Goods conveying equipment

Abstract

The present invention provides an article conveying device. When the departure station and the destination station (52) belong to different areas, the control system moves the holding part (21) holding the article (2) from the reference position (H1) to the loading position (H2) at the destination station (52). During the period from the release of the holding of the article (2) by the holding part (21) to the return period when the holding part (21) is sent back from the loading position (H2) to the reference position (H1), the system switches from the state where the area control device governing the area to which the departure station belongs controls the conveyor (1) to the state where the area control device governing the area to which the destination station (52) belongs controls the conveyor (1).

Description

Technical Field

[0001] This invention relates to a goods conveying device comprising a conveyor vehicle that transports goods along a predetermined travel path and a control system for controlling the conveyor vehicle. Background Technology

[0002] An example of such an article conveying device is disclosed in Japanese Patent Application Publication No. 2007-200190 (Patent Document 1). Hereinafter, in the description of this background art, reference numerals and names of Patent Document 1 will be cited in parentheses.

[0003] The article conveying device of Patent Document 1 includes a travel path (2) divided into multiple zones (zones 22), a conveyor (1) that conveys articles along the travel path (2), and a control device (controller 6) that controls the conveyor (1) in each zone (22) via communication. Furthermore, when the conveyor (1) is located near the boundary of a zone (22), multiple control devices (6) positioned around the boundary of the zone (22) send the same conveying command to the zone (22) they manage. Then, if one of the control devices (6) receives a response to the conveying command from the conveyor (1), based on the information of the response, it cancels the conveying command from control devices (6) other than the one that received the response, and stops waiting for responses from the conveyor (1). Summary of the Invention

[0004] However, in the article conveying device of Patent Document 1, when the conveyor is located near the boundary of the area, multiple control devices need to repeatedly send the same conveying command to one conveyor. Furthermore, when a control device receives a response to the conveying command from the conveyor, it needs to perform processes such as communication between the control device receiving the response and other control devices, cancellation of the conveying command from the control device other than the one receiving the response, and stopping the response waiting from the conveyor. Therefore, the communication throughput for communication between the control device and the conveyor, and for communication between multiple control devices, easily increases, and the processing becomes more complex.

[0005] Furthermore, when the progress of the transport of goods by a conveyor is managed by a control device, switching the control device that manages the conveyor during the transport of goods creates a need to exchange progress information between the control devices before and after the switch. This easily leads to increased communication traffic and increased processing complexity. On the other hand, if no switch of the control device is performed during the transport of goods by a conveyor, the waiting time from the completion of the transport of goods by the conveyor to the completion of the switch of the control device increases, which is a major cause of decreased transport efficiency of the goods transport equipment.

[0006] Therefore, it is desirable to develop a goods transport device that can reduce the communication load of the transport vehicle and control device while suppressing the decline in transport efficiency and simplifying the processing.

[0007] The article conveying equipment disclosed herein includes: a predetermined travel path; a conveyor vehicle that travels along the aforementioned travel path to convey articles; multiple stations set on the aforementioned travel path as destinations for the conveyor vehicle; a loading station set at a position corresponding to each of the multiple stations, for loading the aforementioned articles; and a control system for controlling the aforementioned conveyor vehicle; the aforementioned conveyor vehicle includes a holding part for holding the aforementioned articles and a moving mechanism for moving the holding part between a reference position and a loading position; the aforementioned reference position is the position of the holding part during the movement of the aforementioned conveyor vehicle; the aforementioned loading position is the position of the holding part when the aforementioned articles are loaded onto the aforementioned loading station; multiple regions are provided that divide the entire aforementioned travel path, and the aforementioned control system includes multiple control devices, each governing a different region; the aforementioned... The control device performs driving control on the transport vehicle that starts transporting the aforementioned items within its jurisdiction, from the aforementioned station (i.e., the departure station) which is the source of the aforementioned items, to the aforementioned station (i.e., the destination station) which is the target of the aforementioned items; when the aforementioned departure station and the aforementioned destination station belong to different aforementioned areas, at the aforementioned destination station, the control system moves the aforementioned holding part holding the aforementioned items from the aforementioned reference position to the aforementioned loading position, and during the return period from when the holding of the aforementioned items by the aforementioned holding part is released to when the aforementioned holding part is returned from the aforementioned loading position to the aforementioned reference position, the control device starts switching the state of the aforementioned control device controlling the aforementioned transport vehicle within the aforementioned area to which the aforementioned control device controls the aforementioned transport vehicle within the aforementioned area to which the aforementioned control device controls the aforementioned transport vehicle within the aforementioned area to which the aforementioned destination station belongs.

[0008] According to this structure, even when the conveyor vehicle crosses the boundary of the area, no switching process of the control device is performed until the conveyor vehicle places the item at the placement position of the destination station. A single control device can control the entire process from the start of item transport to completion of placement at the placement position. Therefore, even when the control device manages the progress of item transport by the conveyor vehicle, there is no need to exchange the progress information between the control devices before and after the switch, thus reducing communication overhead and simplifying the process. Furthermore, according to this structure, after the conveyor vehicle places the item at the placement position of the destination station, the switching process of the control device begins during the return period until the holding unit is returned from the placement position to the reference position. Therefore, the waiting time until the switching process of the control device is completed and the conveyor vehicle begins to move towards the next destination point can be reduced to a shorter duration. Therefore, the decrease in the transport efficiency of the item transport equipment can be suppressed. As described above, according to this structure, while suppressing the decrease in transport efficiency, the communication overhead of the conveyor vehicle and the control device can be reduced, and the process can be simplified.

[0009] Further features and advantages of the goods conveying equipment will become clear from the following description of the embodiments with reference to the accompanying drawings. Attached Figure Description

[0010] Figure 1 It is a 3D view of the transport vehicle.

[0011] Figure 2 This is a side view of the transport vehicle.

