Article transport apparatus

Abstract

The control device that controls the passage of the management article transport vehicle (3) in the management area (E) can execute: a basic process that permits the first article transport vehicle (31) to enter the management area (E) in the absence of the article transport vehicle (3) within the management area (E), and prohibits the second article transport vehicle (32) from entering the management area (E) in the presence of the first article transport vehicle (31) within the management area (E); and a first exceptional process that permits the second article transport vehicle (32) to enter the management area (E) even in the presence of the first article transport vehicle (31) within the management area (E), in the case where the first article transport vehicle (31) is the article transport vehicle (3) stopped at the station (ST) provided to the first path (K1), the second article transport vehicle (32) passes through the second path (K2) and the third path (K3) and does not pass through the first path (K1).

Description

Technical Field

[0001] The present invention relates to a goods transport device having an area including a first path, a second path, a third path and a connecting part, which is set up as a management area for managing the entry of goods transport vehicles. Background Technology

[0002] Japanese Patent Application Publication No. 2005-284779 discloses a goods transport device in which a zone (a so-called management zone) is set in the travel path to exclusively control the entry of multiple goods transport vehicles, and a zone controller controls the passage of goods transport vehicles entering the management zone (hereinafter, in the background art, the symbols shown in parentheses are the symbols of the referenced documents). For example, in Japanese Patent Application Publication No. 2005-284779... Figure 2 The following example is shown: a first path with points (P1, P2), a second path with point (P4), and a third path with point (P5) are connected at a connecting point (point (P3)). The area including these points (P1-P5) is set as a management area that is exclusively controlled by the area controller (30). When the area controller (30) permits a goods transport vehicle traveling on the second path to enter the management area from the first path via the connecting point (P3), other goods transport vehicles traveling on the third path are prohibited from entering the management area. Thus, other goods transport vehicles are prohibited from traveling from the third path via the connecting point to the second path, thereby preventing situations such as goods transport vehicles coming into contact with each other on the second path side from the connecting point (P3). Summary of the Invention

[0003] However, the transport vehicle is not limited to simply passing through the management area; sometimes it also stops within the management area. For example, if the source or destination of the transported goods using the transport vehicle is located within the management area, the transport vehicle may sometimes stop within that management area to facilitate the handover of goods. If the transport vehicle is present in the management area, other transport vehicles cannot enter the management area. If the transport vehicle that entered the management area first stops within the management area, the time it takes for other transport vehicles to pass due to the exclusive control exercised by the area controller (30) increases, and the transport efficiency of the transport equipment decreases.

[0004] In light of the above background, since transport vehicles sometimes stop at transport equipment in the management area, it is desirable to provide a technology that can further improve the transport efficiency of transport vehicles.

[0005] The aforementioned goods transport equipment comprises the following: a transport vehicle, serving as the travel path for transporting goods, includes a first path with its end connected to a connecting portion, a second path with its end connected to the connecting portion, and a third path with its end connected to the connecting portion; an area including at least a portion of the first path, at least a portion of the second path, at least a portion of the third path, and the connecting portion is designated as a management area for managing the passage of the transport vehicle; the goods transport equipment includes a control device for controlling the passage of the transport vehicle within the management area; a station is provided within the management area where the transport vehicle stops; the station is located on the first path within the management area, and the transport vehicle stopping at that station does not interfere with the passage of the transport vehicle on the second path and the connecting portion. Regarding the positions of other aforementioned item transport vehicles traveling along the third route, the aforementioned control device can perform: a basic process, which, if no aforementioned item transport vehicle exists in the aforementioned management area, permits the first item transport vehicle, which is the first item transport vehicle to enter the aforementioned management area, to enter the aforementioned management area; and, if the first item transport vehicle exists in the aforementioned management area, prohibits the second item transport vehicle, which is another aforementioned item transport vehicle, from entering the aforementioned management area; and a first exception process, which, even if the first item transport vehicle exists in the aforementioned management area, and the first item transport vehicle is also the aforementioned item transport vehicle stopped at the aforementioned station, and the second item transport vehicle passes through the aforementioned second route and the aforementioned third route but does not pass through the aforementioned first route, permits the second item transport vehicle to enter the aforementioned management area.

[0006] According to this configuration, exclusive control is implemented through basic processing, allowing only one transport vehicle to enter the management area, thus appropriately preventing interference from multiple transport vehicles within the management area. Furthermore, through a first exception processing, a second transport vehicle is allowed to enter the management area even if the first transport vehicle is present. With only basic processing, it is necessary to wait for the second transport vehicle to enter the management area until the first transport vehicle, which is stopped within the management area, leaves, hindering the improvement of the transport efficiency of the transport equipment. However, according to this configuration, even if the first transport vehicle is stopped within the management area, the second transport vehicle will not interfere with the first transport vehicle within the management area, allowing the second transport vehicle to pass through the management area, thereby improving the transport efficiency of the transport equipment. In other words, according to this configuration, in transport equipment where transport vehicles sometimes stop within the management area, the transport efficiency using transport vehicles can be further improved.

[0007] Further features and advantages of the goods conveying equipment become clear from the following description of the embodiments illustrated with reference to the accompanying drawings. Attached Figure Description

[0008] Figure 1 This is a top view of the equipment used for transporting goods.

[0009] Figure 2 This is a side view of the goods transport vehicle.

[0010] Figure 3 This is the front view of the goods transport vehicle.

[0011] Figure 4 This is a diagram illustrating an example of transferring items using a goods transport vehicle.

[0012] Figure 5 This is a schematic block diagram illustrating an example of the configuration of an item transport system.

[0013] Figure 6 This is a diagram showing an example of an administrative area with stations configured internally.

[0014] Figure 7 This diagram illustrates an example of how a goods transport vehicle communicates with an area management device.

[0015] Figure 8 This diagram illustrates an example of the communication method between the goods transport vehicle and the transfer management device.

[0016] Figure 9 This diagram illustrates an example of mediating a goods transport vehicle passing through a management area.

[0017] Figure 10 This is a diagram illustrating an example of communication data between a goods transport vehicle and a transfer management device.

[0018] Figure 11 This is a diagram illustrating an example of distributing communication data between a goods transport vehicle and a transfer management device to an area management device.

[0019] Figure 12 This is a timing diagram illustrating an example of communication between a goods transport vehicle that is stopped at a station and the area management device.

[0020] Figure 13 This is a diagram illustrating an example of the relationship between a processing unit with multiple stations and a management area.

[0021] Figure 14 This is a diagram showing an example of the first path, second path, third path, and connection point at the junction of the main path and the secondary path.

[0022] Figure 15 This is a diagram showing the first path, second path, third path, and other examples of the connection between the main path and the secondary path.

[0023] Figure 16 This is a conceptual diagram illustrating an example of the relationship between the first path, the second path, the third path, the connecting section, the management area, and the station.

[0024] Figure 17 This is a diagram showing other examples of management areas with stations configured internally.

