area control device causes a transport vehicle that is about to pass through the junction junction area to occupy the target occupation point or the auxiliary occupation point that is closest to the junction point on each of the planned travel path and the non-planned travel path that branch off from the junction point. This makes it possible to reduce the zone occupied by the transport vehicle in the junction junction area, and makes it easier to secure a zone that can be occupied by another transport vehicle when the other transport vehicle is about to pass through the junction junction area. Therefore, it is easier to realize simultaneous passage of multiple transport vehicles through the junction junction area. As described above, according to this configuration, it is possible to increase the degree of freedom of travel of transport vehicles in the zone where the travel paths intersect, and it is possible to improve the transport efficiency of the entire goods transport facility.

[0010] Further features and advantages of the techniques disclosed herein will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief description of the drawings]

[0011] [Figure 1] Plan view of the goods transport facility [Diagram 2] Control Block Diagram [Diagram 3] An explanatory diagram showing the occupation and release of occupation of an occupation target point. [Figure 4] FIG. 1 shows a comparative example [Diagram 5] A diagram showing a competition for an occupied target point or an auxiliary occupied target point by a plurality of transport vehicles. [Figure 6] FIG. 1 is a diagram showing the timing of occupation and release of an occupation target point or an auxiliary occupation target point by a transport vehicle; [Figure 7] A diagram showing a case where a transport vehicle stops at an auxiliary occupation target point. [Figure 8] A diagram showing the timing of release of the auxiliary occupied point [Figure 9] FIG. 13 is a diagram showing a layout of a travel route in another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0013] As shown in Figures 1 and 2, the item transport equipment 100 includes a transport vehicle 1 that transports items, a travel route R along which the transport vehicle 1 travels, and an area control device Cz that controls the transport vehicle 1 in a predetermined branching and merging area Z (see Figure 5) that includes a branching point Id where the travel route R branches off and a merging point Ij where the travel route R merges.

[0014] Although detailed illustration is omitted, in this embodiment, the travel route R is divided into a plurality of control areas. The article transport facility 100 is equipped with a region control device Cz corresponding to the number of control areas. In this embodiment, each region control device Cz is configured to control the transport vehicle 1 in the control area that it is responsible for. The region control device Cz may be responsible for one or more control areas. For example, one region control device Cz may be configured to control the transport vehicle 1 in multiple control areas.

[0015] In this embodiment, the article transport facility 100 includes a host controller Ct. The host controller Ct is configured to control a plurality of area controllers Cz. The transport vehicle 1, the plurality of area controllers Cz, and the host controller Ct are configured to be able to communicate with each other.

[0016] In this embodiment, the article transport facility 100 includes a plurality of transport vehicles 1. Each of the plurality of transport vehicles 1 is configured to execute its own task based on a transport command given from a higher-level control device Ct. In this example, the transport vehicle 1 is configured as a ceiling transport vehicle that travels near the ceiling. However, the transport vehicle 1 may also be configured as a floor transport vehicle that travels along the floor surface, for example.

[0017] There are various types of articles that are handled by the article transport equipment 100. For example, when the article transport equipment 100 is used in a semiconductor manufacturing factory, the articles include wafer containers (so-called FOUP: Front Opening Unified Pods) that store wafers, reticle containers (so-called reticle pods) that store reticles, etc. In this case, the transport vehicle 1 transports articles such as wafer containers and reticle containers along the travel route R between each process.

[0018] The host control device Ct and the zone control device Cz each include, for example, a processor such as a microcomputer, and peripheral circuits such as a memory. Each process or function is realized by cooperation between this hardware and a program executed on a processor such as a computer. The article transport facility 100 includes a control system including at least the host control device Ct and the zone control device Cz. This control system may include other control devices in addition to the host control device Ct and the zone control device Cz. The host control device Ct and the zone control device Cz may be software implemented using the same hardware.

[0019] The host controller Ct is configured to control a plurality of carriers 1 and a plurality of area controllers Cz. For example, the host controller Ct is configured to issue a carrier command to each carrier 1, specifying the origin and destination of an article. The host controller Ct is configured to be able to communicate with each carrier 1, and is able to grasp the current position of the carrier 1 by receiving current position information of the carrier 1 from the carrier 1. The host controller Ct is also configured to be able to communicate with each area controller Cz, and is able to grasp the status of each control area by receiving status reports (reports on traffic conditions, etc.) on each control area from each area controller Cz.