[0012] Figure 3 It is a schematic diagram of the control system.

[0013] Figure 4 It is a control block diagram.

[0014] Figure 5 This is a diagram illustrating an example of the movement of a transport vehicle.

[0015] Figure 6 This is an explanatory diagram of the switching process.

[0016] Figure 7 This is another example of a diagram illustrating the driving status of a transport vehicle.

[0017] Figure 8 This is another example of a diagram illustrating the driving status of a transport vehicle. Detailed Implementation

[0018] The implementation method of the article conveying equipment is described with reference to the accompanying drawings. For example... Figures 1-3As shown, the goods conveying equipment 100 includes a predetermined travel path 40, a conveyor 1 that transports goods 2 along the travel path 40, multiple stations 50 located on the travel path 40 and serving as destinations PD for the conveyor 1, loading positions 4 located at positions corresponding to the multiple stations 50 and loading the goods 2, and a control system 30 that controls the conveyor 1. Each station 50 has a loading position 4, which is where the conveyor 1 stops. Here, the length direction (the direction in which the travel path 40 extends) of the travel path 40 is defined as the path length direction X, and the width direction of the travel path 40 is defined as the path width direction Y. The path width direction Y is orthogonal to both the path length direction X and the vertical direction Z. In other words, the path width direction Y is orthogonal to the travel path 40 when viewed from above along the vertical direction Z. Figure 3 An example of a top-down layout representing driving path 40, in Figure 3 The driving path 40 shown includes a merging section where multiple driving paths 40 merge into one driving path 40, and a branch section where one driving path 40 branches into multiple driving paths 40.

[0019] The travel path 40 can be physically formed or hypothetically set. In this embodiment, the travel path 40 is physically formed using travel tracks 41. Specifically, the article conveying device 100 has travel tracks 41 arranged along the travel path 40 (here, a pair of travel tracks 41 spaced apart in the path width direction Y), and the conveyor 1 travels along the travel tracks 41. Figure 2 As shown, the travel track 41 is suspended and supported from the ceiling 3, and the travel path 40 is formed along the ceiling 3. That is, in this embodiment, the transport vehicle 1 is a ceiling transport vehicle that travels along the travel path 40 formed along the ceiling 3. Alternatively, the transport vehicle 1 may be a transport vehicle other than a ceiling transport vehicle. As a transport vehicle other than a ceiling transport vehicle, a transport vehicle that travels along a travel path formed along the floor can be exemplified. In this case, the travel path can be either a travel path formed along the travel track or a hypothetical travel path.

[0020] like Figure 1 and Figure 2 As shown, the transport vehicle 1 includes a traveling unit 10 that travels along a travel path 40. The traveling unit 10 travels along a travel track 41 (here, a pair of travel tracks 41). The traveling unit 10 includes wheels 11 that roll on the travel surface of the travel track 41, and a driving unit M1 (e.g., an electric motor such as a servo motor) that rotates the wheels 11. Driven by the rotation of the wheels 11 by the driving unit M1, the traveling unit 10 travels along the travel track 41. Figure 1In the example shown, the transport vehicle 1 has a pair of traveling units 10 arranged in the front-rear direction of the vehicle body (the direction defined with reference to the transport vehicle 1, and the direction along the path length X when configured on the travel path 40).

[0021] like Figure 2 As shown, the transport vehicle 1 includes a holding part 21 for holding the article 2. In this embodiment, the holding part 21 holds the article 2 from the upper side Z1. The type of article 2 is not limited to this; in this embodiment, the article 2 is a container for holding semiconductor wafers (specifically, a FOUP (Front Opening Unified Pod)). The holding part 21 holds the article 2 by gripping a flange formed on the upper part of the article 2. Figure 4 As shown, the conveyor 1 (specifically, the holding unit 21) is equipped with a holding drive unit M3 (e.g., a solenoid or an electric motor) for switching the state of the holding unit 21. By driving the holding drive unit M3, the state of the holding unit 21 is switched to a holding state for holding the article 2 and a holding release state for releasing the holding of the article 2.

[0022] like Figure 2 As shown, the transport vehicle 1 includes a moving mechanism 22 that moves the holding part 21 between a reference position H1 and a loading position H2. Figure 4 As shown, the transport vehicle 1 (specifically, the moving mechanism 22) includes a moving drive unit M2 (e.g., an electric motor such as a servo motor) that moves the holding part 21 relative to the traveling part 10. The holding part 21 moves relative to the traveling part 10 by means of the moving drive unit M2. Figure 2 As shown, the transport vehicle 1 includes a main body 20 connected to the travel section 10 (here, there is a pair of travel sections 10). The main body 20 is disposed at a lower side Z2 relative to the travel section 10, and a moving mechanism 22 is provided on the main body 20. Thus, in this embodiment, the moving mechanism 22 and the holding section 21 are disposed at a lower side Z2 relative to the travel section 10.

[0023] The reference position H1 is the position of the holding part 21 during the movement of the transport vehicle 1. In this embodiment, the reference position H1 is the position that overlaps with the traveling part 10 when viewed from above. Furthermore, in this embodiment, as... Figure 2 As shown, reference position H1 is the position where the article 2 held by the holding part 21 is housed in the main body 20. The article 2, held by the holding part 21 located at reference position H1, is housed in the main body 20 in such a way that it is covered by the main body 20 on both sides from the path length direction X. Figure 2As shown, the placement position H2 is the position of the holding part 21 when the article 2 is placed on the placement part 4. The placement position H2 is located above the placement part 4 by Z1 and overlaps with the placement part 4 in a top view. The placement position H2 is set according to the position of each placement part 4. Figure 2 As shown, in this embodiment, the placement position H2 is located Z2 below the reference position H1. The placement part 4 is, for example, the loading port of a processing device for processing article 2, or a storage shelf of a storage device for storing article 2. Figure 2 In the image, a support portion is shown as an example of a mounting portion 4, which supports the article 2 from the lower side Z2.