[0025] Figure 18 This is a conceptual diagram illustrating other examples of the relationships between the first path, second path, third path, connecting sections, management areas, and stations. Detailed Implementation

[0026] The following describes an implementation of the goods conveying equipment based on the accompanying drawings. Figures 1 to 5 As shown, the goods transport equipment 100 includes: a travel track 2, which is suspended and supported by a ceiling and is arranged along a travel path 1; and a goods transport vehicle 3 (VHL) that travels along the travel path 1 on the travel track 2 and transports goods W. In the following description, the direction along the travel path 1 will be referred to as the travel direction Y, and the direction along the horizontal plane and orthogonal to the travel direction Y will be referred to as the width direction X. The vertical direction Z is a direction orthogonal to both the travel direction Y and the width direction X.

[0027] The transport vehicle 3 transports, for example, a FOUP (Front Opening Unified Pod) containing a semiconductor substrate or reticles containing a photomask as an item W. In this embodiment, a FOUP is exemplified as item W. Furthermore, item W also includes a photomask or semiconductor substrate as a container. The transport device 100 also includes multiple processing units EQ, which perform various processes on the photomask or semiconductor substrate, or perform various processes using the photomask or semiconductor substrate.

[0028] like Figure 1 As shown, the driving path 1 includes a circular main path 1M, a plurality of circular secondary paths 1S via multiple processing devices EQ, and a branch confluence section B connecting the main path 1M and the secondary paths 1S. The branch confluence section B includes branches that branch off from the main path 1M toward the secondary paths 1S (e.g., see reference EQ). Figure 9 (B4) and the junction where the connecting path from the secondary path 1S to the main path 1M merges with the main path 1M (e.g., refer to...) Figure 9 (B1). Additionally, the branch confluence B includes branches leading to connecting path branches (from the loop sub-path 1S to the main path 1M) (e.g., see reference B1). Figure 9 The junction of B3) and the circular secondary path 1S with the connecting path from the main path 1M to the secondary path 1S (e.g., refer to...) Figure 9(B2). Furthermore, in the following description, within the branch confluence portion B, the confluence portions (B1, B2) are sometimes distinguished and referred to as "connection portion J". Additionally, in this embodiment, as in... Figure 1 As shown by the arrows, driving path 1 is a one-way road, and the goods transport vehicle 3 travels from the upstream side of the driving direction to the downstream side of the driving direction on driving path 1.

[0029] like Figure 2 and Figure 3 As shown, the goods transport vehicle 3 includes: a traveling unit 9, which is guided by a pair of traveling rails 2 to travel along a traveling path 1, the pair of traveling rails 2 being suspended and supported by a ceiling along the traveling path 1; a transport vehicle body 10, which is located below the traveling rails 2 and suspended and supported by the traveling unit 9; and a power receiving unit 12, which receives drive power without contact from a power supply line 11 arranged along the traveling path 1. Furthermore, the transport vehicle body 10 includes a goods holding part 13 for suspending and holding the goods W, and a lifting part 14 for raising and lowering the goods holding part 13. Figure 2 and Figure 3 As shown, the goods transport vehicle 3 travels and transports goods W while keeping the goods holding section 13 raised.

[0030] like Figure 4 As shown, the goods conveying equipment 100 includes a support platform 104 disposed on the floor side and carrying goods W. The goods conveying cart 3 transfers goods W between itself and the support platform 104 while the goods holding section 13 is lowered. The support platform 104 is disposed in multiple locations within the goods conveying equipment 100. For example, the support platform 104 is disposed in each processing unit EQ or... Figure 1 The storage area for items is not shown in the diagram. The location where such a carrying platform 104 is set up and where the goods transport vehicle 3 stops in the travel path 1 is called station ST.

[0031] In this embodiment, such as Figure 3 As shown, a goods transport vehicle 3 has two traveling units 9, which suspend and support a common transport vehicle body 10. The two traveling units 9 have identical configurations, for example, each traveling unit 9 has a power receiving unit 12. The traveling units 9 are arranged side by side along the traveling direction Y of the goods transport vehicle 3.

[0032] like Figure 2 and Figure 3 As shown, each traveling section 9 is equipped with an electric traveling actuator 35 (see reference). Figure 5A pair of rotating drive wheels 15 roll on the travel surfaces formed on the upper surfaces of the travel tracks 2. Additionally, in each travel section 9, a pair of guide wheels 16, freely rotating about an axis in the vertical direction Z (about the vertical axis), are provided in a state abutting against the inner surfaces of the pair of travel tracks 2. In the transport vehicle body 10, as... Figure 5 As shown, the device includes a lifting actuator 34 for raising and lowering the article holding section 13, a holding actuator 33 for driving the article holding section 13 to hold the article W by gripping, and a drive circuit for driving those actuators. Furthermore, these actuators are, for example, motors or solenoids.

[0033] The transport cart 3 transports items W between different carrier platforms 104 based on transport commands from the equipment control device H1 (MCP: Material Control Processor) that manages the entire transport equipment 100. In this embodiment, the equipment control device H1 and each transport cart 3 are configured to communicate wirelessly. Each transport cart 3 is equipped with a transport cart control device 30, which autonomously controls the transport cart 3 to move and stop at a station ST set above a designated carrier platform 104 based on transport commands, thereby raising and lowering the item holding unit 13 and transferring the item W.

[0034] Furthermore, as described above, the travel path 1 has multiple branch junctions B, where a path branches into multiple paths, or multiple paths merge into a single path. For example, if a goods transport vehicle 3 branches at a branch junction, and another goods transport vehicle 3 exists on either of the two paths following the branch, there is a possibility of contact with that other goods transport vehicle 3 before or after passing through the branch junction. Similarly, if a goods transport vehicle 3 merges at a junction, and another goods transport vehicle 3 exists on either of the two paths before the merger, there is a possibility of contact with that other goods transport vehicle 3 before or after passing through the junction. In other words, there is a possibility that multiple goods transport vehicles 3 may interfere with each other at the branch junctions B.

[0035] To avoid such interference and to mediate the passage of goods transport vehicle 3 at branch junction B, such as Figure 6 As shown, a management area E is set up in the area including the branch junction B in the driving path 1 to manage the passage of the goods transport vehicle 3. Additionally, as... Figure 7As shown, the goods transport equipment 100 includes a zone control unit (ZCU). Multiple management zones E are set along the travel path 1, and the zone control unit H2 is installed in each management zone E. That is, the management zones E are located in areas such as branch junctions B along the travel path 1 where it is necessary to regulate the passage of multiple goods transport vehicles 3. The multiple zone control units H2 independently manage the passage of the goods transport vehicles 3 within each management zone E. The zone control unit H2 is essentially a control device that controls the passage of the goods transport vehicles 3 within each management zone E.

[0036] In this embodiment, a path-side communication unit S1 is installed along the travel path 1 to detect the transport vehicle 3 entering and exiting the management area E. Figure 6 In the example shown, to detect the transport vehicle 3 entering the management area E before it enters the management area E, an entry detection point SP (first entry detection point SP1, second entry detection point SP2) is provided on the upstream side closer to the travel direction than the management area E. Furthermore, to detect the transport vehicle 3 exiting the management area E after it has exited the management area E, an exit detection point DP (first exit detection point DP1, second exit detection point DP2) is provided on the downstream side closer to the travel direction than the management area E. A path-side communication unit S1 is configured at each entry detection point SP and exit detection point, or at least at each entry detection point SP.