[0020] Each area control device Cz is configured to control the guided vehicles 1 traveling in the control area that it is responsible for. The control of the guided vehicles 1 by the area control device Cz is performed as follows.

[0021] As shown in FIG. 3, each location on the travel route R is provided with an occupancy target point P that is a target for occupation by the transport vehicle 1. FIG. 3 illustrates one occupancy target point P. The area control device Cz is configured to control each transport vehicle 1 by selectively causing each transport vehicle 1 to occupy the occupancy target point P. In this embodiment, a position information holder 2 that holds position information of the occupancy target point P is installed at the occupancy target point P. The transport vehicle 1 is configured to be able to read the position information holder 2 of the occupancy target point P. The transport vehicle 1 is equipped with a reading device that reads the position information holder 2, and is able to grasp its own current position by reading the position information from the position information holder 2. Examples of the position information holder 2 include a one-dimensional code, a two-dimensional code, and a wireless tag.

[0022] As shown in FIGS. 3(a) and (b), the area control device Cz causes the transport vehicle 1 to occupy the occupation target point P in response to a request from the transport vehicle 1. Information that the occupation target point P is occupied is transmitted from the area control device Cz to the transport vehicle 1. The transport vehicle 1 that receives this information is able to pass through the occupation target point P that it occupies. On the other hand, in principle, other transport vehicles 1 than the transport vehicle 1 occupying the occupation target point P cannot occupy the occupation target point P. Therefore, other transport vehicles 1 cannot pass through the occupation target point P.

[0023] 3(c), in this embodiment, the area control device Cz releases the occupation of the occupation target point P by the transport vehicle 1 in response to a request from the transport vehicle 1. In this example, after the transport vehicle 1 passes through the occupation target point P that it has occupied, the transport vehicle 1 requests the area control device Cz to release the occupation of the occupation target point P.

[0024] As shown in Fig. 3(d), when the area control device Cz receives a request from the transport vehicle 1 to release the occupation of the occupation target point P, it releases the occupation of the occupation target point P. This makes the area control device Cz capable of accepting another transport vehicle 1 at the occupation target point P. After releasing the occupation of the occupation target point P at the request of the transport vehicle 1, the area control device Cz notifies the transport vehicle 1 that the occupation of the occupation target point P has been released.

[0025] In this way, the area control device Cz allows the carrier 1 to occupy the occupation target point P and excludes other carriers 1 from occupying the occupation target point P, thereby allowing the carriers 1 to travel in the branching and merging area Z (see FIG. 5) of the control area that it is responsible for without interfering with each other. Details will be described later.

[0026] Here, the problem of control in the branching and merging area Z will be described with reference to a comparative example in FIG.

[0027] 4 shows an example of the layout of the travel route R in a branching / merging area Z. The branching / merging area Z is an area including a branch point Id where the travel route R branches and a merging point Ij where the travel route R merges.

[0028] The branching and merging region Z is provided with a first path R1 and a second path R2 that extend without intersecting with each other, a first connecting path Rc1 that connects the first path R1 and the second path R2, and a second connecting path Rc2 that connects the first path R1 and the second path R2 at a location different from the first connecting path Rc1.

[0029] The travel direction of the guided vehicle 1 on the first route R1 and the travel direction of the guided vehicle 1 on the second route R2 are set to be opposite to each other.

[0030] The first connection path Rc1 branches off from the first path R1 at a first branch point Id1 (branch point Id). The first connection path Rc1 merges with the second path R2 at a second merging point Ij2 (merging point Ij).

[0031] The second connecting path Rc2 branches off from the second path R2 at a second branch point Id2 (branch point Id). The second connecting path Rc2 merges with the first path R1 at a first merging point Ij1 (merging point Ij).

