Conveyor system

Abstract

The conveying system of the present invention comprises: a plurality of trolleys that can move along a track; and a controller that controls the plurality of trolleys; that searches for a travel route for the trolleys to move along the track toward a target location, causes the trolleys to move along the travel route, and searches for a travel route again when the trolleys pass through an updated location set on the track.

Description

[Technical Field]

[0001] This invention relates to a sample transfer system. [Previous Technology]

[0002] A transport system is known, comprising a plurality of trolleys capable of moving along a track and a controller for controlling the plurality of trolleys. As such a technology, Patent Document 1 discloses, for example, a controller that sequentially and periodically sends congestion information to the plurality of trolleys, and each trolley searches for a new travel route based on the received congestion information. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2006-313408 [Summary of the Invention]

[0004] (The problem that the invention aims to solve)

[0005] In the conveying system described above, the time at which the moving route is searched again depends on the time at which the trolley receives the congestion information. Therefore, even if the trolley searches again and updates the moving route, there is a possibility that the time required for the trolley to reach its destination cannot be appropriately reduced due to the timing of the search, thus failing to improve conveying efficiency.

[0006] This invention is a manifestation of the above-described reality, and its objective is to provide a conveying system that improves conveying efficiency. (Technical means to solve the problem)

[0007] A conveying system according to the present invention comprises: a plurality of trolleys, which can move along a track; and a controller that controls the plurality of trolleys; that searches for a travel route for the trolleys to move along the track toward a target location, causes the trolleys to move along the travel route, and searches for a travel route again when the trolleys pass through an updated location set on the track.

[0008] In this transport system, since the travel route is searched again by the trolley passing the update location, the travel route can be updated at an appropriate time by setting the update location at an appropriate location. This can, for example, prevent situations where the re-search time is too late or the re-search frequency is low, and appropriately reduce the time required for the trolley to reach the target location. In other words, updating the trolley's travel route at an appropriate time can improve transport efficiency.

[0009] In one embodiment of the conveying system of the present invention, the controller may also perform: a search process, which searches for a travel route; a sending process, which, when performing the search process, sends a travel command to the trolley to move along the searched travel route; and a re-search process, which, when the trolley passes an updated location, performs the search process again. Thus, the controller can perform the search and re-search of the trolley's travel route.

[0010] In one embodiment of the present invention, the track may be laid out in a manner that passes through a plurality of areas; the update location is set at the boundary of the plurality of adjacent areas. In this case, the travel route of the trolley can be updated to an appropriate travel route at the time when the trolley passes through the update location set at the boundary of the area.

[0011] The conveying system of the present invention can also be configured such that controllers are respectively located in each of a plurality of areas; each of the plurality of controllers controls a trolley in each of the plurality of areas. In this way, the travel route of the trolley can be updated to an appropriate travel route at the time point when the trolley passes through the update location located at the boundary between the areas where the trolley is controlled by each controller.

[0012] In one embodiment of the present invention, a power supply unit is also provided along the track to supply power to the trolley; the power supply unit is respectively provided in each of the plurality of areas. In this way, at the time when the trolley passes through the update location at the boundary of the areas supplied by each power supply unit, the travel route of the trolley can be updated to an appropriate travel route.

[0013] In one embodiment of the present invention, the transfer area can also be determined in a manner that minimizes the total cost of each of the multiple areas of the transfer area, which includes the multiple areas that the trolley will pass through before reaching the target location; the transfer route is determined based on the determined transfer area. In this case, in searching for the transfer route, the transfer route can be determined in a manner that minimizes the cost (e.g., the time required) of the trolley reaching the target location based on the multiple areas that the trolley will pass through before reaching the target location.

[0014] The conveying system of the present invention can also increase the cost of an area when there are more than a predetermined number of trolleys in that area. In such cases, the movement route can be determined by avoiding areas where there are more than a predetermined number of trolleys.

[0015] In one embodiment of the present invention, the track may also be configured to include a plurality of segments, and the travel route may be determined in a manner that minimizes the total cost of each of the plurality of segments of the travel route, which includes the plurality of segments that the trolley will pass through before reaching the target location. In this case, the travel route search may be conducted in a manner that minimizes the cost (e.g., the time required) until the trolley reaches the target location, which includes the plurality of segments that the trolley will pass through before reaching the target location.

[0016] In one embodiment of the conveying system of the present invention, when the time required for the trolley to pass through a section is longer than a predetermined time, the cost of that section may be increased. In such cases, the travel route can be determined by avoiding sections where the time required for the trolley to pass through is longer than a predetermined time.

[0017] In one embodiment of the conveying system of the present invention, the cost of a section may be increased when the speed of the trolley passing through a section is below a predetermined speed. In such cases, the travel route can be determined by avoiding sections where the speed of the trolley passing through a section is below a predetermined speed.

[0018] In one embodiment of the present invention, the cost of a section may be increased when there are more than a predetermined number of trolleys in that section. In such cases, the travel route can be determined by avoiding sections where there are more than a predetermined number of trolleys.

[0019] In a single-mode conveying system of the present invention, the cost of a section can be increased if the value obtained by dividing the length of a section by the number of units existing in that section is less than a predetermined value. In this case, the moving route can be determined by avoiding relatively congested sections.