[0037] The transport vehicle 3, for example, is equipped with a transport vehicle-side communication unit S0 capable of bidirectional communication with the path-side communication unit S1 via optical communication. If the transport vehicle 3 temporarily stops at the entry detection point SP, the area management device H2 detects the transport vehicle 3 entering the management area E based on the communication between the transport vehicle-side communication unit S0 and the path-side communication unit S1. For example, a "Arrival at Entry Detection Point" signal and a "Request Entry" signal are sent from the transport vehicle 3 to the area management device H2. A "Vehicle (VHL) Detection" signal is sent from the area management device H2 to the transport vehicle 3, notifying the transport vehicle 3 that an entry standby for the management area E has been identified. If the area management device H2 grants permission to enter the management area E, the entry permission information is transmitted to the transport vehicle-side communication unit S0 via the path-side communication unit S1. For example, a "Permission Granted" signal is sent from the area management device H2 to the transport vehicle 3. Furthermore, if the goods transport vehicle 3 stops at station ST within the management area E after entering the management area E, for example at the entry detection point SP, it is preferable to also send information indicating a planned stop to the area management device H2.

[0038] Accordingly, the area management device H2 manages the passage of multiple transport vehicles 3, including the transport vehicle 3, within the management area. When multiple transport vehicles 3 are about to enter management area E, the area management device H2 intervenes, controlling the situation so that only one transport vehicle 3 exists in management area E. That is, the area management device H2 performs the following process as a "basic procedure": if no transport vehicle 3 exists in management area E, the transport vehicle that first enters management area E is permitted to enter (as the first transport vehicle 31 (refer to...)). Figure 9 (etc.) enter the management area E, and when the first item transport vehicle 31 is present in the management area E, other item transport vehicles 3 (as second item transport vehicles 32) are prohibited from entering the management area E. Figure 9 Enter the management area E.

[0039] Subsequently, if the transport vehicle 3 passing through management area E passes exit detection point DP, the area management device H2 detects that the transport vehicle 3 has exited management area E. Exit detection can be performed in the same manner as entry detection point SP, at exit detection point DP via communication (e.g., optical communication) between the path-side communication unit S1 and the transport vehicle-side communication unit S0, or it can be detected by other sensors installed at exit detection point DP. The transport vehicle 3 may also not temporarily stop at exit detection point DP.

[0040] However, in this embodiment, such as Figure 6 As shown, within management area E, there is a station ST where goods transport vehicles 3 stop. At station ST, as referred to above... Figure 4 As described, the transport cart 3 stops and transfers item W between itself and the carrying platform 104. That is, compared to transport cart 3 that only passes through management area E, there are sometimes transport carts 3 that remain within management area E for extended periods. Figure 6 As shown, since station ST is located on secondary path 1S, it can pass through management area E, for example, via main path 1M, even if it is included in the same management area E. That is, even if there is a goods transport vehicle 3 stopped at station ST, another goods transport vehicle 3 can pass through management area E by taking a path that does not interfere with the stopped goods transport vehicle 3.

[0041] However, regarding the aforementioned "basic processing," if a goods transport vehicle 3 (first goods transport vehicle 31) exists within the management area E, other goods transport vehicles 3 (second goods transport vehicle 32) are prohibited from entering the management area E. Compared to the case where the first goods transport vehicle 31 is the only goods transport vehicle 3 passing through the management area E, the second goods transport vehicle 32 needs to be idle for a long time, and the transport efficiency of the goods transport equipment 100 decreases. Therefore, even if a goods transport vehicle 3 (first goods transport vehicle 31) exists within the management area E, it is preferable that the second goods transport vehicle 32 can pass through the management area E under certain conditions.

[0042] As a condition, the first transport vehicle 31 is required to stop (more reliably) at station ST, and the second transport vehicle 32 passing through management area E must not interfere with the first transport vehicle 31 (the first transport vehicle 31 existing on the path from the entrance of management area E to station ST, and the first transport vehicle 31 stopping at least at station ST). The interference between the first transport vehicle 31 and the second transport vehicle 32 is determined by the configuration of the travel path 1 in management area E and the position of station ST in the travel path 1. In this embodiment, the following configuration is described as an example: for example, as Figure 9 As shown, when a travel path 1 includes a first path K1 with its end connected to a connecting part J, a second path K2 with its end connected to a connecting part J, and a third path K3 with its end connected to a connecting part J, and the area including at least a portion of the first path K1, at least a portion of the second path K2, at least a portion of the third path K3, and the area including the connecting part J is set as a management area E, the item transport vehicle 3 located in the first path K1 within the management area E and stopping at the station ST will not interfere with the position of other item transport vehicles 3 traveling on the second path K2 and the third path K3.

[0043] When the travel path 1 in management area E is as described above, the area management device H2 performs "exceptional processing (first exception processing)" as follows. That is, as... Figure 9 As shown, even if the first item transport vehicle 31 is present in the management area E, and the first item transport vehicle 31 is stopped at station ST, while the second item transport vehicle 32 passes through the second path K2 and the third path K3 but does not pass through the first path K1, the second item transport vehicle 32 will also perform the first exception process of being permitted to enter the management area E.

[0044] Regarding the detection of the first transport vehicle 31 stopping at station ST, the detection is similarly considered to be conducted through communication between the path-side communication unit S1 and the transport vehicle-side communication unit S0 located at station ST, similar to the communication between the path-side communication unit S1 and the transport vehicle-side communication unit S0 at the entry detection point SP. However, at station ST, it is necessary to communicate information regarding the transfer between the transport vehicle and the platform 104 between the transfer control unit H3 (TCU) of the processing device EQ and the transport vehicle 3. For example, at station ST, such as Figure 8 As shown, the device-side communication unit S2 communicates with the transport vehicle-side communication unit S0. Therefore, it is difficult to install a path-side communication unit S1 at station ST to transmit information to the area management device H2, making it difficult for the area management device H2 to obtain information that the first transport vehicle 31 has stopped at station ST. Therefore, in this embodiment, communication between the area management device H2 and the transport vehicle control device 30 is performed using signals not used in the communication between the transfer control device H3 of the processing device EQ and the transport vehicle control device 30 of the transport vehicle 3.

[0045] Figure 10 This illustration shows an example of the communication method between the transfer control device H3 of the processing unit EQ and the transport vehicle control device 30 of the transport vehicle 3. Communication between the device-side communication unit S2 and the transfer control device H3 can also be implemented via serial communication using an RJ11 (modular jack) communication line, or via parallel communication such as PIO (Parallel Input / Output). Alternatively, it can be implemented via a wired network connection such as Ethernet (registered trademark).

[0046] As mentioned above Figure 4 As described above, during the transfer, the item holding section 13 rises or falls. The item transport vehicle 3 and the transfer control device H3 communicate requests or permissions related to the rising or falling of the item holding section 13. For example, as... Figure 10 As shown, a signal requesting permission for the item holding unit 13 to rise or fall is sent from the item transport vehicle 3 side, and a signal authorizing the item holding unit 13 to rise or fall is sent from the transfer control device H3 side.

[0047] Figure 11 An example is shown below: the communication path between the transfer control device H3 of the processing unit EQ and the transport vehicle control device 30 of the transport vehicle 3 is branched, and the area management device H2 also communicates with the transport vehicle control device 30. For example, as... Figure 11As shown, the "fixed position" signal and the "request to move" signal are sent from the goods transport vehicle 3 to the area management device H2, and the "VHL detection" signal and the "permission to pass" signal are sent from the area management device H2 to the goods transport vehicle 3.