[0032] At least downstream of the junction Ij, an occupation target point P that is to be occupied by the transport vehicle 1 is provided. In this embodiment, the occupation target point P is provided upstream of the branch point Id and downstream of the junction Ij. In the example shown in FIG. 4, the occupation target points P are provided upstream of the first branch point Id1, downstream of the first junction Ij1, upstream of the second branch point Id2, and downstream of the second junction Ij2. Note that "upstream" and "downstream" are defined based on the traveling direction of the transport vehicle 1.

[0033] FIG. 4 illustrates an example in which transport vehicles A, B, and C, which are transport vehicles 1, travel through a junction area Z.

[0034] When the transport vehicle A is going to go from the first route R1 to the second route R2 through the first connecting route Rc1, the transport vehicle A requests the area control device Cz to occupy the occupancy target point P located downstream of the second junction Ij2 where the first connecting route Rc1 and the second route R2 join. This occupancy is for the transport vehicle A to travel along the planned travel route Rf on which it intends to travel.

[0035] In addition, the transport vehicle A requests the area control device Cz to occupy the occupancy target point P that the transport vehicle A passes through when traveling straight along the first route R1, that is, in this example, the occupancy target point P located downstream of the first junction point Ij1. This allows the following transport vehicle B, which is going to travel straight along the first route R1, to be stopped at least at the occupancy target point P located upstream of the first branch point Id1. In other words, the following transport vehicle B cannot proceed to the next step because the following transport vehicle A occupies the occupancy target point P, and therefore the transport vehicle B stops. This configuration makes it possible to avoid the following transport vehicle B, which is going to travel straight along the first route R1, colliding with the preceding transport vehicle A on the first route R1 or the first connecting route Rc1.

[0036] In this way, when multiple transport vehicles A and B are traveling on the first route R1, in order to avoid a rear-end collision with the following transport vehicle B, the leading transport vehicle A occupies not only the occupancy target point P on the planned driving route Rf along which it intends to travel, but also the occupancy target point P on the non-planned driving route Rn that branches off on a different side from the planned driving route Rf.

[0037] In the above case, the occupancy target point P downstream of the first merging point Ij1 occupied by the transport vehicle A is also the occupancy target point P that the transport vehicle C, which is heading from the second route R2 to the first route R1 through the second connecting route Rc2, should occupy in order to travel. However, since this occupancy target point P is occupied by the transport vehicle A, the transport vehicle C cannot proceed and stops. In this way, although the transport vehicle A, which is traveling on the first connecting route Rc1, and the transport vehicle C, which is traveling on the second connecting route Rc2, are unlikely to interfere with each other, the occupancy of the occupancy target point P by one of the transport vehicles 1 (the transport vehicle A in the example of FIG. 4) prevents the other transport vehicle 1 (the transport vehicle C in the example of FIG. 4) from traveling. This is the issue of control in the branching and merging area Z.

[0038] 5 shows an example of the layout of the travel route R in the junction area Z in the article conveying facility 100 according to the present disclosure. The layout of the travel route R is similar to that shown in FIG.

[0039] As shown in FIG. 5, between the branch point Id and the junction Ij on the travel route R, there is provided an auxiliary occupation target point Ps that is a target to be occupied auxiliary by the transport vehicle 1. In this example, at least one auxiliary occupation target point Ps is provided between the first branch point Id1 and the first junction Ij1 on the first route R1. Also, at least one auxiliary occupation target point Ps is provided between the second branch point Id2 and the second junction Ij2 on the second route R2. A plurality of auxiliary occupation target points Ps may be provided on each of the first route R1 and the second route R2. The occupation target point P and the auxiliary occupation target point Ps are target points that are to be occupied by the transport vehicle 1. That is, the target points include the occupation target point P and the auxiliary occupation target point Ps. The occupation target point P is a point that is a target to be occupied by the transport vehicle 1, and the auxiliary occupation target point Ps is a point that is a target to be occupied auxiliary by the transport vehicle 1.

[0040] When the transport vehicle 1 passes through the branch point Id and then passes through the junction point Ij to pass through the branching and merging area Z, the area control device Cz causes the transport vehicle 1 to occupy, among the occupation target points P and the auxiliary occupation target points Ps, the target point that is closest to the branch point Id and is on the planned driving path Rf that branches off from the branch point Id and along which the transport vehicle 1 is to travel after passing the branch point Id, and the target point that is closest to the branch point Id and is on the non-planned driving path Rn that branches off from the branch point Id to a side different from the planned driving path Rf.