[0020] In the conveying system of the present invention, the re-searching of the travel route can also be allowed and stopped based on the user's input. In this case, for example, the user can selectively switch between a mode that performs the re-searching of the travel route and a mode that does not perform the re-searching of the travel route as needed. (Effects compared to prior art)

[0021] According to one aspect of the present invention, it can provide a conveying system that can improve conveying efficiency.

Implementation Method

[0023] Hereinafter, one embodiment will be described with reference to the drawings. In the description of the drawings, the same elements are labeled with the same symbols, and repeated descriptions are omitted. The dimensional ratios in the drawings are not necessarily the same as those described.

[0024] As shown in Figures 1 to 3, the conveying system 1 constitutes a system for conveying items 26. Items 26 may be, for example, containers for holding a plurality of semiconductor wafers, but may also be glass substrates and general components. The conveying system 1 includes a track 2, a plurality of trolleys 6, a controller 10, and a power supply unit 15.

[0025] Track 2 is a pre-determined path for the movement of the trolley 6. Track 2 is, for example, laid in the space above the workers' heads, i.e., near the ceiling. Track 2 is supported and suspended by support pillars 28 (see Figure 3). Track 2 is configured to include a plurality of sections. Track 2 includes sections 3 extending in a straight line and sections 4 extending in a curved line. In the track 2 shown in Figure 1, the symbols for sections 3 and 4 are simplified and only a portion of the sections are labeled, but the other locations are also sections included in track 2. In each section 3 and 4, the predicted time required for the trolley 6 to pass is pre-set in terms of cost, etc.

[0026] Track 2 has: a plurality of segments 3 and 4; a meeting point where the plurality of segments 3 and 4 meet; and one segment 3 or one segment 4 branching off as a branch point of the plurality of segments 3 and 4. As shown by the arrow of the single-point chain in Figure 1, the route of track 2 is a one-way route for the trolley 6 to move in only one direction. Furthermore, the layout of track 2 is not particularly limited and various layouts can be adopted. A plurality of dot markers are affixed to track 2 in a manner that is arranged at fixed intervals along the extension direction of track 2. Barcodes, etc., can be listed as dot markers.

[0027] Track 2 is laid out through a plurality of regions 5a to 5m. The plurality of regions 5 are divided, for example, by being adjacent to each other. Region 5 has a plurality of segments 3 and 4. Segment 3 or segment 4 may also be separated in the middle by a plurality of regions 5. Region 5 has, for example, a track around which a trolley 6 can be wound by straight segments 3 and 3 and curved segments 4 and 4. Region 5 has a plurality of segments 4 extending from the winding track to adjacent regions 5. Through the plurality of segments 4, the trolley 6 can move between regions 5. The extent and number of regions 5 are not particularly limited. The size of region 5 can also be set according to specifications, etc.

[0028] The trolley 6 is a vehicle that can move along the track 2, that is, along a pre-determined path. The trolley 6 transports goods. The trolley 6 is an elevated unmanned transport vehicle. The trolley 6 is also referred to as a transport vehicle (transport trolley), elevated transport vehicle (elevated transport trolley), or transport vehicle (transfer trolley). The number of trolleys 6 in the transport system 1 is not particularly limited, but can be multiple. The trolley 6 is, for example, a linear motor driven vehicle, and the drive source is, for example, an electromagnetic linear motor. In this way, the trolley 6 can perform smooth and efficient acceleration and deceleration, and high-speed continuous operation over short distances.

[0029] As shown in Figure 3, the trolley 6 has a traveling section 20 and a power receiving and communication section 21. The traveling section 20 moves the trolley 6 along the track 2. The power receiving and communication section 21 receives power from the power supply section 15 on the side of the track 2, for example, through contactless power supply. The trolley 6 includes an θ driver 22, a lateral feed section 23 for laterally feeding a lower portion of itself relative to the track 2, a lifting drive section 24, and a lifting platform 25. The θ driver 22 causes the lifting drive section 24 to rotate in the horizontal plane to control the posture of the article 26. The lifting drive section 24 raises and lowers the lifting platform 25 that holds the article 26. A clamp is provided on the lifting platform 25 to allow for free holding or releasing of the article 26. Alternatively, the θ driver 22 and the lateral feed section 23 may not be provided.

[0030] The trolley 6 is equipped with a line sensor 27. The line sensor 27 is a distance sensor that detects the distance between itself and the trolley 6 in front. The line sensor 27 is a sensor that can detect the trolley 6 located directly in front of it. The line sensor 27 detects the trolley 6 in front by emitting laser light directly in front of itself (the trolley 6 equipped with the line sensor 27) and detecting the reflected light reflected by the reflector of the trolley 6 in front. The line sensor 27 is, for example, disposed on the front side of the anti-fall cover of the trolley 6. The line sensor 27 sends the detection result to the controller 10 described later. The trolley 6 may also be equipped with a curve sensor that can detect the trolley 6 located in front of it and moving on a curved route.

[0031] The trolley 6 has a position acquisition unit (not shown) that acquires position information related to its position on the track 2. The position acquisition unit is composed of a reading unit that reads the markers on the track 2. The position information of the trolley 6 includes, for example, information about the markers that can be obtained by the reading unit, and information related to the distance traveled after passing the marker.