[0048] The "fixed position" signal corresponds to the "arrival at entry detection point" signal in the "basic processing" described above. The "request to move" signal corresponds to the "request to enter" signal in the "basic processing." The "VHL detection" signal and the "permission to pass" signal are the same as in the "basic processing." That is, in the communication between the device-side communication unit S2 and the transport vehicle-side communication unit S0, signals with the same meaning as those in the communication between the path-side communication unit S1 and the transport vehicle-side communication unit S0 can be sent and received. Thus, the goods transport vehicle 3, which is stopped at station ST, can also communicate with the area management device H2.

[0049] Furthermore, when communication between the device-side communication unit S2 and the transfer control device H3 is implemented via parallel communication such as PIO, it is not limited to using all signal lines. If there are unused signal lines, these unused signal lines can be used for communication between the device-side communication unit S2 on the transport vehicle 3 side and the area management device H2, thereby enabling communication between the area management device H2 and the transport vehicle control device 30 using existing equipment and through simple modifications.

[0050] Furthermore, as described above, the multiple signals transmitted from the device-side communication unit S2 to the transfer control unit H3 are distributed across two paths. Therefore, it is preferable to use parallel signals such as PIO for signal transmission from the device-side communication unit S2 to the transfer control unit H3. Regarding the distributed signals, they can be transmitted to the transfer control unit H3 as parallel signals such as PIO, or they can be transmitted to the transfer control unit H3 after being converted into serial signals. Similarly, signals to the area management unit H2 can be transmitted as parallel signals such as PIO, or they can be transmitted after being converted into serial signals. Here, the methods of transmitting signals to the transfer control unit H3 and the area management unit H2 have been described, but of course, the same communication method is used for transmission and reception.

[0051] Here, the method for performing the "first exception handling" in the existing goods transport equipment 100 will be described. For example, in the existing goods transport equipment 100, if the device-side communication unit S2 is a serial signal output type and the device-side communication unit S2 is connected to the transfer control device H3 by a serial communication line, the device-side communication unit S2 will be changed to a parallel signal output type. Furthermore, after the signal is allocated as described above, the area management device H2 will be connected by a parallel signal line as before. For the transfer control device H3, a parallel-to-serial converter will be added, and the transfer control device H3 will be connected to the parallel-to-serial converter by the same serial communication line as the existing goods transport equipment 100. In this way, the goods transport vehicle 3 stopped at station ST can be added to the management objects of the area management device H2 by a simple change or addition of the machine.

[0052] As described above, unused bits in the communication data between the device-side communication unit S2 and the transfer control unit H3 are used for communication between the area management unit H2 and the goods transport vehicle 3, thereby enabling the passage of multiple goods transport vehicles 3, including the goods transport vehicle 3 stopped at station ST, within the management area E to be managed by the area management unit H2. That is, the area management unit H2 detects the stopping and starting of the goods transport vehicle 3 at station ST based on the communication between the device-side communication unit S2 located at station ST and the transport vehicle-side communication unit S0 located on the goods transport vehicle 3, and manages the passage of multiple goods transport vehicles 3, including that goods transport vehicle 3, within the management area E.

[0053] Figure 12 The timing diagram illustrates an example of communication between the area management device H2 and the goods transport vehicle 3 stopped at station ST. For example... Figure 9 As shown, if the goods transport vehicle 3 (first goods transport vehicle 31) arrives at station ST and stops, the "position fixed" signal becomes "ON" at time t1. That is, the "position fixed" signal is sent from the goods transport vehicle 3 (VHL) to the area management device H2 (ZCU). If the "position fixed" signal is confirmed to be "ON", the area management device H2 makes the "VHL detection" signal "ON" at time t2. Thus, the "VHL detection" signal is sent from the area management device H2 to the first goods transport vehicle 31. The "VHL detection" signal is "ON", thereby the first goods transport vehicle 31 can confirm that it is a management object of the area management device H2. In addition, the first goods transport vehicle 31 transfers goods W between the carrying platform 104 between time t3 and time t4.

[0054] Here, as Figure 9As shown, if the second item transport vehicle 32 arrives at the first entry detection point SP1, a "arrived at entry detection point" signal and a "request entry" signal are sent from the second item transport vehicle 32 to the area management device H2. The area management device H2 detects that the first item transport vehicle 31, which entered the management area E first, has stopped at station ST. Furthermore, in this example, the first path K1 is one-way, and the second item transport vehicle 32 on the second path K2 does not pass through the first path K1. Therefore, the area management device H2 sends a "permission to pass" signal to the second item transport vehicle 32. Thus, even if the first item transport vehicle 31 is present in the management area E, the second item transport vehicle 32 can still pass through the management area E. For example, since the first item transport vehicle 31 can pass through the management area E without waiting during the time when item W is being transferred (time t3 to time t4), the transport efficiency of the item transport equipment 100 can be improved.

[0055] If the transfer of item W is completed, the first item transport vehicle 31 will send a "request to move" signal to the area management device H2. If, at the time the "request to move" signal is received, the second item transport vehicle 32 is present in the management area E, the area management device H2 does not immediately send a "permission to pass" signal, but remains on standby as is. That is, the area management device H2 performs the following second exception handling: after the second item transport vehicle 32 enters the management area E due to the first exception handling, the first item transport vehicle 31 is prohibited from departing from station ST until the second item transport vehicle 32 exits the management area E.

[0056] If the second item transport vehicle 32 exits from management area E, the information that the second item transport vehicle 32 has exited management area E will be transmitted from the first exit detection point DP1 (refer to...). Figure 6 The signal is sent to the area management device H2. If the area management device H2 confirms that the second item transport vehicle 32 has exited the management area E, it sends a "permission granted" signal to the first item transport vehicle 31 (time t6).

[0057] Upon receiving the "Permission Pass" signal, the first transport vehicle 31, with both the "VHL Detection" and "Permission Pass" signals in the "ON" state, confirms that its movement is permitted and returns the "Position Fixed" and "Move Request" signals to the "OFF" state (time t7). Furthermore, the first transport vehicle 31 begins to move due to the permission granted for its movement. The "Position Fixed" and "Move Request" signals become "OFF," and the area management device H2 returns the "VHL Detection" and "Permission Pass" signals to the "OFF" state (time t8).

[0058] However, for managed area E, sometimes multiple transport vehicles 3 request entry simultaneously. The area management device H2, in principle, generates an entry priority queue based on the order of arrival in managed area E, that is, the order in which the "request entry" signals sent to the area management device H2 at the entry detection point SP increase in priority. Then, the area management device H2 sends a "permission to pass" signal to the transport vehicles 3 according to the priority order in the waiting queue. Management based on this waiting queue is included in the "basic processing".

[0059] For example, in Figure 9 In the example shown, consider the following scenario: When transport vehicle 3, vehicle number 1 (No. 1), is present in management area E, vehicles number 3 (No. 3) and 2 (No. 2) arrive at entry detection point SP in that order. Furthermore, vehicle number 1 does not stop at station ST, but rather moves (or begins moving after completing a transfer at station ST). The area management device H2 generates a waiting queue, prioritizing vehicle number 3 as the first priority and vehicle number 2 as the second priority. If vehicle number 1 exits management area E, the area management device H2 sends a "permission granted" signal to vehicle number 3, which has the first priority.