[0024] In this embodiment, the moving mechanism 22 is configured to move (i.e., lift) the holding portion 21 relative to the traveling portion 10 in the vertical direction Z. By lowering the holding portion 21 via the moving mechanism 22, the holding portion 21 can be moved to a mounting position H2 corresponding to the mounting portion 4, which is positioned Z2 below the traveling path 40 and overlaps with the traveling path 40 in plan view. Figure 2 As shown, in this embodiment, the moving mechanism 22 raises and lowers the holding part 21 while it is suspended and supported. Specifically, the holding part 21 is connected to the front end of a transmission member 23, such as a belt or wire. Furthermore, the moving mechanism 22 rotates the winding body around which the transmission member 23 is wound by means of the moving drive unit M2, winding or unwinding the transmission member 23, thereby raising or lowering the holding part 21.

[0025] The moving mechanism 22 can also be configured to move the holding part 21 relative to the traveling part 10 in the path width direction Y. Furthermore, the moving mechanism 22 can also be configured to move the holding part 21 relative to the traveling part 10 in both the vertical direction Z and the path width direction Y. In this case, for example, by moving the holding part 21 in the path width direction Y and then lowering it using the moving mechanism 22, the holding part 21 can be moved to a mounting position H2 corresponding to the mounting part 4, which is positioned Z2 lower than the traveling path 40 and offset relative to the traveling path 40 in the path width direction Y when viewed from above.

[0026] like Figure 4 As shown, the transport vehicle 1 is equipped with a vehicle control device 33 (machine controller) for controlling the movement of the transport vehicle 1. Each control device, including the vehicle control device 33, the overall control device 31 (described later), and the area control device 32 (described later), is equipped with an arithmetic processing unit such as a CPU (Central Processing Unit) and peripheral circuits such as a memory. Through the cooperation of these hardware components and the programs executed on the arithmetic processing unit and other hardware, the functions of each control device are realized.

[0027] The vehicle control device 33 controls the operation of the transport vehicle 1 according to instructions from the area control device 32. In this embodiment, the area control device 32 and the vehicle control device 33 are configured to communicate wirelessly. The vehicle control device 33 controls the drive of the driving unit M1, causing the driving unit 10 to travel along the driving path 40. Furthermore, the vehicle control device 33 controls the drive of the moving unit M2, causing the moving mechanism 22 to move the holding unit 21 between the reference position H1 and the loading position H2. In addition, the vehicle control device 33 controls the drive of the holding unit M3, causing the holding unit 21 to perform a holding state switching operation, switching the state of the holding unit 21 between a holding state and a holding release state. As described below, through these moving operations and holding state switching operations, the transfer operation of the article 2 between the transport vehicle 1 (specifically, the holding unit 21) and the loading position 4 is performed.

[0028] When transferring item 2 between the transport vehicle 1 (specifically, the holding part 21) and the loading part 4, after the vehicle control device 33 causes the travel unit 10 to travel the transport vehicle 1 to a position corresponding to the loading part 4 (here, the same position in the path length direction X of the loading part 4), the moving mechanism 22 causes the holding part 21 to move from the reference position H1 to the loading position H2. For example, by lowering the holding part 21 by the moving mechanism 22, or by moving the holding part 21 in the path width direction Y by the moving mechanism 22 and then lowering the holding part 21, the holding part 21 is moved from the reference position H1 to the loading position H2. If the holding part 21 reaches the loading position H2, the vehicle control device 33 causes the holding part 21 to switch to a holding state. When the item 2 is transferred from the conveyor 1 to the placement part 4, a holding state switching operation is performed to switch the state of the holding part 21 from the holding state to the holding release state. When the item 2 is transferred from the placement part 4 to the conveyor 1, a holding state switching operation is performed to switch the state of the holding part 21 from the holding release state to the holding state.

[0029] After switching the holding state of the holding part 21, the vehicle control device 33 causes the moving mechanism 22 to move the holding part 21 from the loading position H2 to the reference position H1. For example, the holding part 21 is moved from the loading position H2 to the reference position H1 by the moving mechanism 22 raising the holding part 21, or by raising the holding part 21 by the moving mechanism 22 and then moving the holding part 21 in the path width direction Y. With the vehicle control device 33 performing such control, when the item 2 is transferred from the transport vehicle 1 to the loading position 4, the item 2 held by the holding part 21 is unloaded into the loading position 4, and when the item 2 is transferred from the loading position 4 to the transport vehicle 1, the item 2 placed in the loading position 4 is held by the holding part 21 and removed from the loading position 4.

[0030] Details are omitted, but the vehicle control device 33 derives the estimated current position of the transport vehicle 1, i.e., the estimated current position, and controls the driving action of the driving unit 10. For example, the structure can be configured such that the transport vehicle 1 has a reading device that reads address information (information indicating the position where the information holder is located) of information holders located at multiple positions along the driving path 40, and a measuring device that measures the driving distance of the driving unit 10. Based on the address information read by the reading device and the driving distance of the driving unit 10 measured by the measuring device (specifically, the driving distance from when the address information is read by the reading device), the vehicle control device 33 derives the estimated current position of the transport vehicle 1. For example, a one-dimensional barcode or a two-dimensional barcode can be used as the information holder, and a one-dimensional barcode reader or a two-dimensional barcode reader can be used as the reading device. Furthermore, a rotary encoder can be used as the measuring device, for example. In addition, it is not limited to this structure. For example, it can also be made into the following structure: the transport vehicle 1 is equipped with a GPS receiver that receives GPS signals from GPS (Global Positioning System) satellites, and the vehicle control device 33 derives the estimated current position of the transport vehicle 1 based on the GPS signals.