[0032] As shown in Figures 2 and 3, the power supply unit 15 includes power supply lines disposed in each of the plurality of regions 5 along the track 2. The plurality of power supply units 15 are disposed in each of the plurality of regions 5a to 5m. That is, each of the plurality of power supply units 15 can supply power from a power source (not shown) along the track 2 to the trolleys 6 located in each of the plurality of regions 5a to 5m. Each of the plurality of regions 5a to 5m corresponds to a region that governs the power supply to each of the plurality of power supply units 15.

[0033] The controller 10 is an electronic control unit composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The controller 10 may be configured as software in which a program stored in ROM is loaded into RAM and executed by the CPU. The controller 10 may also be configured as hardware formed by electronic circuits. As shown in Figures 1 and 2, the controller 10 has a plurality of area controllers 11a to 11m and a host controller 19. Each area controller 11 and host controller 19 may be composed of a single device or a plurality of devices. When composed of a plurality of devices, these devices are connected via a communication network such as the Internet or an intranet, and logically, each area controller and host controller 19 is constructed separately. Multiple area controllers 11a to 11m are connected to the host controller 19 via communication networks such as the Internet or an enterprise intranet.

[0034] A plurality of area controllers 11a to 11m are respectively located in each of the plurality of areas 5a to 5m. That is, each of the plurality of area controllers 11a to 11m controls the trolleys 6 in each of the plurality of areas 5a to 5m. That is, one area controller 11 governs one area 5 and controls the trolleys 6 in that area 5. Each of the plurality of area controllers 11a to 11m can communicate with the trolleys 6 present in each of the plurality of areas 5a to 5m. Each of the plurality of areas 5a to 5m corresponds to the control range of the plurality of area controllers 11a to 11m. In the example in the figure, each area controller 11 is assigned to area 5 marked with a symbol that is the same as the English letter of the marked symbol. Regarding the area 5 governed by each area controller 11, there are cases where it is referred to as "governed area 5". The area controller 11 has layout data related to the layout of track 2. The layout data includes information related to the plurality of areas 5, the plurality of sections 3 and 4, the direction of travel of each section 3 and 4, and the update location 7 (described later). Furthermore, the upper controller 19 may also have layout data.

[0035] As shown in FIG4, each area controller 11 has a route search unit 12, a communication unit 13, and a route re-search unit 14. Each area controller 11 selects any one of the plurality of trolleys 6 that exist within its jurisdiction 5 and can transport items 26, and sends (assigns) a transport instruction to the selected trolley 6 (hereinafter referred to as "object trolley 6"). The transport instruction includes a movement instruction to move along the movement route to a target location 9 (see FIG1) such as a loading port at the transport destination, and a grabbing instruction for items M located at the target location 9 or an unloading instruction for items M held at the loading port. This transport instruction can be made by each area controller 11, for example, based on a request from the upper controller 19. The object trolley 6 is not particularly limited, as long as it is an empty trolley 6. An empty trolley 6 includes a trolley 6 that has not yet been assigned a transport instruction and is not in an empty state for transporting items 26.

[0036] The route search unit 12 performs the search processing for the migration route of the migration command. The migration route is the predetermined path for the target trolley 6 to move. For example, the route search unit 12 searches for the predetermined migration route of the target trolley 6 from its current location, i.e., the departure location 8 (see Figure 1), to the destination location 9 (see Figure 1). The departure location 8 and the destination location 9 are not particularly limited and can be any location on the track 2. The details of the migration route search processing performed by the route search unit 12 will be described in detail later.

[0037] The communication unit 13 periodically communicates with a plurality of trolleys 6 within the jurisdiction area 5. For example, the communication unit 13 of each area controller 11 sends a status query to the trolleys 6 within the jurisdiction area 5. Upon receiving the status query, the trolley 6 sends a status report containing its own position information and speed information to each communication unit 13. By sequentially and periodically communicating with the plurality of trolleys 6, each communication unit 13 monitors the status (including current position and whether it is stopped or moving) of each trolley 6 within its jurisdiction area 5.

[0038] The communication unit 13 communicates with the host controller 19. Each communication unit 13, for example, sends the status of each vehicle 6 it has monitored to the host controller 19. Furthermore, each communication unit 13 sends basic information to the host controller 19, including the number of vehicles 6 within each jurisdiction area 5 (hereinafter referred to as "area number"), the time required to pass through a section within each jurisdiction area 5 (hereinafter referred to as "required time"), the speed at which it passes through a section within each jurisdiction area 5 (hereinafter referred to as "passing speed"), the number of vehicles 6 in each section within each jurisdiction area 5 (hereinafter referred to as "section number"), and the value obtained by dividing the length of a section within each jurisdiction area 5 by the number of vehicles present in that section (hereinafter referred to as "division value"). Each communication unit 13 receives various information from the host controller 19. For example, each communication unit 13 receives basic information about each region 5 other than the region 5 under its jurisdiction from the host controller 19.

[0039] In each area controller 11, when the route search unit 12 is performing search processing, the communication unit 13 sends a transport command to the target trolley 6, which includes a transport command that causes it to move along the searched transport route. The target trolley 6, which receives the transport command from the communication unit 13, moves on the track 2 along the transport route included in the transport command.