[0060] Next, consider the scenario where car number one is stopped at station ST (either in the process of transferring or not departing even after the transfer is complete). Car number three is a goods transport car 3 that travels along the first path K1, and car number two is a goods transport car 3 that travels along the second path K2 and the third path K3 but not along the first path K1. While car number one is stopped at station ST, the area management device H2 permits car number two to enter and pass through management area E. This is the "first exception handling".

[0061] When car number one completes its transfer at station ST and begins to move, as described above, the area management device H2, according to the priority order of the waiting queue, permits car number three to enter and pass through management area E after car number one exits management area E. Of course, if car number two arrives at the entry detection point SP before car number three, car number two has a higher priority order in the waiting queue than car number three. Therefore, after car number one exits management area E, the area management device H2 permits car number two to enter and pass through management area E (basic process).

[0062] Next, consider the following scenario: Car No. 3 is also a goods transport car 3 (first standby transport car) stopped at station ST. When Car No. 1 (first goods transport car 31) is in the management area E, Car No. 2 (second standby transport car) and Car No. 3 (first standby transport car) arrive at the entry detection point SP. Car No. 3 is a goods transport car 3 that passes through the first path K1, and Car No. 2 is a goods transport car 3 that passes through the second path K2 and the third path K3 but does not pass through the first path K1. Here, when Car No. 2 and Car No. 3 request to enter the management area E, if Car No. 1 is stopped at station ST, regardless of the order in which Car No. 2 and Car No. 3 arrive at the entry detection point SP, the area management device H2 permits Car No. 2 (second standby transport car) to enter the management area E and allows Car No. 2 to pass through the management area E (first exception handling). That is, Car No. 2 corresponds to the second goods transport car 32 in the first exception handling. Furthermore, if vehicles arrive at the inspection point SP in the order of vehicle number three and vehicle number two, it is preferable to change the priority order of the waiting queue when performing the first exception handling.

[0063] On the other hand, when cars 2 and 3 request to enter management area E, and car 1 has completed its transfer at station ST and begun moving, regardless of the order in which cars 2 and 3 arrive at entry detection point SP, after car 1 exits management area E, area management device H2 permits car 3 (the first standby transport car) to enter management area E. If cars 2 and 3 arrive at entry detection point SP in that order, car 2 has a higher priority in the waiting queue compared to car 3. Therefore, area management device H2 preferably changes the priority of the waiting queue and performs basic processing. Car 3, entering management area E, stops at station ST. While car 3 is stopping at station ST, area management device H2 permits car 2 (the second standby transport car) to enter management area E and allows car 2 to pass through management area E (first exception processing). In other words, in order to execute this first exception, even if there is a change in the priority order in the waiting queue, the area management device H2 will allow car number three to enter the management area E first, starting with car number three.

[0064] If car number two enters management area E after car number one has exited it, car number three cannot enter management area E until car number two has exited it. That is, the entry of car number two and car number three into management area E is managed exclusively due to basic processing. However, if car number three enters management area E after car number one has exited it, car number three stops at station ST. Therefore, even if car number three is present in management area E due to the first exception processing, car number two can still enter management area E after this stop. That is, car number two and car number three can coexist in management area E, thus improving the transport efficiency of the goods transport equipment 100.

[0065] That is, when the first goods transport vehicle 31, which is stopped at station ST, is present in the management area E, and the first standby transport vehicle (No. 3) traveling on the first path K1 and stopped at station ST, and the second standby transport vehicle (No. 2) passing through the connecting part J via the second path K2 and the third path K3, request to enter the management area E as a standby goods transport vehicle 3, the area management device H2 manages the passage in the management area E as follows: If the first goods transport vehicle 31 requests to enter the management area E before it can depart from station ST, the area management device H2 allows the second standby transport vehicle (No. 2) to enter the management area E before the first standby transport vehicle (No. 3). In addition, if the first transport vehicle 31 is able to depart from station ST and requests to enter the management area E, the area management device H2 causes the first standby transport vehicle (vehicle No. 3) to enter the management area E before the second standby transport vehicle (vehicle No. 2).

[0066] However, as described above, station ST is located at the point of handover between the item W and the handling device EQ (carrying platform 104) that handles the item W transported by the item transport vehicle 3. The above description illustrates a method where one station ST is provided within a handling device EQ, but... Figure 13 As illustrated, multiple stations ST can be configured within a single processing unit EQ. Alternatively, in this case, some stations ST can be located within the management area E, while others can be located outside the management area E. With this configuration, as... Figure 13 As shown, a portion of the multiple stations ST are in-area stations located within the management area E (station ST1, station ST2), while another portion of the multiple stations ST are out-of-area stations located outside the management area E (station ST3, station ST4). These multiple stations ST are preferably used in a manner where the in-area stations are used less frequently than the out-of-area stations.

[0067] If the goods transport vehicle 3 is located in the management area E, the passage of other goods transport vehicles 3 in the management area E is restricted due to basic processing, which may lead to a decrease in the transport efficiency of the goods transport equipment 100. Furthermore, since the goods transport vehicle 3 stops at station ST to transfer goods W, the dwell time of the goods transport vehicle 3 in the management area E increases, easily causing a decrease in transport efficiency. In this embodiment, such a decrease in transport efficiency is suppressed by the first exception processing, but the decrease in transport efficiency can be further suppressed by the above-described application.

[0068] Furthermore, in the above, such as Figure 9As shown, the following example illustrates the following: The branch confluence point B (B1) where the secondary path 1S merges into the main path 1M is designated as the connecting point J; the secondary path 1S (connecting path) connected to this connecting point J is designated as the first path K1; the main path 1M connected to the connecting point J upstream of the travel path is designated as the second path K2; and the main path 1M connected to the connecting point J downstream of the travel path is designated as the third path K3. That is, as in... Figure 14 As shown in solid lines, this example illustrates a configuration with a first path K1, a second path K2, a third path K3, and a connecting part J. Here, as... Figure 13 As shown, in the case of multiple stations ST, the first station ST1 and the second station ST2 become the stations ST that are configured on the first path K1 and where the first item transport vehicle 31 stops.

[0069] However, it is also possible to achieve this at the connection point between the secondary path 1S and the main path 1M, such as in... Figure 15 The diagram shows a first path K1, a second path K2, a third path K3, and a connecting section J, as indicated by solid lines. Specifically, the connecting section J can be defined as the branch confluence B (B2) where the connecting path from the main path 1M to the sub-path 1S merges with the loop sub-path 1S; the first path K1 can be the loop sub-path 1S connected upstream of the connecting section J in the direction of travel; the second path K2 can be the sub-path 1S (connecting path) branching from the main path 1M and connecting to the connecting section J; and the third path K3 can be the loop sub-path 1S connected downstream of the connecting section J in the direction of travel. In this case, the second station ST2 becomes the station ST located on the first path K1 where the first goods transport vehicle 31 stops.