[0041] In the example shown in FIG. 5, the area control device Cz causes the transport vehicle A to occupy both the occupation target point P on the planned travel route Rfa (planned travel route Rf for the transport vehicle A) and the auxiliary occupation target point Ps on the non-planned travel route Rna (non-planned travel route Rna for the transport vehicle A). This makes it possible to stop the following transport vehicle B to avoid a rear-end collision with the transport vehicle A, and makes it possible to make the occupation target point P downstream of the first merging point Ij1 unoccupied for the transport vehicle C that is going to move from the second route R2 to the first route R1 through the second connecting route Rc2. Therefore, the transport vehicle C can occupy the occupation target point P on its own planned travel route Rfc (planned travel route Rf for the transport vehicle C) without being affected by the occupation of the occupation target point P by the transport vehicle A. That is, with this configuration, the zone occupied by the transport vehicle 1 in the junction area Z can be made smaller, and when another transport vehicle 1 passes through the junction area Z, it is easy to secure a zone that the other transport vehicle 1 can occupy. Therefore, it is easy to realize simultaneous passage of multiple transport vehicles 1 through the junction area Z.

[0042] In this embodiment, the auxiliary occupation target point Ps is set as information indicating the position of the auxiliary occupation target point Ps. In this example, the auxiliary occupation target point Ps is an element that does not exist in reality and exists only on the map data. Compared to the occupation target point P, which has restrictions on its location due to the environment of the travel route R, the auxiliary occupation target point Ps, which is set as mere information, has fewer restrictions on its location. Therefore, by using the auxiliary occupation target point Ps, which has fewer restrictions on its location, it is easy to contribute to reducing the zone occupied by the transport vehicle 1 in the branching and merging area Z.

[0043] The transport vehicle 1 holds map data of the travel route R in advance, or receives the map data from the upper control device Ct or the area control device Cz. Therefore, the transport vehicle 1 can grasp the position of each auxiliary occupation target point Ps set on the travel route R. For example, the transport vehicle 1 is configured to detect the relative position between the auxiliary occupation target point Ps and itself based on its own travel distance from a known position when the position information holder 2 of a specific occupation target point P is read, or its own current position specified using a GPS (Global Positioning System) or a beacon. In other words, the transport vehicle 1 is configured to be able to recognize the auxiliary occupation target point Ps based on its own current position.

[0044] As shown in FIG. 6, in this embodiment, when there are auxiliary occupation target points Ps and occupation target points P on the planned travel route Rf, the transport vehicle 1 requests the area control device Cz to occupy the auxiliary occupation target points Ps and the occupation target points P at different times in the order in which the transport vehicle 1 passes through, and requests the area control device Cz to release the occupation of the auxiliary occupation target points Ps and the occupation target points P at different times in the order in which the transport vehicle 1 passes through. In this embodiment, the transport vehicle 1 requests the area control device Cz to release the occupation of the auxiliary occupation target points Ps or the occupation target points P that the transport vehicle 1 has passed through, every time the transport vehicle 1 passes through the auxiliary occupation target points Ps or the occupation target points P. After passing the auxiliary occupation target points Ps or the occupation target points P, preferably immediately after passing through the auxiliary occupation target points Ps or the occupation target points P, the transport vehicle 1 requests the area control device Cz to release the occupation of the auxiliary occupation target points Ps or the occupation target points P that the transport vehicle 1 has passed through. With this configuration, in the branching and merging area Z, the transport vehicle 1 can occupy the zone in stages in accordance with its own travel, and can also release the occupation of the zone in stages. Therefore, in the junction area Z, it becomes easier to secure a zone that can be occupied by other guided vehicles 1.

[0045] 6 shows a case where the transport vehicle A travels straight along the first route R1. In this case, the planned travel route Rfa of the transport vehicle A is the first route R1. When the transport vehicle A travels along the first route R1, which is the planned travel route Rfa, the transport vehicle A first passes through the auxiliary occupation target point Ps on the first route R1, and then passes through the occupation target point P downstream of the first junction Ij1.