[0040] When the trolley 6 passes the update location 7, the route re-search unit 14 performs a re-search process, which is performed by the route search unit 12. The update location 7 is a location set on the track 2. The update location 7 is a location preset according to the specifications of the transport system 1, and is a location that can be appropriately updated according to changes in the specifications of the transport system 1. The specifications of the transport system 1 are, for example, the layout of the track 2. The update location 7 is a location set in the manner in which the re-search process is performed when the trolley 6 passes, and is a location on the track 2 that triggers the re-search process. Here, the update location 7 is set at the boundary of a plurality of adjacent areas 5. Furthermore, in the figure, for ease of explanation, the update location 7 is represented by a circular mark on the track 2. For example, when the communication unit 13 receives a status report from the trolley 6 indicating that the trolley 6 has passed the update location 7, the route re-search unit 14 performs a re-search process, causing the route search unit 12 to perform the search process again.

[0041] Next, the route search process of the route search unit 12 will be described in detail. Hereinafter, the route search process may be simply described as route search process. In the route search process, at least one of area search process and segment search process is performed.

[0042] The so-called area search processing is as follows: After determining the area that the target trolley 6 will pass through before reaching the target location 9, i.e., the transfer area, based on the basic information obtained from each area controller 11, the segment that the trolley 6 will move through within each of the transfer areas is determined. In the area search processing, the transfer area is determined in a way that minimizes the total cost of each of the plurality of transfer areas, which includes any one of the plurality of areas 5a to 5m that the trolley 6 will pass through before reaching the target location 9.

[0043] The cost of each area 5 included in the migration area is calculated based on basic information. The cost of each area 5 is calculated, for example, based on the time required for each segment within that area 5. The cost of each area 5 is, for example, the sum of the times required for each segment within that area 5. In the area search processing, when there are multiple migration areas before the trolley 6 reaches the target location 9, the migration area with the smallest total time required for the multiple areas 5 included in the migration area is determined.

[0044] Furthermore, in the area search processing, the migration area can be determined based on basic information other than the required time, or the various elements of the basic information can be combined to determine the migration area. For example, in the area search processing, when the number of units in the area exceeds a predetermined number, the cost of the jurisdiction area 5 can be increased. In this case, the cost of the jurisdiction area 5 is increased by adding the estimated conversion value of the required time corresponding to the number of units in the area.

[0045] In the area search processing, the travel route is determined based on the determined travel area. For example, in the area search processing, segments 3 and 4 of each area 5 included in the determined travel area are selected in such a way that the object's trolley 6 travels from the current location to the target location 9, and the route along the selected segments 3 and 4 is determined as the travel route. Furthermore, the method for determining the travel route based on the travel area in the area search processing can also be performed in the same way as the segment search processing described later.

[0046] The so-called segment search processing is based on the basic information obtained from each area controller 11 to determine the travel route of a plurality of segments 3 and 4 that the trolley 6 containing the object passes through before reaching the target location 9. In the segment search processing, the travel route is determined in a way that minimizes the total cost of each of the plurality of segments 3 and 4 of the travel route, which includes the travel route of the plurality of segments 3 and 4 that the trolley 6 passes through before reaching the target location 9. For example, in the segment search processing, a plurality of segments 3 and 4 that the trolley 6 can pass through before reaching the target location 9 are extracted, and candidate routes that can connect the current location of the trolley 6 to the target location 9 are derived. Then, the total cost of each segment included in the candidate route is calculated, and the candidate route with the smallest total cost is set as the travel route.

[0047] The cost of each segment is calculated based on the basic information. For example, the cost of each segment is calculated based on the time required for that segment. In the segment search process, when there are multiple routes before the trolley 6 reaches the target location 9, the total time required for the multiple segments 3 and 4 included in the route is determined to be the minimum route.

[0048] Furthermore, in the segment search processing, the travel route can be determined based on basic information other than the required time, or by combining various elements of the basic information. For example, in the segment search processing, if the required time is longer than a predetermined time, the cost of that segment is increased. Also, if the passing speed is lower than a predetermined speed, the cost of that segment is increased. In addition, if the number of units in the segment is greater than a predetermined number, the cost of that segment is increased. Furthermore, if the division value is less than a predetermined value, the cost of that segment is increased. In these cases, the cost of the jurisdiction 5 is added to the estimated conversion value of the required time corresponding to the required time, passing speed, number of units in the segment, and division value. The segment search processing can be performed after the decision of the travel area in the area search processing, or it can be performed relative to the entire track 2 when the area search processing has not been performed.

[0049] Next, an example of the processing performed by the transport system 1 will be described. The various processes in the flowchart shown in Figure 5, for example, are performed by the area controller 11 when a request to transport item 26 to target location 9 is received from the host controller 19.

[0050] The route search unit 12 of the area controller 11, as part of the search processing (S1) for the target trolley 6, searches for a travel route that satisfies the request from the upper controller 19. The route search unit 12 searches for the travel route of the target trolley 6 based on the status report received from the target trolley 6, the basic information received from the upper controller 19, and the layout data related to the layout of the track 2. For example, the route search unit 12 performs area search processing and then performs section search processing.

[0051] Next, the area controller 11 generates a transport command that includes a transport command that causes the object's carriage 6 to move along the searched transport route. Then, the communication unit 13 of the area controller 11 sends the transport command to the object's carriage 6 as a transmission process (S3). Upon receiving the transport command, the object's carriage 6 begins to move along the transport route included in the transport command.