[0070] Furthermore, the travel route 1 can be implemented in various ways, but the first route K1, the second route K2, the third route K3, the connecting section J, the management area E, and the station ST must at least have the following characteristics: Figure 16 The configuration shown in the conceptual diagram is sufficient. Specifically, the travel path 1 of the goods transport vehicle 3, which transports goods W, includes a first path K1 with one end connected to the connecting part J, a second path K2 with one end connected to the connecting part J, and a third path K3 with one end connected to the connecting part J. Furthermore, the area including at least a portion of the first path K1, at least a portion of the second path K2, at least a portion of the third path K3, and the connecting part J is designated as a management area E for managing the passage of the goods transport vehicle 3. Additionally, a station ST is provided within the management area E where the goods transport vehicle 3 stops. This station ST is positioned such that the goods transport vehicle 3 stopping at this station ST on the first path K1 within the management area E does not interfere with other goods transport vehicles 3 traveling on the second path K2 and the third path K3.

[0071] Furthermore, in the above, refer to Figure 6 , Figure 9 , Figure 14 , Figure 15 , Figure 16 The following explanation will use the case where the connecting part J is a confluence part as an example. However, as... Figure 17 , Figure 18 As shown, the connecting part can also be a branch part. Figure 17 Corresponding to Figure 6 This shows other examples of management areas E with stations ST internally configured. Additionally, Figure 18 The concept map corresponds to Figure 16 This shows other examples of the relationship between the first path K1, the second path K2, the third path K3, the connecting section J, the management area E, and the station ST. Regarding the... Figure 17 and Figure 18 The control performed by the area management device H2 in the illustrated manner can be referred to the above. Figures 1-16 The above explanation can be easily deduced by analogy, so a detailed explanation is omitted.

[0072] [Other Implementation Methods] Other embodiments will be described below. Furthermore, the configurations of the embodiments described below are not limited to individual application; they can also be combined with the configurations of other embodiments as long as no contradiction arises.

[0073] (1) The above description illustrates the method of performing the first exception handling when the first transport vehicle 31 is stopped at a station. However, as mentioned above, when the transport vehicle 3, for example, stops at station ST within the management area E after entering the management area E at the entry detection point SP, the information indicating a planned stop can sometimes be sent to the area management device H2. In such a case, the area management device H2 can be notified of the stop at station ST before the first transport vehicle 31, which is scheduled to stop at station ST, stops at station ST (for example, at the time of entering the management area E). Therefore, the first exception handling can also be performed when the first transport vehicle 31 is a transport vehicle 3 that is scheduled to stop at a station. That is, "a transport vehicle 3 that is stopped at a station" includes the concepts of both "a transport vehicle 3 that is currently stopped at a station" and "a transport vehicle 3 that is scheduled to stop at a station".

[0074] (2) In the above description, the configuration of the travel path 1 as a one-way passage is used as an example, but it is not limited to this. Part or all of the travel path 1 can also be a two-way passage path. In this case, the condition for the first exception is also "the second item transport vehicle 32 passes through the second path K2 and the third path K3, but does not pass through the first path K1 where the station ST is set", so even if the first exception is executed, interference between the first item transport vehicle 31 and the second item transport vehicle 32 that stop at the station ST is avoided.

[0075] (3) In the above, the path-side communication unit S1 and the area management device H2, the device-side communication unit S2 and the transfer control device H3, and the device-side communication unit S2 and the area management device H2 are each connected by wires, etc., but these can also be wireless connections using various wireless communications.

[0076] (4) As illustrated above, the following method is used: in the communication between the device-side communication unit S2 and the transport vehicle-side communication unit S0, signals with the same meaning as those in the communication between the path-side communication unit S1 and the transport vehicle-side communication unit S0 can be transmitted and received, thereby enabling the transport vehicle 3, which is stopped at station ST, to communicate with the area management device H2. However, this method is not limited to this one; in the communication between the device-side communication unit S2 and the transport vehicle-side communication unit S0, signals that are different from those in the communication between the path-side communication unit S1 and the transport vehicle-side communication unit S0 can also be transmitted and received.

[0077] (5) As illustrated above, the following method is used: the device-side communication unit S2 communicates with the transport vehicle-side communication unit S0, and the device-side communication unit S2 communicates with the area management device H2, thereby allowing the transport vehicle 3 stopped at station ST to communicate with the area management device H2. However, the transport vehicle 3 and the area management device H2 may also communicate directly, for example, via wireless communication, without using the device-side communication unit S2 installed at station ST. That is, the area management device H2 may communicate with the transport vehicle-side communication unit S0 installed on the transport vehicle 3, without using the device-side communication unit S2 installed at station ST, to detect the stopping and starting of the transport vehicle 3 at station ST, and to manage the passage of multiple transport vehicles 3, including the transport vehicle 3, in the management area E. For example, it is also possible to notify the area management device H2 that the transport vehicle 3 has stopped at station ST before it is scheduled to stop at station ST (for example, the time it enters the management area E).

[0078] (6) As illustrated above, the following example illustrates the following: Station ST is equipped with a carrying platform 104 for transferring goods W. In order to transfer goods W between the carrying platform 104 and the goods transport vehicle 3, the goods transport vehicle 3 stops at station ST. However, the station ST where the goods transport vehicle 3 stops is not limited to a station for transferring goods W. The goods transport vehicle 3 may also stop at station ST for reasons different from the transfer of goods W. For example, station ST may be a location equipped with a car wash machine for cleaning the goods transport vehicle 3, a maintenance robot for replacing the running wheels 15 or guide wheels 16, or an inspection device for the goods transport vehicle 3. In addition, it may be a location for replacing or charging the battery or other energy storage devices equipped on the goods transport vehicle 3, or for updating the control program of the goods transport vehicle 3. Furthermore, the goods transport vehicle 3 is not limited to a vehicle for transporting goods W; it may be a maintenance vehicle or a cleaning vehicle.

[0079] (7) In the above, the item transport vehicle 3 is an example of a roof transport vehicle that is suspended and supported on the roof side. However, as long as the item transport equipment for the management area is set in the travel path 1, the item transport vehicle 3 can also be a transport vehicle that travels on the ground side.

[0080] (8) In the above, the item W to be transported is exemplified as a FOUP or a mask, but the item W is not limited to these and may be other items.

[0081] [Summary of Implementation Methods] The following is a brief overview of the article conveying equipment described above.

[0082] As one embodiment, the goods transport equipment is as follows: the travel path of the goods transport vehicle, which transports goods, includes a first path with its end connected to a connecting portion, a second path with its end connected to the connecting portion, and a third path with its end connected to the connecting portion. An area including at least a portion of the first path, at least a portion of the second path, at least a portion of the third path, and the connecting portion is designated as a management area for managing the passage of the goods transport vehicle. The goods transport equipment includes a control device for controlling the passage of the goods transport vehicle within the management area. Within the management area, a station is provided where the goods transport vehicle stops. The station is located on the first path within the management area, and the goods transport vehicle stopping at that station does not interfere with the passage of the goods transport vehicle on the second path and the connecting portion. Regarding the positions of other aforementioned item transport vehicles traveling along the third route, the aforementioned control device can perform: a basic process, which, if no aforementioned item transport vehicle exists in the aforementioned management area, permits the first item transport vehicle, which is the first item transport vehicle to enter the aforementioned management area, to enter the aforementioned management area; and, if the first item transport vehicle exists in the aforementioned management area, prohibits the second item transport vehicle, which is another aforementioned item transport vehicle, from entering the aforementioned management area; and a first exception process, which, even if the first item transport vehicle exists in the aforementioned management area, and the first item transport vehicle is also the aforementioned item transport vehicle stopped at the aforementioned station, and the second item transport vehicle passes through the aforementioned second route and the aforementioned third route but does not pass through the aforementioned first route, permits the second item transport vehicle to enter the aforementioned management area.