[0046] As shown in Fig. 6(a), the transport vehicle A requests the area control device Cz to occupy the auxiliary occupation target point Ps on the first route R1. The area control device Cz causes the transport vehicle A to occupy the auxiliary occupation target point Ps. In addition, in order to avoid rear-end collision with another transport vehicle 1 following behind, the transport vehicle A also requests occupation of an occupation target point P (an occupation target point P downstream of the second merging point Ij2) on the non-planned travel route Rna, and the area control device Cz causes the transport vehicle A to occupy the occupation target point P.

[0047] As shown in FIG. 6(b), after the transport vehicle A passes through the auxiliary occupation target point Ps on the first route R1, the transport vehicle A requests the area control device Cz to release the occupation of the auxiliary occupation target point Ps. The area control device Cz releases the occupation of the auxiliary occupation target point Ps. Prior to that, the transport vehicle A has requested the area control device Cz to occupy the occupation target point P located downstream of the first junction Ij1. The area control device Cz has the transport vehicle A occupy the occupation target point P. Although detailed illustration is omitted, after the transport vehicle A passes through the occupation target point P located downstream of the first junction Ij1, the transport vehicle A requests the area control device Cz to release the occupation of the occupation target point P. The area control device Cz releases the occupation of the occupation target point P. In the example shown in Figure 6(b), after passing the auxiliary occupation target point Ps on the first route R1, the transport vehicle A also requests release of the occupation of the occupation target point P on the non-planned driving route Rna, and the area control device Cz releases the occupation of the occupation target point P.

[0048] In this embodiment, when an occupation target point P downstream of an auxiliary occupation target point Ps that the guided vehicle 1 occupies is not occupied by another guided vehicle 1, the guided vehicle 1 passes through the auxiliary occupation target point Ps.

[0049] In the example shown in FIG. 6(b), the occupancy target point P downstream of the first junction Ij1 is also an occupancy target point P that should be occupied by the transport vehicle C that is moving from the second route R2 to the first route R1 via the second connecting route Rc2. However, the occupancy target point P has already been occupied by the transport vehicle A, and is not occupied by the transport vehicle C. Therefore, the transport vehicle A does not stop at the auxiliary occupancy target point Ps on the first route R1, but passes through the auxiliary occupancy target point Ps and continues traveling toward the occupancy target point P downstream of the first junction Ij1.

[0050] In this embodiment, when an occupation target point P downstream of an auxiliary occupation target point Ps occupied by the guided vehicle 1 is occupied by another guided vehicle 1, the guided vehicle 1 stops at the auxiliary occupation target point Ps.

[0051] FIG. 7 shows an example in which the first connection route Rc1 and the second connection route Rc2 are each provided with an auxiliary occupation target point Ps. In the example shown in FIG. 7, one auxiliary occupation target point Ps is provided on each of the connection routes Rc1 and Rc2, but multiple auxiliary occupation target points Ps may be provided. As shown in FIG. 7, the occupation target point P downstream of the second merging point Ij2 is an occupation target point P to be occupied by each of the transport vehicle A that is going to go from the first route R1 to the second route R2 through the first connection route Rc1 and the transport vehicle C that is going to go straight on the second route R2. In the example shown in the figure, the occupation target point P is occupied by the transport vehicle C first. That is, the transport vehicle A stops at the auxiliary occupation target point Ps because the occupation target point P downstream of the auxiliary occupation target point Ps on the first connection route Rc1, which is the planned travel route Rfa, is occupied by another transport vehicle C. Then, after the occupation of the occupation target point P by the transport vehicle C is released, the transport vehicle A requests the area control device Cz to occupy the occupation target point P. When the transport vehicle A is able to occupy the occupation target point P, the transport vehicle A starts traveling toward the occupation target point P.

[0052] Fig. 8 shows an example in which an auxiliary occupancy target point Ps is provided on each of the first route R1, the second route R2, the first connecting route Rc1, and the second connecting route Rc2. In the example shown in Fig. 8, one auxiliary occupancy target point Ps is provided on each of the first route R1, the second route R2, the first connecting route Rc1, and the second connecting route Rc2, but multiple auxiliary occupancy target points Ps may be provided.