[0052] Next, the area controller 11 performs a pass / fail determination process (S5) to determine whether the target vehicle 6 has passed the update location 7. When the communication unit 13 receives a status report from the target vehicle 6 indicating that the vehicle 6 has passed the update location 7, the area controller 11 determines that the vehicle 6 has passed the update location 7 (S5: YES) and proceeds to the next search process (S7). When the communication unit 13 does not receive a status report from the vehicle 6 indicating that the vehicle 6 has passed the update location 7, it determines that the vehicle 6 has not passed the update location 7 (S5: NO) and proceeds to the arrival determination process (S11) described later.

[0053] The route re-search unit 14 of the area controller 11 performs a re-search process (S7). The route re-search unit 14 performs a re-search process (S7), causing the route search unit 12 to perform a search process (S1) again. The area controller 11 generates a transport command that includes a transport command that causes the object's trolley 6 to move along the re-searched transport route. Then, the communication unit 13 of the area controller 11 sends the transport command to the object's trolley 6 as a retransmission process (S9). The object's trolley 6, upon receiving the transport command, begins to move along the transport route included in the transport command. The object's trolley 6, upon receiving the updated transport command, stops moving along the transport route included in the existing transport command and moves along the transport route included in the updated transport command.

[0054] In the arrival determination process (S11), the communication unit 13 of the area controller 11 determines whether the target vehicle 6 has arrived at the target location 9. Based on the current location status report and layout data received from the target vehicle 6, if the communication unit 13 determines that the target vehicle 6 has arrived at the target location 9 (S11: YES), then the transport of the target vehicle 6 is terminated. If, based on the current location status report and layout data received from the target vehicle 6, the communication unit 13 determines that the target vehicle 6 has not arrived at the target location 9 (S11: NO), then the processing after the pass determination process (S5) is repeated.

[0055] As described above, in the transport system 1, since the travel route is searched again by the trolley 6 via the update location 7, for example, by setting the update location 7 in an appropriate position, the travel route can be searched again and updated at a predetermined appropriate time. This can, for example, prevent situations where the re-search time is too late or the re-search frequency is low, and appropriately reduce the time required for the trolley 6 to reach the target location. That is, the trolley's travel route can be updated at an appropriate time, thereby improving transport efficiency.

[0056] The controller 10 performs search processing (S1), transmission processing (S3), re-search processing (S7), and retransmission processing (S9). In this way, the controller 10 can perform the search and re-search of the travel route of the trolley 6, and thus control the movement of the trolley.

[0057] The update location 7 is a location set at the intersection of a plurality of adjacent areas 5. In this case, at the time when the trolley 6 passes through the update location 7 set at the intersection of areas 5, the travel route of the trolley 6 can be updated to an appropriate travel route.

[0058] Area controllers 11 are respectively located in each of the plurality of areas 5, and each of the plurality of area controllers 11 controls the trolleys 6 in each of the plurality of areas 5. In this case, the travel route of the trolley 6 can be updated to an appropriate travel route at the time when the trolley 6 passes through the update location 7 at the boundary between the areas 5 controlled by each area controller 11. Furthermore, since the travel routes of the trolleys 6 in each area 5 can be searched and updated again by each area controller 11 assigned to each area 5, the computational load of each area controller 11 can be reduced. In addition, since the host controller 19 does not need to control all the trolleys 6 on the track 2, the computational load of the host controller 19 can be reduced.

[0059] The power supply unit 15 can also be installed in each of the plurality of areas 5. This allows the travel route of the trolley 6 to be updated to an appropriate route at the update location 7 at the boundary between the areas 5 powered by each power supply unit 15. Furthermore, even if a power supply defect occurs in a certain area 5, it will not affect the power supply in other areas 5. Therefore, each trolley 6 can avoid that particular area 5 and travel to the target location 9 in other areas 5.

[0060] The route search unit 12 and the route re-search unit 14 perform area search processing. In this case, when searching for the transfer route, the transfer route can be determined based on the plurality of areas 5 that the trolley 6 passes through before reaching the target location 9, in a way that minimizes the cost (e.g., the time required) of the trolley 6 to reach the target location 9. Furthermore, for areas 5 that the trolley 6 can pass through but are outside the transfer area, it is not necessary to calculate detailed routes such as segment search processing. Therefore, the transport system 1 can reduce the computational load related to the determination of the transfer route.

[0061] During area search processing, if there are more than a predetermined number of trolleys 6 in area 5, the cost of area 5 is increased. In this case, the travel route can be determined by avoiding areas 5 where there are more than a predetermined number of trolleys 6.

[0062] The route search unit 12 and the route re-search unit 14 perform segment search processing. In this case, when searching for the travel route, the travel route including the plurality of segments 3 and 4 that the trolley 6 passes through before reaching the target location 9 can be determined in a way that makes the cost of the trolley 6 to reach the target location 9 less (e.g., the time required is shorter).

[0063] When the time required for the trolley 6 to pass through section 3 (section 4) is longer than the predetermined time, the cost of section 3 (section 4) is increased. In this case, the travel route can be determined by avoiding sections where the time required for the trolley 6 to pass through section 3 (section 4) is longer than the predetermined time.

[0064] When the speed (passing speed) of the trolley 6 when passing through section 3 (section 4) is below the predetermined speed, the cost of section 3 (section 4) is increased. In this case, the travel route can be determined by avoiding sections where the speed of the trolley when passing through the section will be below the predetermined speed.

[0065] When there is a predetermined number or more trolleys 6 in section 3 (section 4), the cost of section 3 (section 4) is increased. In this case, the travel route can be determined by avoiding sections with a predetermined number or more trolleys.