[0083] According to this configuration, exclusive control is implemented through basic processing, allowing only one transport vehicle to enter the management area, thus appropriately preventing interference from multiple transport vehicles within the management area. Furthermore, through a first exception processing, a second transport vehicle is allowed to enter the management area even if the first transport vehicle is present. With only basic processing, it is necessary to wait for the second transport vehicle to enter the management area until the first transport vehicle, which is stopped within the management area, leaves, hindering the improvement of the transport efficiency of the transport equipment. However, according to this configuration, even if the first transport vehicle is stopped within the management area, the second transport vehicle will not interfere with the first transport vehicle within the management area, allowing the second transport vehicle to pass through the management area, thereby improving the transport efficiency of the transport equipment. In other words, according to this configuration, in transport equipment where transport vehicles sometimes stop within the management area, the transport efficiency using transport vehicles can be further improved.

[0084] Here, it is preferable that the aforementioned control device performs a second exception procedure, which prohibits the aforementioned first item transport vehicle from departing from the aforementioned station after the aforementioned second item transport vehicle enters the aforementioned management area due to the aforementioned first exception procedure, until the aforementioned second item transport vehicle leaves the aforementioned management area.

[0085] With the first transport vehicle stopped at the station, interference between the first and second transport vehicles is impossible, and the second transport vehicle travels within the management area due to the first exception procedure. However, if the first transport vehicle departs from the station while the second transport vehicle is traveling within the management area, multiple transport vehicles will be traveling simultaneously within the management area, potentially leading to interference between the first and second transport vehicles. By implementing the second exception procedure to prevent multiple transport vehicles from traveling simultaneously within the management area, interference between the first and second transport vehicles can be prevented.

[0086] Furthermore, the aforementioned control device preferably detects the aforementioned goods transport vehicle entering the aforementioned management area based on communication between a path-side communication unit configured along the aforementioned travel path and a transport vehicle-side communication unit installed on the aforementioned goods transport vehicle, and manages the passage of multiple aforementioned goods transport vehicles, including the aforementioned goods transport vehicle, in the aforementioned management area. It also detects the stopping and departure of the aforementioned goods transport vehicle at the aforementioned station based on communication between a device-side communication unit installed at the aforementioned station and a transport vehicle-side communication unit installed on the aforementioned goods transport vehicle, and manages the passage of multiple aforementioned goods transport vehicles, including the aforementioned goods transport vehicle, in the aforementioned management area.

[0087] At a station, in order to control the actions of a transport vehicle stopped at the station, the transport vehicle-side communication unit sometimes communicates with the device-side communication unit. The control device detects the transport vehicle entering the management area based on the communication between the path-side communication unit and the transport vehicle-side communication unit. In the first exception handling, information such as the transport vehicle being stopped at the station is required. However, at a station, in order to control the actions of the transport vehicle stopped at that station, it is necessary to configure the device-side communication unit, but sometimes it is difficult to configure the path-side communication unit. According to this configuration, the control device detects the stopping of the transport vehicle at the station based on the communication between the device-side communication unit and the transport vehicle-side communication unit. Therefore, the control device can use the detection result to appropriately execute the first exception handling.

[0088] Furthermore, the aforementioned control device preferably detects the aforementioned goods transport vehicle entering the aforementioned management area based on communication between a path-side communication unit configured along the aforementioned travel path and a transport vehicle-side communication unit installed on the aforementioned goods transport vehicle, and manages the passage of multiple aforementioned goods transport vehicles, including the aforementioned goods transport vehicle, in the aforementioned management area. It communicates with the aforementioned transport vehicle-side communication unit installed on the aforementioned goods transport vehicle without via a device-side communication unit installed at the aforementioned station, detects the stopping and departure of the aforementioned goods transport vehicle at the aforementioned station, and manages the passage of multiple aforementioned goods transport vehicles, including the aforementioned goods transport vehicle, in the aforementioned management area.

[0089] In the first exception handling, information such as the transport vehicle being stopped at the station or the transport vehicle about to stop at the station is required. However, at the station, in order to control the actions of the transport vehicle stopped at that station, it is necessary to install a device-side communication unit, and sometimes it is difficult to install a path-side communication unit. According to this configuration, the control device communicates with the transport vehicle-side communication unit installed on the transport vehicle without using the device-side communication unit installed at the station, and detects the stopping of the transport vehicle at the station. Therefore, the control device can use the detection result to appropriately execute the first exception handling.

[0090] In addition, it is preferable that the aforementioned station is set at the location where the aforementioned items are transferred between the processing device and the processing device, which utilizes the aforementioned items that are transported by the aforementioned item transport vehicle. In the case where multiple aforementioned stations are set in one aforementioned processing device, and a portion of the multiple aforementioned stations are in-area stations located within the aforementioned management area, and another portion of the multiple aforementioned stations are out-of-area stations located outside the aforementioned management area, the stations are used in a manner where the utilization frequency of the in-area stations is lower than that of the out-of-area stations.

[0091] In addition to basic processing, a first exception processing can be performed, thereby suppressing the decrease in the transport efficiency of the transport equipment even if the transport vehicle stops at a station set within the management area. However, when there are stations within and outside the management area for a processing unit, the stations outside the management area are used preferentially, thereby reducing the frequency of exclusive control in the management area and suppressing the decrease in transport efficiency.

[0092] Furthermore, preferably, if the aforementioned first goods transport vehicle stops at the aforementioned station, the first standby transport vehicle travels on the aforementioned first path and stops at the aforementioned station, and the second standby transport vehicle passes through the aforementioned connecting part via the aforementioned second path and the aforementioned third path, and if the aforementioned goods transport vehicle that is on standby to enter the aforementioned management area requests to enter the aforementioned management area, the aforementioned control device, if the aforementioned first goods transport vehicle requests to enter the aforementioned management area before it can depart from the aforementioned station, causes the aforementioned second standby transport vehicle to enter the aforementioned management area before the aforementioned first standby transport vehicle, and if the aforementioned first goods transport vehicle requests to enter the aforementioned management area after it can depart from the aforementioned station, causes the aforementioned first standby transport vehicle to enter the aforementioned management area before the aforementioned second standby transport vehicle.

[0093] If a second standby transport vehicle enters the management area after the first transport vehicle has exited, the first standby transport vehicle cannot enter until the second standby transport vehicle exits. That is, the entry of the first and second standby transport vehicles into the management area is managed exclusively by basic procedures. However, if a first standby transport vehicle enters the management area after the first transport vehicle has exited, and the first standby transport vehicle is stopped at the station, the second standby transport vehicle can enter the management area even if the first standby transport vehicle is present in the management area due to the first exception procedure. That is, the first and second standby transport vehicles can coexist in the management area, thereby improving the transport efficiency of the transport equipment.