[0053] In this embodiment, when the auxiliary occupation target points Ps and the occupation target points P are arranged in the order described on the planned driving path Rf, and the auxiliary occupation target points Ps and the occupation target points P are arranged in the order described on the non-planned driving path Rn, the transport vehicle 1 requests the area control device Cz to release the occupation of the auxiliary occupation target points Ps on each of the planned driving path Rf and the non-planned driving path Rn after passing the auxiliary occupation target point Ps on the planned driving path Rf.

[0054] In the example shown in FIG. 8, the transport vehicle A is going to travel from the first route R1 to the second route R2 through the first connecting route Rc1. That is, in this example, the portion spanning the first connecting route Rc1 and the second route R2 downstream of the first branch point Id1 is the planned travel route Rfa of the transport vehicle A. And the portion of the first route R1 downstream of the first branch point Id1 is the non-planned travel route Rna of the transport vehicle A. When the auxiliary occupation target point Ps and the occupation target point P are arranged in the described order on the planned travel route Rfa of the transport vehicle A, and the auxiliary occupation target point Ps and the occupation target point P are arranged in the described order on the non-planned travel route Rn, the transport vehicle A requests the area control device Cz to release the occupation of the auxiliary occupation target point Ps on the planned travel route Rfa and the non-planned travel route Rna after passing the auxiliary occupation target point Ps on the planned travel route Rfa. In this example, the transport vehicle A requests the area control device Cz to release the occupation of the auxiliary occupation target point Ps on the planned travel route Rfa and the auxiliary occupation target point Ps on the non-planned travel route Rna at the same time as or immediately after passing the auxiliary occupation target point Ps on the planned travel route Rfa. This allows the transport vehicle A to quickly release the occupation of the auxiliary occupation target point Ps on the non-planned travel route Rna, and allows the transport vehicle B following the transport vehicle A to quickly realize a state in which the transport vehicle B can travel on the non-planned travel route Rna.

[0055] According to the article conveying equipment 100 described above, the zone occupied by the transport vehicle 1 in the junction / merging area Z can be made smaller, and it is easy to secure a zone that can be occupied by another transport vehicle 1 when the other transport vehicle 1 attempts to pass through the junction / merging area Z. Therefore, the degree of freedom of travel of the transport vehicle 1 in the zone where the travel routes R intersect can be increased, and the transport efficiency of the article conveying equipment 100 as a whole can be improved.

[0056] Other embodiments Next, other embodiments will be described.

[0057] (1) In the above embodiment, an example was described in which the branching and merging area Z includes the first route R1 and the second route R2 that extend so as not to intersect with each other, the first connecting route Rc1 that connects the first route R1 and the second route R2, and the second connecting route Rc2 that connects the first route R1 and the second route R2 at a location different from the first connecting route Rc1. Such a branching and merging area Z may also exist between bays that connect multiple bays, as shown in FIG. 9. In the example shown in FIG. 9, the first route R1, the second route R2, the first connecting route Rc1, and the second connecting route Rc2 each have an auxiliary occupancy target point Ps. However, this is not limited to this, and the position at which the auxiliary occupancy target point Ps is provided may be set arbitrarily as long as it is between the branch point Id and the merging point Ij on the travel route R.

[0058] (2) In the above embodiment, an example has been described in which the auxiliary occupation target point Ps is set as information indicating the position of the auxiliary occupation target point Ps. However, the present invention is not limited to such an example, and the auxiliary occupation target point Ps may be provided with a position information holder 2 that holds position information of the auxiliary occupation target point Ps, similar to the occupation target point P.

[0059] (3) In the above embodiment, when the planned travel route Rf includes an auxiliary occupation target point Ps and an occupation target point P, the transport vehicle 1 requests the area control device Cz to occupy the auxiliary occupation target point Ps and the occupation target point P at different times in the order in which the transport vehicle 1 passes through the points. However, the transport vehicle 1 is not limited to this example, and may request the area control device Cz to occupy the auxiliary occupation target point Ps and the occupation target point P at the same time.