[0031] like Figure 3As shown, the control system 30 includes multiple area control devices 32. In this goods conveying equipment 100, multiple areas A are defined, dividing the entire travel path 40. Each of the multiple area control devices 32 governs a different area A. Each area control device 32 is configured to communicate with a conveyor 1 located in its governed area A, managing and controlling the conveyor 1 located in its governed area A. The area control device 32 may also be configured to communicate with conveyor 1 located in other areas A different from its governed area A, controlling conveyor 1 located in other areas A (e.g., conveyor 1 entering other areas A from its governed area A). Here, other areas A include at least areas A adjacent to its governed area A, and may also include all areas A other than its governed area A. Furthermore, in Figure 3 The diagram shows two areas A and two area control devices 32, but the number of areas A and area control devices 32 is not limited to this. The control system 30 also includes an overall control device 31 for managing the entire equipment. The overall control device 31 is configured to communicate with each of the multiple area control devices 32. In this embodiment, the area control device 32 is equivalent to a "control device".

[0032] The technical features of the control system 30 disclosed in this specification can also be applied to the control method of the goods conveying device 100, and the control method of the goods conveying device 100 is also disclosed in this specification. This control method includes a process where the area control device 32 performs the driving control described later, and a process where the control system 30 performs the switching processing described later. In this embodiment, it also includes a process where the control system 30 performs the switching prohibition processing described later.

[0033] The overall control device 31, for example, based on a transport schedule, issues a transport request (transport instruction) for item 2 to the area control device 32. The transport request includes information about the station 50 (departure station 51) that is the source of transport for item 2, and information about the station 50 (destination station 52) that is the destination of transport for item 2. The transport request for item 2 is sent to the area control device 32, which governs area A to which departure station 51 belongs. If the area control device 32 receives the transport request for item 2 from the overall control device 31, it assigns the transport request to a specific transport vehicle 1 and instructs that transport vehicle 1 (specifically, the vehicle control device 33 of that transport vehicle 1) to perform the actions corresponding to the transport request for item 2. The actions of the transport vehicle 1 corresponding to the transport request for item 2 include the transfer of item 2 from the loading point 4 to the transport vehicle 1 at departure station 51, the travel from departure station 51 to destination station 52, and the transfer of item 2 from the transport vehicle 1 to the loading point 4 at destination station 52. The area control device 32 sends information on the progress of the transport of the item 2 by the transport vehicle 1 to the overall control device 31.

[0034] As described above, the actions corresponding to the transport request for item 2 include the travel from departure station 51 to destination station 52. That is, the area control device 32 performs travel control from departure station 51 to destination station 52 for the transport vehicle 1 that begins transporting item 2 within its jurisdiction area A. The area control device 32 performs this travel control via the vehicle control device 33 provided with the transport vehicle 1. Furthermore, departure station 51 belongs to area A under the jurisdiction of the area control device 32 performing this travel control. On the other hand, destination station 52 may or may not belong to area A under the jurisdiction of the area control device 32 performing this travel control. The area control device 32 performs travel control of the transport vehicle 1 from departure station 51 to destination station 52 regardless of whether destination station 52 belongs to its jurisdiction area A.

[0035] exist Figure 5 In this context, one of multiple regions A is designated as Region 1 A1, and the region A adjacent to Region 1 A1 is designated as Region 2 A2. The region control device 32 governing Region 1 A1 is designated as Region 1 Control Device 32A, and the region control device 32 governing Region 2 A2 is designated as Region 2 Control Device 32B. (Referring to the following...) Figure 7 and Figure 8 The same applies to China. Moreover, Figure 5 This indicates the situation where item 2 is transported from departure station 51, belonging to area 1 A1, to destination station 52, belonging to area 2 A2. Therefore, in Figure 5 In the situation shown, the first area control device 32A performs the driving control of the transport vehicle 1 from the departure station 51 to the destination station 52.

[0036] The control system 30 is configured to switch the control of the transport vehicle 1 from a state where the area control device 32 governing the area A to which the departure station 51 belongs controls the transport vehicle 1 to a state where the area control device 32 governing the area A to which the destination station 52 belongs controls the transport vehicle 1 when the departure station 51 and the destination station 52 belong to different areas A. The control system 30 is configured such that, at the destination station 52, the holding part 21 holding the item 2 is moved from the reference position H1 to the loading position H2, and the switching process begins during the return period from when the holding of the item 2 by the holding part 21 is released until the holding part 21 is returned from the loading position H2 to the reference position H1. Preferably, the switching process begins at the moment the switching process is completed during the return period. For example, the control system 30 begins the switching process at the beginning of the return period (i.e., immediately after the holding of the item 2 by the holding part 21 is released). Furthermore, if the departure station 51 and the destination station 52 belong to the same area A, the control system 30 does not perform the switching process.

[0037] The entity performing the aforementioned handover process (the control device that forms the core of the handover process) is, for example, the area control device 32 that governs area A to which departure station 51 belongs. In this case, the area control device 32 that governs area A to which departure station 51 belongs determines the start time of the handover process and whether the handover process is being executed. Furthermore, if the handover process is being executed, the handover process begins according to the instruction from the area control device 32 that governs area A to which departure station 51 belongs.

[0038] exist Figure 6 In Figure 5 The handover process at destination station 52 is shown in time series. Figure 6 (a) indicates the case where the holding part 21, which holds article 2 at destination station 52, moves from the reference position H1 to the loading position H2. For example... Figure 6 As shown in (a), the first area control device 32A, which governs the area A to which the departure station 51 belongs, controls the transport vehicle 1 until the item 2 is placed at the placement part 4 of the destination station 52. Figure 6 (b) indicates the moment when the holding of item 2 by holding unit 21 is released (i.e., the start of the return period), and in this example, the switching process is performed at this moment. Therefore, as Figure 6 As shown in (c), the holding unit 21 is returned from the loading position H2 to the reference position H1 by the control of the transport vehicle 1 by the second area control device 32B.