[0094] Symbol Explanation 1: Driving route 3: Goods transport vehicle 31: First Item Transport Vehicle 32: Second Item Transport Vehicle 100: Goods conveying equipment E: Management Area EQ: Processing unit J: Connecting part H2: Area management device (control device) K1: First path K2: Second Path K3: Third Path S0: Transportation vehicle side communication department S1: Path-side communication unit S2: Device-side communication unit ST: Station W: Item.

Claims

1. A goods transport device, comprising a travel path for a goods transport vehicle for transporting goods, including a first path with one end connected to a connecting portion, a second path with one end connected to the connecting portion, and a third path with one end connected to the connecting portion, and wherein an area including at least a portion of the first path, at least a portion of the second path, at least a portion of the third path, and the connecting portion is designated as a management area for managing the passage of the goods transport vehicle, the goods transport device including a control device for controlling the passage of the goods transport vehicle in the management area. The article conveying equipment has the following characteristics: Within the management area, a station is provided for the transport vehicles carrying the goods to stop. The station is located on the first path within the management area at such a position that a goods transport vehicle that has stopped at this station does not interfere with other goods transport vehicles traveling on the second and third paths. The control device is capable of performing: The basic procedure involves allowing a first item transport vehicle (which is the first item transport vehicle to enter the management area) to enter the management area if the first item transport vehicle is not present there, and prohibiting a second item transport vehicle (which is another item transport vehicle) from entering the management area if the first item transport vehicle is present there. The first exception involves allowing the second item transport vehicle to enter the management area even if it is present on the first path within the management area, and is a vehicle that has stopped at the station, and the second item transport vehicle has traveled along the second and third paths but not the first path. In the management area, there is a first goods transport vehicle stopped at the station, a first standby transport vehicle traveling on the first path and stopped at the station, and a second standby transport vehicle passing through the connecting part via the second path and the third path, in the case where the goods transport vehicle waiting to enter the management area requests to enter the management area. The control device, If a second standby transport vehicle requests entry into the management area before the first standby transport vehicle can depart from the station, the second standby transport vehicle shall enter the management area before the first standby transport vehicle. If the first transport vehicle requests to enter the management area after it has departed from the station, the first standby transport vehicle shall enter the management area before the second standby transport vehicle.

2. The goods conveying equipment according to claim 1, wherein, The control device executes a second exception procedure, which prohibits the first item transport vehicle from departing from the station after the second item transport vehicle enters the management area due to the first exception procedure, until the second item transport vehicle exits the management area.

3. The goods conveying equipment according to claim 2, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. The stopping and starting of the goods transport vehicle at the station is detected based on communication between the device-side communication unit installed at the station and the transport vehicle-side communication unit installed on the goods transport vehicle, and the passage of multiple goods transport vehicles, including the goods transport vehicle, in the management area is managed.

4. The goods conveying equipment according to claim 2, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. It communicates with the transport vehicle-side communication unit installed on the transport vehicle without via the device-side communication unit installed at the station, detects the stopping and departure of the transport vehicle at the station, and manages the passage of multiple transport vehicles, including the transport vehicle, in the management area.

5. The goods conveying equipment according to claim 1, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. The stopping and starting of the goods transport vehicle at the station is detected based on communication between the device-side communication unit installed at the station and the transport vehicle-side communication unit installed on the goods transport vehicle, and the passage of multiple goods transport vehicles, including the goods transport vehicle, in the management area is managed.

6. The goods conveying equipment according to claim 1, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. It communicates with the transport vehicle-side communication unit installed on the transport vehicle without via the device-side communication unit installed at the station, detects the stopping and departure of the transport vehicle at the station, and manages the passage of multiple transport vehicles, including the transport vehicle, in the management area.

7. The article conveying equipment according to any one of claims 1 to 6, wherein, The station is set at the location where the items are handed over to the processing device, which utilizes the items transported by the item transport vehicle. In the case where a portion of the multiple stations are in-area stations located within the management area and another portion of the multiple stations are out-of-area stations located outside the management area, the in-area stations are used in a manner where their utilization frequency is lower compared to the out-of-area stations.

8. A goods transport device, comprising a travel path for a goods transport vehicle for transporting goods, including a first path with one end connected to a connecting portion, a second path with one end connected to the connecting portion, and a third path with one end connected to the connecting portion, and wherein an area including at least a portion of the first path, at least a portion of the second path, at least a portion of the third path, and the connecting portion is designated as a management area for managing the passage of the goods transport vehicle, the goods transport device including a control device for controlling the passage of the goods transport vehicle in the management area. The article conveying equipment has the following characteristics: Within the management area, a station is provided for the transport vehicles carrying the goods to stop. The station is located on the first path within the management area at such a position that a goods transport vehicle that has stopped at this station does not interfere with other goods transport vehicles traveling on the second and third paths. The control device is capable of performing: The basic procedure involves allowing a first item transport vehicle (which is the first item transport vehicle to enter the management area) to enter the management area if the first item transport vehicle is not present there, and prohibiting a second item transport vehicle (which is another item transport vehicle) from entering the management area if the first item transport vehicle is present there. The first exception involves allowing the second item transport vehicle to enter the management area even if it is present on the first path within the management area, and is a vehicle that has stopped at the station, and the second item transport vehicle has traveled along the second and third paths but not the first path. The station is set at the location where the items are handed over to the processing device, which utilizes the items transported by the item transport vehicle. In the case where a portion of the multiple stations are in-area stations located within the management area and another portion of the multiple stations are out-of-area stations located outside the management area, the in-area stations are used in a manner where their utilization frequency is lower compared to the out-of-area stations.

9. The goods conveying equipment according to claim 8, wherein, The control device executes a second exception procedure, which prohibits the first item transport vehicle from departing from the station after the second item transport vehicle enters the management area due to the first exception procedure, until the second item transport vehicle exits the management area.

10. The goods conveying equipment according to claim 8, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. The stopping and starting of the goods transport vehicle at the station is detected based on communication between the device-side communication unit installed at the station and the transport vehicle-side communication unit installed on the goods transport vehicle, and the passage of multiple goods transport vehicles, including the goods transport vehicle, in the management area is managed.

11. The goods conveying equipment according to claim 9, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. The stopping and starting of the goods transport vehicle at the station is detected based on communication between the device-side communication unit installed at the station and the transport vehicle-side communication unit installed on the goods transport vehicle, and the passage of multiple goods transport vehicles, including the goods transport vehicle, in the management area is managed.

12. The goods conveying equipment according to claim 8, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. It communicates with the transport vehicle-side communication unit installed on the transport vehicle without via the device-side communication unit installed at the station, detects the stopping and departure of the transport vehicle at the station, and manages the passage of multiple transport vehicles, including the transport vehicle, in the management area.

13. The goods conveying equipment according to claim 9, wherein, The control device, The passage of multiple goods transport vehicles, including the one described above, into the management area is managed based on communication between a path-side communication unit configured along the travel path and a transport vehicle-side communication unit installed on the goods transport vehicle. It communicates with the transport vehicle-side communication unit installed on the transport vehicle without via the device-side communication unit installed at the station, detects the stopping and departure of the transport vehicle at the station, and manages the passage of multiple transport vehicles, including the transport vehicle, in the management area.

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