[0060] (4) In the above embodiment, an example has been described in which the transport vehicle 1 requests the area control device Cz to release the occupation of the auxiliary occupation target point Ps and the occupation target point P at different times in the order in which the transport vehicle 1 passed through. However, without being limited to such an example, the transport vehicle 1 may request the area control device Cz to release the occupation of the auxiliary occupation target point Ps and the occupation target point P at the same time.

[0061] (5) In the above embodiment, an example has been described in which the transport vehicle 1 requests the area control device Cz to release the occupation of the auxiliary occupation target point Ps of each of the planned driving path Rf and the non-planned driving path Rn after passing the auxiliary occupation target point Ps of the planned driving path Rf. However, without being limited to such an example, the transport vehicle 1 may request the area control device Cz to release the occupation of the auxiliary occupation target point Ps of the non-planned driving path Rn before passing the auxiliary occupation target point Ps of the planned driving path Rf. In this case, the timing at which the transport vehicle 1 requests the release of the occupation may be a timing at which the transport vehicle 1 can avoid rear-end collision with another transport vehicle 1 following the transport vehicle 1. Specifically, the transport vehicle 1 may request the release of the occupation at a timing when the distance between the transport vehicle 1 and the other transport vehicle 1 following it is sufficiently large.

[0062] (6) The configurations disclosed in the above-described embodiments can be combined with configurations disclosed in other embodiments as long as no contradiction occurs. As for other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0063] [Summary of this embodiment] The following is a summary of this embodiment.

[0064] A transport vehicle for transporting an article; A travel route along which the transport vehicle travels; an area control device that controls the transport vehicles in a predetermined branching and merging area including a branching point where the travel paths branch off and a merging point where the travel paths merge, At least an occupation target point to be occupied by the transport vehicle is provided downstream of the junction, an auxiliary occupation target point that is to be auxiliary occupied by the transport vehicle is provided between the branch point and the junction point on the travel route; When the transport vehicle passes through the junction point and attempts to pass through the junction and junction area after passing the junction point, the area control device causes the transport vehicle to occupy, among the occupied target points and the auxiliary occupied target points, the target point that branches off from the junction point and is closest to the junction point on the planned driving path along which the transport vehicle is to travel after passing the junction point, and the target point that is closest to the junction point on a non-planned driving path that branches off from the junction point on a side different from the planned driving path.

[0065] According to this configuration, the area control device causes a transport vehicle that is about to pass through the junction junction area to occupy the target occupation point or the auxiliary occupation point that is closest to the junction point on each of the planned travel path and the non-planned travel path that branch off from the junction point. This makes it possible to reduce the zone occupied by the transport vehicle in the junction junction area, and makes it easier to secure a zone that can be occupied by another transport vehicle when the other transport vehicle is about to pass through the junction junction area. Therefore, it is easier to realize simultaneous passage of multiple transport vehicles through the junction junction area. As described above, according to this configuration, it is possible to increase the degree of freedom of travel of transport vehicles in the zone where the travel paths intersect, and it is possible to improve the transport efficiency of the entire goods transport facility.

[0066] A location information holder that holds location information of the occupancy target point is installed at the occupancy target point, The auxiliary occupancy target point is set as information indicating a position of the auxiliary occupancy target point, The transport vehicle is preferably configured to be capable of reading the position information holder of the target occupation point, and is also configured to be capable of recognizing the auxiliary target occupation point based on its own current position.

[0067] According to this configuration, the auxiliary occupation target point is set as information indicating the position of the auxiliary occupation target point. This allows the auxiliary occupation point to be, for example, an element that does not exist in reality and exists only on the map data. Compared to occupation target points that have restrictions on their placement due to the environment of the travel route, etc., the placement restrictions of the auxiliary occupation point that is set as mere information are small. Therefore, by using the auxiliary occupation point that has few restrictions on its placement, it is easy to contribute to reducing the zone occupied by the transport vehicle in the branching and merging area.

[0068] It is preferable that, when the transport vehicle has the auxiliary occupation target point and the occupation target point on the planned travel route, the transport vehicle requests the area control device to occupy the auxiliary occupation target point and the occupation target point in the order that the transport vehicle passes through, and requests the area control device to release the occupation of the auxiliary occupation target point and the occupation target point in the order that the transport vehicle passes through.