[0066] When the value obtained by dividing the length of segment 3 (segment 4) by the number of units existing in segment 3 (segment 4) is less than a predetermined value, the aforementioned cost of segment 3 (segment 4) is increased. In this case, the transfer route can be determined by avoiding segments where the value obtained by dividing the length of segment 3 (segment 4) by the number of units existing in segment 3 (segment 4) is less than the predetermined value. Furthermore, since the above-mentioned transport system 1 sets the route with the lowest cost as the transfer route by comparing the costs of candidate routes, even when the cost increases, there may be a situation where a transfer route including the segment with the increased cost is selected.

[0067] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention. For example, the method for region search processing and the method for segment search processing are not particularly limited, and various known methods can be used.

[0068] In the above embodiments, some or all of the processes executed by each area controller 11 can also be executed by each vehicle 6, the host controller 19, other control devices, and at least any of them. For example, the host controller 19 can also execute all or part of the search process (S1), transmission process (S3), re-search process (S7), and retransmission process (S9) within area 5. Furthermore, for example, each vehicle 6 can also communicate with the host controller 19 to execute the search process (S1), transmission process (S3), re-search process (S7), and retransmission process (S9).

[0069] In the above embodiment, the update location 7 may not be located at the boundary of region 5. For example, the update location 7 may be located at the meeting point or branch point, or on segments 3 or 4 outside the boundary of region 5. The update location 7 may be located in the region 5 of an object near the front (upstream) side of the boundary of region 5 within the segment 4 that connects the region 5 of an object to the region 5 adjacent to that object's region 5. The update location 7 may also be located in the adjacent region 5 at the depth (downstream) side of the boundary of region 5 within the segment 4 that connects the region 5 of an object to the region 5 adjacent to that object's region 5. Dot marks such as barcodes may also be affixed to the update location 7.

[0070] In the above embodiment, the area controller 11 may not be individually provided in each of the plurality of areas 5. For example, the area controller 11 may be used to control the trolleys 6 in the plurality of areas 5. The power supply unit 15 may not be individually provided in each of the plurality of areas 5. For example, the power supply unit 15 may supply power to the plurality of areas 5.

[0071] In the above embodiment, for example, the re-searching of the travel route can be allowed or stopped based on the user's input operation via the operation unit. In this case, for example, the user can selectively switch between performing and not performing the re-searching of the travel route as needed.

[0072] Furthermore, when searching for a migration route again, if the time interval between the previous search and the current search is short, it is likely that the change between the previous migration route and the current migration route is also small. Therefore, in the above embodiment, for example, if the number of segments or distance from the starting point 8, or from the updated point 7 passed by the target trolley 6, to the target point 9 is less than a predetermined value, the search for the migration route can also be stopped. Also, in the above embodiment, for example, if a predetermined time has not elapsed since the first search process (S1) was executed or the most recent search process (S7) was executed, the search for the migration route can also be stopped. This reduces the computational load of the search.

[0073] That is, it is found that the closer the trolley 6 is to the starting point 8, the shorter the time elapsed since the initial search for the travel route, the less the changes in the condition of track 2 (traffic congestion, etc.) are, and the smaller the difference between the initial travel route and the re-searched travel route. Therefore, in the above embodiment, for example, when the trolley 6 is close to the starting point 8, the route re-search unit 14 can also reduce the frequency of re-searching the travel route to a predetermined frequency. Furthermore, in the above embodiment, as the distance between the position of the trolley 6 and the starting point 8 increases, the route re-search unit 14 can also increase the frequency of re-searching the travel route. Furthermore, in the above embodiment, for example, when the trolley 6 is moving within a predetermined distance from the starting point 8, the route re-search unit 14 can also stop re-searching the travel route. Furthermore, in the above embodiment, when the trolley 6 moves to a position more than a predetermined distance away from the starting point 8, the route re-search unit 14 can also begin re-searching for the moving route. This reduces the frequency of route calculation for the area controller 11, thereby alleviating the computational load.

[0074] Furthermore, the closer the discovered trolley 6 is to the target location 9, the fewer the number of alternative routes that require less time compared to the route already traveled by trolley 6. Therefore, the difference between the route already traveled by trolley 6 and the route found again is also smaller. Thus, in the above embodiment, for example, when trolley 6 is close to the target location 9, the route re-search unit 14 can also reduce the frequency of re-searching for routes below a predetermined frequency. Furthermore, in the above embodiment, as the distance between the location of trolley 6 and the target location 9 decreases, the route re-search unit 14 can also reduce the frequency of re-searching for routes. Furthermore, in the above embodiment, for example, when trolley 6 is traveling within a predetermined distance of the target location 9, the route re-search unit 14 can stop re-searching for routes. Furthermore, in the above embodiment, when the trolley 6 moves to a position more than a predetermined distance from the target location 9, the route re-search unit 14 can re-search for the moving route at a predetermined frequency. This reduces the frequency at which the area controller 11 calculates the moving route, thus alleviating the computational load.

[0075] In the above embodiments, although the trolley 6 is an elevated moving unmanned transport vehicle, the trolley 6 is not particularly limited. The trolley 6 can also be an elevated moving transport shuttle. The trolley 6 can also be a tracked unmanned transport vehicle that moves along a track on the floor. The trolley 6 can also be a magnetically guided unmanned transport vehicle that moves along a path made of magnetic tape or the like. The trolley 6 can also be a laser-guided unmanned transport vehicle that moves along a determined path by being guided by laser light.