[0039] In this embodiment, if the control system 30 sets a travel command for the transport vehicle 1 to a station 50 other than the destination station 52 as the destination point PD until the transport vehicle 1 releases the holding of the item 2 by the holding unit 21 at the destination station 52, the control system 30 starts the switching process during the return period. On the other hand, if the control system 30 does not set a travel command for the transport vehicle 1 to a station 50 other than the destination station 52 as the destination point PD until the transport vehicle 1 releases the holding of the item 2 by the holding unit 21 at the destination station 52, the switching process does not start during the return period, and starts the switching process after the holding unit 21 is returned from the loading position H2 to the reference position H1. In addition, a travel command to a station 50 other than the destination station 52 as the destination point PD is set for the transport vehicle 1, for example, when a transport request for the item 2 with the departure station 51 of that other station 50 is assigned.

[0040] The transport vehicle 1, which is not transporting item 2, is designated as an empty transport vehicle 1A. The area control device 32 controls the movement of the empty transport vehicle 1A within its managed area A. Furthermore, one of the multiple areas A is designated as area 1 A1, and the area A adjacent to area 1 A1 is designated as area 2 A2. The control system 30 is configured such that, when an empty transport vehicle 1A in area 1 A1 enters area 2 A2 with station 50 in area 2 A2 as its destination, while continuing the movement of the empty transport vehicle 1A, a switching process is initiated from the state where the area control device 32 managing area 1 A1 controls the empty transport vehicle 1A to the state where the area control device 32 managing area 2 A2 controls the empty transport vehicle 1A. This switching process preferably begins within the interval from the point where the empty transport vehicle 1A enters area 2 A2 (entry point PE) to the station 50 closest to the entry point PE along the travel path 40. Here, "interval" refers to the travel interval of the transport vehicle 1 along the travel path 40. In addition, area A1 is not limited to area A where the departure point of the empty transport vehicle 1A belongs, but can also be area A that is passed through along the way.

[0041] Figure 7 This indicates that empty transport vehicle 1A, located in area 1 A1, is traveling towards station 50 in area 2 A2 as its destination PD. Figure 7 In the situation shown, after the entry point from the first location P1 of the empty transport vehicle 1A to the second area A2, the switching process begins while the travel of the empty transport vehicle 1A continues as before. Figure 7 In this context, target station 53 is the station 50 closest to entry point PE (first location P1) along the travel path 40. Preferably, the switching process begins within the interval from entry point PE to arrival at target station 53 by the empty transport vehicle 1A.

[0042] The area control device 32 maintains, for the transport vehicle 1 it controls, the path R that the transport vehicle 1 takes to reach the destination point PD (refer to...). Figure 5 , Figure 7 , Figure 8 The passage path information 91 and the task information 92 representing the task of the transport vehicle 1 (refer to) Figure 3 In this embodiment, the travel path information 91 represents the travel path R set by the area control device 32. That is, in this embodiment, the area control device 32 controls the movement of the transport vehicle 1 so that it travels through the travel path R it has set. Furthermore, the task of the transport vehicle 1 represented in the task information 92 is, for example, a task included in a transport request for the item 2 assigned to the transport vehicle 1. Moreover, the control system 30 is configured such that, in the event of a switching process, the area control device 32 that controls the transport vehicle 1 after the execution of the switching process shares the travel path information 91 and task information 92 held by the area control device 32 that controls the transport vehicle 1 before the execution of the switching process. For example, the above-mentioned sharing is achieved by the area control device 32 that controls the transport vehicle 1 before the execution of the switching process sending its own travel path information 91 and task information 92 to the area control device 32 that controls the transport vehicle 1 after the execution of the switching process, either directly or via the overall control device 31.

[0043] Incidentally, there is a case where an empty transport vehicle 1A located in area 1 A1 enters area 2 A2 while traveling from station 50 in area 1 A1 to the destination PD. In this embodiment, the system is configured such that when an empty transport vehicle 1A located in area 1 A1 enters area 2 A2 while traveling from station 50 in area 1 A1 to the destination PD, the control system 30 does not perform a switching process, but executes a switching prohibition process that prevents the area control device 32 governing area 1 A1 from controlling the empty transport vehicle 1A even while it is traveling in area 2 A2.

[0044] Figure 8 This indicates that an empty transport vehicle 1A, located in area 1A1, is traveling from station 50 in area 1A1 to area 2A2, with the destination being station 50 in area 1A1. Figure 8In the illustrated scenario, after the empty transport vehicle 1A enters the second area A2 from the first location P1, it returns from the second location P2 to the first area A1 and arrives at the destination PD. In this embodiment, since the control system 30 performs a switching prohibition process, no switching process is performed after the point when the empty transport vehicle 1A enters the second area A2. The empty transport vehicle 1A travels in the second area A2 under the original state controlled by the first area control device 32A and then returns to the first area A1.

[0045] In addition, in the aforementioned Figure 7 In the illustrated scenario, after empty transport vehicle 1A enters the second area A2 from the first location P1, it returns to the first area A1 from the second location P2, and then re-enters the second area A2 from the third location P3. The actions of empty transport vehicle 1A from the moment it enters the second area A2 from the first location P1, and while in the second area A2 under the control of the second area control device 32B, constitute the actions of empty transport vehicle 1A in the second area A2 (equivalent to "the first area") entering the first area A1 (equivalent to "the second area") while traveling towards station 50 in the second area A2 (equivalent to "the second area"). In this embodiment, since the control system 30 performs a switching prohibition process as described above, therefore... Figure 7 In the situation shown, after the empty transport vehicle 1A enters the first area A1 from the second location P2, no switching process is performed. The empty transport vehicle 1A travels in the first area A1 under the original state controlled by the second area control device 32B, and then enters the second area A2 again from the third location P3.