[0069] According to this configuration, in the junction area, the guided vehicle can gradually occupy a zone in accordance with its own travel, and can also gradually release the occupancy of the zone, making it easier to secure a zone that can be occupied by another guided vehicle.

[0070] It is preferable that, when the auxiliary occupation target point and the occupation target point are arranged on the planned driving route in the order described, and the auxiliary occupation target point and the occupation target point are arranged on the non-planned driving route in the order described, after passing the auxiliary occupation target point on the planned driving route, the transport vehicle requests the area control device to release the occupation of the auxiliary occupation target point on each of the planned driving route and the non-planned driving route.

[0071] According to this configuration, the occupation of auxiliary occupation target points on a non-planned route of the transport vehicle can be released early, and a state in which other transport vehicles can travel on the non-planned route can be quickly achieved.

[0072] It is preferable that, when the occupation target point downstream of the auxiliary occupation target point occupied by the transport vehicle itself is occupied by another transport vehicle, the transport vehicle stops at the auxiliary occupation target point.

[0073] According to this configuration, the transport vehicle can proceed to the auxiliary occupancy target point on its planned travel route regardless of whether there are other transport vehicles planning to travel ahead of its planned travel route. Therefore, according to this configuration, it is easy to make the travel of multiple transport vehicles in the branching and merging area smooth. [Industrial Applicability]

[0074] The technology disclosed herein can be used in an item transport facility that includes a transport vehicle for transporting items, a travel path along which the transport vehicle travels, and an area control device that controls the transport vehicle in a predetermined branching and merging area. [Explanation of symbols]

[0075] 100: Goods transport equipment 1: Transport vehicle 2: Location information holder Cz: Area control device R: Route Z: Branching and merging area Id: Branch point Ij: Junction P: Occupied point Ps: Auxiliary occupancy point Rf: Planned route Rn: Non-planned route

Claims

1. A transport vehicle for transporting an article; A travel route along which the transport vehicle travels; an area control device that controls the transport vehicles in a predetermined branching and merging area including a branching point where the travel paths branch off and a merging point where the travel paths merge, At least an occupation target point to be occupied by the transport vehicle is provided downstream of the junction, an auxiliary occupation target point that is to be auxiliary occupied by the transport vehicle is provided between the branch point and the junction point on the travel route; The area control device, when the transport vehicle is about to pass through the junction point and pass through the junction / junction area after passing the junction point, causes the transport vehicle to occupy, among the occupied target point and the auxiliary occupied target point, the target point that branches off from the junction point and is closest to the junction point on the planned driving path that the transport vehicle is about to travel on after passing the junction point, and the target point that is closest to the junction point on a non-planned driving path that branches off from the junction point on a side different from the planned driving path, the goods transport equipment.

2. A location information holder that holds location information of the occupancy target point is installed at the occupancy target point, The auxiliary occupancy target point is set as information indicating a position of the auxiliary occupancy target point, 2. The article transport facility according to claim 1, wherein the transport vehicle is configured to be capable of reading the position information holder of the target occupancy point and to be capable of recognizing the auxiliary target occupancy point based on its own current position.

3. The item transport facility described in claim 1, wherein, when the auxiliary occupation target point and the occupation target point are present on the planned travel route, the transport vehicle requests the area control device to occupy the auxiliary occupation target point and the occupation target point in the order in which the transport vehicle passes through, and requests the area control device to release the occupation of the auxiliary occupation target point and the occupation target point in the order in which the transport vehicle passes through.

4. The item transport facility of claim 1, wherein, when the auxiliary occupation target point and the occupation target point are arranged on the planned travel path in the order described, and the auxiliary occupation target point and the occupation target point are arranged on the non-planned travel path in the order described, after passing the auxiliary occupation target point on the planned travel path, the transport vehicle requests the area control device to release the occupation of the auxiliary occupation target point on each of the planned travel path and the non-planned travel path.

5. The item transport facility according to any one of claims 1 to 4, wherein the transport vehicle stops at the auxiliary occupation target point downstream of the auxiliary occupation target point that the transport vehicle occupies if the auxiliary occupation target point downstream of the auxiliary occupation target point that the transport vehicle occupies is occupied by another transport vehicle.

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