[0076] The amount of cost increase in each region 5 due to the increase in the number of units, or the increase in the required time in each segment 3 (segment 4), the increase in the number of units, the decrease in the throughput speed, or the decrease in the division value, can be appropriately determined. That is, the amount of cost increase can be arbitrarily determined by weighting the items of the number of units, the required time, the throughput speed, and the division value.

[0077] In the above embodiments, one or more other controllers may also be included to relay between the area controller 11 and the trolley 6. Regarding the various components of the above embodiments, the materials and shapes are not limited, and various materials and shapes can be used. In the track 2, the setting of sections 3 and 4 and area 5 is not limited to the above embodiments. For example, the track 2 may not have either a section 3 extending in a straight line or a section 4 extending in a curved shape.

[0078] The following uses examples from Figures 6, 7, and 8 to explain the operation of the conveying system 1. In Figure 6, the controller 10 and the power supply unit 15 are omitted, and the track 2 is shown in a simplified manner. In the example shown in Figure 6, the track 2 is laid out through a plurality of regions A to H. Region A is configured to include sections 30a, 31a, and 32a; region B is configured to include sections 40b, 41b, 42b, and 43b; region C is configured to include sections 50c, 51c, and 52c; region D is configured to include section 60d; region E is configured to include section 70e; region F is configured to include sections 80f and 81f; region G is configured to include sections 90g and 91g; and region H is configured to include sections 100h, 101h, 102h, and 103h.

[0079] The example here is an example of moving trolley 6 from a starting point 8 within section 30a to a destination point 9 within section 50c. In the example shown in Figure 6, firstly, when trolley 6 is at the starting point 8, a search process as a region search process is executed, and an initial route is determined as the moving route. The initial route is, for example, a route that sequentially passes through regions A, B, and C. Then, a transport instruction containing a moving instruction that causes it to move along the initial route is assigned to trolley 6, and trolley 6 begins to move along the initial route.

[0080] As shown in Figure 7, when trolley 6 passes through section 31a and then through update location 7 (the boundary between area A and area B), there are more than a predetermined number of trolleys 6 in section 52c of area C, meaning that a traffic jam occurs in section 52c of area C due to local concentration. In this situation, the cost of area C increases because the time required to pass through area C is longer. If the transfer route remains the initial route, there is a possibility that the time required to reach the target location 9 will increase.

[0081] In this regard, in the transport system 1, when the trolley 6 passes the updated location 7, a second search process is performed. This determines to avoid the transit area of ​​area C, and an updated route is determined based on the transit route of that transit area. The updated route, for example, is based on the route that sequentially passes through the transit areas of areas A, B, E, H, G, and C. Then, a transport instruction containing a transit instruction that causes it to move along the updated route is assigned to the trolley 6, and the trolley 6 moves towards the target location 9 along the updated route, instead of along the initial route.

[0082] Figure 8 shows the time required for each route. In the chart, the longer the grid showing the time required for each route is filled to the right, the longer the time required for that route. As shown in Figure 8, when the transfer route remains the initial route searched, when congestion occurs in area C due to local concentration, the time required to pass through area C increases, resulting in an increase in the time required to reach the target location 9. In contrast, in the transport system 1, when congestion occurs in area C due to local concentration, updating the transfer route to a new route can suppress the increase in the time required to reach the target location 9. It has been confirmed that this can appropriately reduce the time required for the trolley 6 to reach the target location 9, thereby improving transport efficiency.

[0083] In the above embodiment, although the example of the transfer route included in the transfer command has been used, the transfer route is not limited to this. For example, it can be the transfer route included in the transfer command of the movement command that calls the trolley 6 into (moves the trolley to) a predetermined position, or it can be the transfer route of the circulation command that makes the trolley 6 move in a circumferential manner on the track 2, or it can be the transfer route of other commands.

[0084] Hereinafter, the constituent elements of one aspect of the present invention are described. <Aspect 1> A conveying system comprising: a plurality of trolleys capable of moving along a track; and a controller that controls the plurality of trolleys; that searches for a travel route for the trolleys to move along the track toward a target location, causes the trolleys to move along the travel route, and searches for the travel route again when the trolleys pass through an updated location set on the track. <Aspect 2> The conveying system described in aspect 1, wherein the controller performs: a search process that searches for the travel route; a sending process that, when performing the search process, sends a travel command to the trolleys to move along the searched travel route; and a re-search process that, when the trolleys pass through the updated location, performs the search process again. <Sample 3> The conveying system as described in Sample 1 or 2, wherein the track is laid through a plurality of zones, and the update location is located at the boundary of adjacent plurality of zones. <Sample 4> The conveying system as described in Sample 3, wherein the controller is respectively located in each of the plurality of zones, and each of the plurality of controllers controls the trolley in each of the plurality of zones. <Sample 5> The conveying system as described in Sample 3 or 4, wherein it includes a power supply unit provided along the track for supplying power to the trolley; the power supply unit is respectively located in each of the plurality of zones. <Sample 6> A transport system as described in any of Samples 3 to 5, wherein the transport area is determined by minimizing the total cost of each of the plurality of transport areas, the transport area including the plurality of transport areas that the trolley will pass through before reaching the target location; and the transport route is determined based on the determined transport area. <Sample 7> A transport system as described in Sample 6, wherein when there are more than a predetermined number of trolleys in the transport area, the cost of that area is increased. <Sample 8> A transport system as described in any of Samples 1 to 7, wherein the track is configured to include a plurality of sections, and the transport route is determined by minimizing the total cost of each of the plurality of sections of the transport route, the transport route including the plurality of sections that the trolley will pass through before reaching the target location. <Sample 9> As described in Sample 8, in a conveying system where the time required for the trolley to pass through the section is longer than a predetermined time, the cost of that section is increased. <Sample 10> As described in Sample 8 or 9, in a conveying system where the speed of the trolley passing through the section is less than a predetermined speed, the cost of that section is increased.<Sample 11> A conveying system as described in any of Samples 8 to 10, wherein when there are more than a predetermined number of trolleys in the aforementioned section, the aforementioned cost of that section is increased. <Sample 12> A conveying system as described in any of Samples 8 to 11, wherein when the value obtained by dividing the length of the aforementioned section by the number of trolleys in that section is less than a predetermined value, the aforementioned cost of that section is increased. <Sample 13> A conveying system as described in any of Samples 1 to 12, wherein, based on user input, the re-searching of the aforementioned movement route is allowed and stopped. [Simplified Explanation of the Diagram]