[0046] like Figure 3 As shown, in this embodiment, the control system 30 includes a receiving unit 34 that receives instructions from a person (operator, etc.). The receiving unit 34 has an interface for receiving input operations performed by the person. For example, a driving instruction to a specific destination such as maintenance is input to the receiving unit 34. The vehicle control device 33 controls the driving operation of the driving unit 10 according to the instruction (driving instruction) received by the receiving unit 34. In addition, in Figure 3 In this embodiment, the information of the instruction received by the receiving unit 34 is input to the overall control device 31, but the information of the instruction received by the receiving unit 34 can also be input to the vehicle control device 33 or the area control device 32. That is, the vehicle control device 33 obtains the information of the instruction received by the receiving unit 34 directly or via other devices. Moreover, in this embodiment, the control system 30 is configured such that when the transport vehicle 1 is controlled based on the instruction received by the receiving unit 34, no switching processing is performed even if the transport vehicle 1 travels across multiple areas A.

[0047] [Other Implementation Methods]

[0048] Next, other embodiments of the material conveying equipment will be described.

[0049] (1) In the above embodiment, the following structure is described as an example: If no driving command is set for the transport vehicle 1 to a destination PD other than the destination 52 until the transport vehicle 1 releases the holding of the item 2 by the holding unit 21 at the destination station 52, the control system 30 does not start the switching process during the return period, but starts the switching process after the holding unit 21 is returned from the loading position H2 to the reference position H1. However, this disclosure is not limited to this structure, and it is also possible to make a structure in which the control system 30 starts the switching process during the return period even in the case described above.

[0050] (2) In the above embodiment, the following structure was described as an example: when an empty transport vehicle 1A located in the first area A1 enters the second area A2 while traveling from station 50 in the first area A1 to the second area A2, the control system 30 does not perform a switching process but performs a switching prohibition process. However, this disclosure is not limited to such a structure, and it is also possible to make a structure in which the control system 30 performs a switching process even when an empty transport vehicle 1A located in the first area A1 enters the second area A2 while traveling from station 50 in the first area A1 to the second area A2.

[0051] (3) In the above embodiment, the structure in which the moving mechanism 22 and the holding part 21 are disposed on the lower side Z2 relative to the traveling part 10 has been described as an example. However, this disclosure is not limited to such a structure, and the moving mechanism 22 and the holding part 21 may also be disposed on the upper side Z1 relative to the traveling part 10. Furthermore, in the above embodiment, the structure in which the holding part 2 holds the article 2 from the upper side Z1 has been described as an example. However, this disclosure is not limited to such a structure, and the structure in which the holding part 21 holds the article 2 from the lower side Z2 may also be described (for example, the structure in which the article 2 is held by supporting the lower surface of the article 2).

[0052] (4) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as they do not create contradictions. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0053] [Summary of the above embodiments]

[0054] The following is a summary of the article conveying equipment described above.

[0055] The goods conveying equipment includes: a predetermined travel path; a conveyor vehicle that travels along the aforementioned travel path to convey goods; multiple stations set on the aforementioned travel path as destinations for the conveyor vehicle; loading positions set at locations corresponding to the multiple stations for loading the aforementioned goods; and a control system for controlling the aforementioned conveyor vehicle; the aforementioned conveyor vehicle has a holding part for holding the aforementioned goods and a moving mechanism for moving the holding part between a reference position and a loading position; the aforementioned reference position is the position of the holding part during the movement of the aforementioned conveyor vehicle; the aforementioned loading position is the position of the holding part when the aforementioned goods are loaded onto the aforementioned loading position; multiple areas are defined that divide the aforementioned travel path as a whole, and multiple control devices included in the aforementioned control system each govern different of the aforementioned areas; the aforementioned control devices... For the aforementioned transport vehicle that begins transporting the aforementioned items within its jurisdiction within the aforementioned area, the aforementioned control system performs driving control from the aforementioned station, i.e., the departure station, which is the source of the aforementioned items, to the aforementioned station, i.e., the destination station, which is the target of the aforementioned items; when the aforementioned departure station and the aforementioned destination station belong to different aforementioned areas, at the aforementioned destination station, the aforementioned holding part holding the aforementioned items moves from the aforementioned reference position to the aforementioned loading position, and during the return period from when the holding of the aforementioned items by the aforementioned holding part is released to when the aforementioned holding part is returned from the aforementioned loading position to the aforementioned reference position, the aforementioned control system begins switching from the state where the aforementioned control device governing the aforementioned area to which the aforementioned departure station belongs controls the aforementioned transport vehicle to the state where the aforementioned control device governing the aforementioned area to which the aforementioned destination station belongs controls the aforementioned transport vehicle.

[0056] According to this structure, even when the conveyor vehicle crosses the boundary of the area, no switching process of the control device is performed until the conveyor vehicle places the item at the placement position of the destination station. A single control device can control the entire process from the start of item transport to completion of placement at the placement position. Therefore, even when the control device manages the progress of item transport by the conveyor vehicle, there is no need to exchange the progress information between the control devices before and after the switch, thus reducing communication overhead and simplifying the process. Furthermore, according to this structure, after the conveyor vehicle places the item at the placement position of the destination station, the switching process of the control device begins during the return period until the holding unit is returned from the placement position to the reference position. Therefore, the waiting time until the switching process of the control device is completed and the conveyor vehicle begins to move towards the next destination point can be reduced to a shorter duration. Therefore, the decrease in the transport efficiency of the item transport equipment can be suppressed. As described above, according to this structure, while suppressing the decrease in transport efficiency, the communication overhead of the conveyor vehicle and the control device can be reduced, and the process can be simplified.

[0057] Here, preferably, the aforementioned transport vehicle that is not transporting the aforementioned items is designated as an empty transport vehicle, and the aforementioned control device performs driving control of the aforementioned empty transport vehicle within its jurisdiction; one of the aforementioned regions is designated as the first region, and the aforementioned region adjacent to the first region is designated as the second region. When the aforementioned empty transport vehicle in the first region enters the second region while traveling with the aforementioned station in the second region as the aforementioned destination, the aforementioned control system, while allowing the aforementioned empty transport vehicle to continue traveling along the aforementioned travel path to the station closest to the aforementioned entry point, begins to switch the state of the aforementioned control device in the first region controlling the aforementioned empty transport vehicle to the state of the aforementioned control device in the second region controlling the aforementioned empty transport vehicle, while allowing the aforementioned empty transport vehicle to continue traveling.

[0058] According to this structure, for empty transport vehicles that are not transporting any goods, when the empty transport vehicle crosses the boundary of a region, the switching process to the control device governing the new region can be performed within the interval from entering the new region to reaching the next station. Therefore, the waiting time for the switching process of the control device can be minimized. Furthermore, according to this structure, since this processing is performed on empty transport vehicles whose transport progress does not require management by the control device, there is no need to exchange transport progress information between the control devices before and after the switch. Therefore, the problems of increased communication load and increased processing complexity are also less likely to occur.

[0059] In the above structure, it is preferable that when the aforementioned empty transport vehicle, which is located in the aforementioned first area, enters the aforementioned second area while traveling with the aforementioned station in the aforementioned first area as its destination, the aforementioned control system does not perform the aforementioned switching process, but executes a switching prohibition process that prevents the aforementioned control device governing the aforementioned first area from controlling the aforementioned empty transport vehicle even while the aforementioned empty transport vehicle is traveling in the aforementioned second area.

[0060] According to this structure, even in cases where the control device is switched when an empty transport vehicle crosses the boundary of a region, as described above, the control device switching is prohibited if the destination is a station within the original region before the empty transport vehicle enters the new region. This avoids the need to switch the control device and then switch back to the same control device. Consequently, the frequency of control device switching can be reduced, simplifying the process.

[0061] In the above-described material conveying equipment, preferably, the aforementioned control device maintains, for the aforementioned conveying vehicle it controls, path information indicating the path that the conveying vehicle takes to reach the aforementioned destination and task information indicating the task of the conveying vehicle; when the aforementioned control system performs the aforementioned switching process, the aforementioned control device that controls the aforementioned conveying vehicle after the execution of the switching process shares the aforementioned path information and the aforementioned task information held by the aforementioned control device that controls the aforementioned conveying vehicle before the execution of the switching process.

[0062] According to this structure, when a switchover process is performed on the control device for a transport vehicle, including an empty transport vehicle, the switched control device can share the travel path information and task information held by the control device before the switchover. Therefore, even when a switchover process is performed on the control device, the transport vehicle can be properly controlled.

[0063] Furthermore, preferably, if the aforementioned control system sets a driving instruction for the aforementioned transport vehicle to a destination other than the aforementioned destination station when the aforementioned transport vehicle releases the holding of the aforementioned item by the aforementioned holding unit at the aforementioned destination station, the aforementioned switching process is started during the aforementioned return period. If the aforementioned control system does not set a driving instruction for the aforementioned transport vehicle to a destination other than the aforementioned destination station when the aforementioned transport vehicle releases the holding of the aforementioned item by the aforementioned holding unit at the aforementioned destination station, the aforementioned switching process is not started during the aforementioned return period, and the aforementioned switching process is started after the aforementioned holding unit is returned from the aforementioned loading position to the aforementioned reference position.

[0064] According to this structure, when a next travel command for the transport vehicle is set until the transport vehicle releases the item held by the holding unit at the destination station, by starting the switching process during the return period, the waiting time until the control device's switching process is completed and the transport vehicle begins its journey towards the next destination can be minimized. On the other hand, when no next travel command is set until the transport vehicle releases the item held by the holding unit at the destination station, since there is no need to expedite the start of the transport vehicle's journey, the switching process begins after the holding unit has been returned to the reference position. Therefore, the control device's switching process can be avoided from occurring concurrently with other operations of the transport vehicle, thus improving the reliability of the switching process.

[0065] Furthermore, preferably, the aforementioned control system also includes a receiving unit that accepts instructions from a person; when the aforementioned transport vehicle is controlled based on instructions accepted by the aforementioned receiving unit, the aforementioned switching process is not performed even if the aforementioned transport vehicle travels across multiple of the aforementioned areas.

[0066] According to this structure, for example, when an operator moves a transport vehicle towards a specific destination for maintenance, the transport vehicle may be controlled based on instructions received by the receiving unit. In such transport vehicle control, if a control device switching process is performed, there is a possibility that the switched control device will set new driving instructions, initiating unwanted transport vehicle movement for the operator. According to this structure, such a situation can be avoided.

[0067] The article conveying device disclosed herein is sufficient to achieve at least one of the aforementioned effects.

[0068] Explanation of reference numerals in the attached figures

[0069] 1: Conveyor vehicle

[0070] 1A: Empty transport vehicle

[0071] 2: Items

[0072] 4: Placement location

[0073] 21: Maintaining Department

[0074] 22: Mobile organization

[0075] 30: Control System

[0076] 32: Area control device (control device)

[0077] 34: Reception Department

[0078] 40: Driving route

[0079] 50: Station

[0080] 51: Departure Station

[0081] 52: Destination Station

[0082] 91: Travel Route Information

[0083] 92: Task Information

[0084] 100: Goods conveying equipment

[0085] A: Area

[0086] A1: Area 1

[0087] A2: Area 2

[0088] PD: Destination

[0089] PE: Entry Point

[0090] R: Travel path

[0091] H1: Reference position

[0092] H2: Placement location.