[0022] Figure 1 is a schematic diagram of a conveying system according to one embodiment. Figure 2 is a schematic diagram of a portion of the conveying system of Figure 1 enlarged. Figure 3 is a schematic front view of the trolley of Figure 1 viewed from the direction of travel. Figure 4 is a block diagram showing the functional configuration of the controller of Figure 1. Figure 5 is a flowchart showing the process performed by the conveying system of Figure 1. Figure 6 is a schematic diagram of a conveying system used to illustrate an example of the process performed by the conveying system of Figure 1. Figure 7 is a schematic diagram of a conveying system used to illustrate an example of the process performed by the conveying system of Figure 1. Figure 8 is a diagram showing an example of the result of the process performed by the conveying system of Figure 1.

Claims

1. A conveying system comprising: a plurality of trolleys capable of moving along tracks laid out in a manner traversing a plurality of areas; and a controller controlling the plurality of trolleys; searching for a travel route for the trolleys to move along the tracks toward a target location, causing the trolleys to move along the travel route, and searching for the travel route again when the trolleys pass through an updated location on the tracks at the boundary of adjacent plurality of areas, wherein the controller is respectively located in each of the plurality of areas, and each of the plurality of controllers controls the trolleys in each of the plurality of areas.

2. As in request item 1, the conveying system, wherein, The controller performs: a search process, which searches for the aforementioned migration route; a sending process, which, when performing the aforementioned search process, sends a migration command to the aforementioned trolley, instructing it to move along the searched migration route; and a second search process, which, when the aforementioned trolley passes the aforementioned updated location, performs the aforementioned search process again.

3. As in request item 1 or 2, the conveying system, wherein, It has a power supply unit that is set along the above-mentioned track to supply power to the above-mentioned trolley; the above-mentioned power supply unit is respectively set in each of the plurality of above-mentioned areas.

4. As in request item 1 or 2, the conveying system, wherein, The transfer area is determined by minimizing the total cost of each of the plurality of the aforementioned areas, which includes the plurality of the aforementioned areas that the trolley will pass through before reaching the aforementioned target location; the transfer route is determined based on the determined transfer area.

5. As in request item 4, the conveying system, wherein, When there is a predetermined number or more of the aforementioned trolleys in the aforementioned area, the aforementioned cost for that area will be increased.

6. As in request item 1 or 2, the conveying system, wherein, The aforementioned track is configured to include a plurality of segments; the aforementioned transfer route is determined in a manner that minimizes the total cost of each of the plurality of the aforementioned segments of the transfer route, the transfer route including the plurality of the aforementioned segments that the aforementioned trolley will pass through before reaching the aforementioned target location.

7. As in request item 6, the conveying system, wherein, When the time required for the aforementioned trolley to pass through the aforementioned section is longer than a predetermined time, the aforementioned cost for that section shall be increased.

8. As in request item 6, the conveying system, wherein, When the speed of the aforementioned trolley passing through the aforementioned section is below a predetermined speed, the aforementioned cost of that section is increased.

9. As in request item 6, the conveying system, wherein, When there are more than a predetermined number of the aforementioned trolleys in the aforementioned section, the aforementioned cost of that section shall be increased.

10. As in request item 6, the conveying system, wherein, If the value obtained by dividing the length of the aforementioned section by the number of units existing in that section is less than a predetermined value, the aforementioned cost of that section shall be increased.

11. As in request item 1 or 2, the conveying system, wherein, Based on the user's input, allow or stop the search for the above migration route again.

12. As in request item 1 or 2, the conveying system, wherein, The aforementioned update location was not located outside the boundaries of the adjacent plurality of the aforementioned areas.

13. As in request item 1 or 2, the conveying system, wherein, The aforementioned track has a plurality of segments, a plurality of meeting points of the aforementioned segments, and one branch point of the aforementioned segment that is a branch point of the plurality of aforementioned segments. The aforementioned update location is located on the aforementioned segment that connects the plurality of the aforementioned regions, and is located on the aforementioned segment other than the aforementioned meeting point and the aforementioned branch point.

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