Claims

1. A material conveying device, comprising: The prescribed driving route; The transport vehicle travels along the aforementioned route to transport goods; The stations, located at multiple points along the aforementioned route, serve as the destinations for the aforementioned transport vehicles. The placement area, located at its respective position corresponding to the aforementioned stations, holds the aforementioned items; and The control system controls the aforementioned transport vehicle; Its features are, The aforementioned transport vehicle has a holding part for holding the aforementioned article and a moving mechanism for moving the aforementioned holding part between a reference position and a loading position; The aforementioned reference position is the position of the aforementioned holding part during the movement of the aforementioned transport vehicle; The aforementioned placement position is the position of the aforementioned holding part when the aforementioned article is placed on the aforementioned placement position; The system is configured with multiple regions that divide the entire aforementioned driving path, and the multiple control devices of the aforementioned control system each govern different regions. The aforementioned control device performs driving control on the aforementioned transport vehicle that starts transporting the aforementioned items within the aforementioned area under its jurisdiction, from the aforementioned station, i.e., the departure station, which becomes the source of transporting the aforementioned items, to the aforementioned station, i.e., the destination station, which becomes the target of transporting the aforementioned items. When the aforementioned control system is located in different areas from the aforementioned departure station and the aforementioned destination station, at the aforementioned destination station, the aforementioned holding part holding the aforementioned item is moved from the aforementioned reference position to the aforementioned loading position. During the return period from when the holding of the aforementioned item by the aforementioned holding part is released to when the aforementioned holding part is returned from the aforementioned loading position to the aforementioned reference position, the system begins the switching process from the state where the aforementioned control device governing the aforementioned area to which the aforementioned departure station belongs controls the aforementioned transport vehicle to the state where the aforementioned control device governing the aforementioned area to which the aforementioned destination station belongs controls the aforementioned transport vehicle.

2. The article conveying device as described in claim 1, characterized in that, The aforementioned transport vehicle that is not transporting the aforementioned items is designated as an empty transport vehicle. The aforementioned control device controls the movement of the aforementioned empty transport vehicle within its jurisdiction. Designate one of the aforementioned regions as region 1, and designate the aforementioned region adjacent to region 1 as region 2. When the aforementioned empty transport vehicle, which is located in the aforementioned first area, enters the aforementioned second area with the aforementioned station in the aforementioned second area as its destination, the aforementioned control system, while allowing the empty transport vehicle to continue its journey from the point of entry to the station closest to the point of entry along the aforementioned travel path, begins to switch the state of the aforementioned control device governing the aforementioned first area to the state of the aforementioned control device governing the aforementioned second area controlling the aforementioned empty transport vehicle.

3. The article conveying device as described in claim 2, characterized in that, If the aforementioned empty transport vehicle, which is located in the aforementioned first area, enters the aforementioned second area while traveling with the aforementioned station in the aforementioned first area as its destination, the aforementioned control system does not perform the aforementioned switching process, but executes a switching prohibition process that prevents the aforementioned control device governing the aforementioned first area from controlling the aforementioned empty transport vehicle even while the aforementioned empty transport vehicle is traveling in the aforementioned second area.

4. The article conveying device as described in claim 1, characterized in that, The aforementioned control device maintains, for the aforementioned transport vehicle it controls, a travel path information indicating the path that the transport vehicle takes to reach the aforementioned destination and a task information indicating the task of the transport vehicle. When the aforementioned control system performs the aforementioned switching process, the aforementioned control device that controls the aforementioned transport vehicle after the execution of the switching process shares the aforementioned travel path information and the aforementioned task information held by the aforementioned control device that controlled the aforementioned transport vehicle before the execution of the switching process.

5. The article conveying device as described in claim 2, characterized in that, The aforementioned control device maintains, for the aforementioned transport vehicle it controls, a travel path information indicating the path that the transport vehicle takes to reach the aforementioned destination and a task information indicating the task of the transport vehicle. When the aforementioned control system performs the aforementioned switching process, the aforementioned control device that controls the aforementioned transport vehicle after the execution of the switching process shares the aforementioned travel path information and the aforementioned task information held by the aforementioned control device that controlled the aforementioned transport vehicle before the execution of the switching process.

6. The article conveying device as described in claim 3, characterized in that, The aforementioned control device maintains, for the aforementioned transport vehicle it controls, a travel path information indicating the path that the transport vehicle takes to reach the aforementioned destination and a task information indicating the task of the transport vehicle. When the aforementioned control system performs the aforementioned switching process, the aforementioned control device that controls the aforementioned transport vehicle after the execution of the switching process shares the aforementioned travel path information and the aforementioned task information held by the aforementioned control device that controlled the aforementioned transport vehicle before the execution of the switching process.

7. The article conveying device as described in any one of claims 1 to 6, characterized in that, If the aforementioned control system sets a driving instruction for the aforementioned transport vehicle to a destination other than the aforementioned destination station until the aforementioned transport vehicle releases the holding of the aforementioned item by the aforementioned holding unit at the aforementioned destination station, the aforementioned switching process is started during the aforementioned return period. If the aforementioned control system does not set a driving instruction for the aforementioned transport vehicle to a destination other than the aforementioned destination station until the aforementioned transport vehicle releases the holding of the aforementioned item by the aforementioned holding unit at the aforementioned destination station, the aforementioned switching process is not started during the aforementioned return period, and the aforementioned switching process is started after the aforementioned holding unit is returned from the aforementioned loading position to the aforementioned reference position.

8. The article conveying device as described in any one of claims 1 to 6, characterized in that, The aforementioned control system also has a receiving department that accepts instructions from humans; When the aforementioned transport vehicle is controlled based on instructions received by the aforementioned receiving department, the aforementioned switching process will not be performed even if the aforementioned transport vehicle travels across multiple of the aforementioned areas.

9. The article conveying device as described in claim 7, characterized in that, The aforementioned control system also has a receiving department that accepts instructions from humans; When the aforementioned transport vehicle is controlled based on instructions received by the aforementioned receiving department, the aforementioned switching process will not be performed even if the aforementioned transport vehicle travels across multiple of the aforementioned areas.

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