Driving vehicle system

Abstract

A vehicle system (1) includes a travel control unit (41) that searches for a travel route for a vehicle (5) to travel to a specified station (ST) included in the transport instruction based on mapping information when a transport instruction is generated, and controls the travel of the vehicle (5) according to the travel route. The mapping information includes information related to a specific point (SP) provided corresponding to at least one of a branch portion (BP) and a confluence portion (CP). In addition to executing a one-way travel control for causing the vehicle (5) to travel in one direction, the travel control unit (41) also executes a switchback travel control for causing the vehicle (5) to travel according to the travel route. In this switchback travel control, a reverse section (S1, S2) is set in at least a portion of the travel route, which has the specific point (SP) as a starting point or an end point and causes the vehicle (5) to travel in a direction opposite to the one direction. In the reverse section (S1, S2), the vehicle (5) is caused to travel in a direction opposite to the one direction.

Description

Technical Field

[0001] One aspect of the present invention relates to a vehicle system for causing a vehicle to travel on a predetermined route. Background Art

[0002] There is known a vehicle system that uses computer control to automatically drive multiple vehicles on a driving path pre-set on a ceiling or the ground (for example, Patent Document 1). The driving path is determined to be one-way to prevent the driving directions of the vehicles from facing each other. In such a vehicle system, loading (loading items from the loading platform to the vehicle) and unloading (unloading items from the vehicle to the loading platform) are carried out between the loading platform (station) and the vehicle. When a loading request for items on a certain loading platform (hereinafter also referred to as the "target loading platform") is generated, the vehicle system retrieves an empty vehicle located closest to the target loading platform and assigns a transport instruction to the retrieved empty vehicle so that it moves to the target loading platform to receive the items.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2009-9365 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, in a vehicle system that includes at least one of a branching section and a merging section, since the travel path is determined to be one-way, searching for a route to reach the target platform in one direction may lead to a long route. Consequently, it takes time for the vehicle to reach the target platform, which may reduce transportation efficiency.

[0008] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system capable of improving transportation efficiency.

[0009] Means for solving problems

[0010] A vehicle system according to one aspect of the present invention comprises: a travel path including at least one of a branching portion and a merging portion for a vehicle to travel in one direction; a plurality of vehicles that travel along the travel path and deliver articles to and from loading platforms provided along the travel path; and a vehicle controller that controls the travel of the vehicles based on a transport instruction for transporting articles. In the vehicle system, the vehicle controller comprises a travel control unit that, when generating a transport instruction, searches for a vehicle to travel to a specified destination included in the transport instruction based on mapping information including information related to the travel path and the loading platform. The mapping information further includes information related to a specific point provided corresponding to at least one of the branch portion and the merging portion. The driving control unit performs a one-way driving control for driving the vehicle in the above-mentioned one direction, and further performs a turnaround driving control, thereby causing the vehicle to travel according to the driving path. In the turnaround driving control, a reverse section with a specific point as a starting point or an end point and causing the vehicle to travel in a direction opposite to the one direction is set in at least a part of the driving path, and the vehicle is caused to travel in a direction opposite to the one direction in the reverse section.

[0011] As used in this specification, upstream and downstream refer to the upstream and downstream of the predetermined driving direction of the vehicle (the aforementioned "one direction"). Here, in a vehicle system in which a vehicle travels along a driving route set for one-way traffic, or even in a vehicle system in which a vehicle travels in one direction, if there is a junction or a branch in the driving route, the vehicle may sometimes take a longer detour to reach a predetermined loading platform. For example, a vehicle located on the upstream side of a driving route merging with the other side of the driving route is directed toward a loading platform slightly upstream of the driving route merging with the other side of the driving route. In this case, the vehicle controller searches for a driving path from the upstream of the driving route on one side to reach the loading platform, but the distance of the driving path generally becomes longer.

[0012] Therefore, the driving control unit of the driving vehicle system of one aspect of the present invention sets the driving path of the above-mentioned one side, which starts from a specific point corresponding to the confluence on the downstream side of the above-mentioned loading platform and ends at the loading platform, as a reverse section. Then, the driving control unit causes the driving vehicle to reverse in the reverse section and enter the loading platform through turnaround driving control. The driving path including such a reverse section is shorter than the above-mentioned driving path from the upstream of the driving path of the above-mentioned one side to the loading platform. As a result, the time until the driving vehicle reaches the specified loading platform is shortened, which can improve the transportation efficiency. In addition, causing the driving vehicle to enter the loading platform means causing the driving vehicle to enter a position where it can be loaded and unloaded relative to the loading platform.

[0013] In a vehicle system according to one aspect of the present invention, a switchback entry flag indicating whether or not to enter a loading platform by switchback travel control may be associated with each loading platform in the mapping information, and when the vehicle enters a loading platform having the switchback entry flag indicating to enter by switchback travel control, the driving control unit may cause the vehicle to reverse travel through a reverse travel section from a specific point located downstream of the loading platform in one direction to the loading platform, thereby causing the vehicle to enter the loading platform. In this case, the vehicle can enter a loading platform by the switchback travel control, which may shorten the time until the vehicle arrives.

[0014] In one aspect of the present invention, a vehicle system may be configured such that, in mapping information, a switchback exit flag indicating whether to exit from a loading platform by switchback travel control is associated with each loading platform. When the vehicle is to exit from a loading platform having the switchback exit flag indicating exit by switchback travel control, the vehicle may be caused to reverse travel through a reverse section from the loading platform to a specific point located upstream of the loading platform in one direction, thereby causing the vehicle to exit from the loading platform. In this case, the switchback travel control allows the vehicle to exit from a loading platform where the time until the vehicle reaches the next target loading platform can be shortened by exiting the vehicle by the switchback travel control. Furthermore, causing the vehicle to exit from the loading platform means causing the vehicle to exit from a position where loading and unloading of cargo can be performed on the loading platform.

[0015] In one aspect of the present invention, the vehicle controller may further include a command dispatch unit that determines a vehicle from among a plurality of vehicles to execute a transport command, wherein the transport command includes information related to a destination platform. When the switchback entry flag associated with the destination platform, included in the transport command, indicates entry through switchback control, the command dispatch unit searches for a specific point first found downstream in one direction, starting from the destination platform, and then searches for a vehicle first found upstream in one direction, starting from the found specific point. In the conventional vehicle system described above, even if there is an approaching vehicle closest to the target platform along the travel path, a different vehicle than the approaching vehicle may be selected because the vehicle can only travel in one direction and the distance to the target platform is increased. In this case, the time it takes for the vehicle to reach the target platform is increased. In the vehicle system of one aspect of the present invention, regardless of the preset vehicle travel direction, a vehicle that is closer to the target platform along the travel path is selected, thereby shortening the time it takes for the vehicle to reach the target platform.

[0016] In one aspect of the vehicle system of the present invention, the vehicle controller may further include a command dispatch unit that determines a vehicle from among a plurality of vehicles to execute a transport command, the transport command including information regarding a platform serving as a source of movement and a platform serving as a destination of movement. When the switchback entry flag associated with the platform serving as the source of movement, included in the transport command, indicates entry through switchback control, the command dispatch unit searches for a specific point first found downstream in one direction, starting from the platform serving as the source of movement, and then searches for a vehicle first found upstream in one direction, starting from the found specific point. In the conventional vehicle system described above, even if there is an approaching vehicle relatively close to the target platform along the travel path, another approaching vehicle different from the vehicle may be selected because the distance to the target platform is longer due to the fact that only one-way traffic is possible. In this case, the time it takes for the vehicle to reach the target platform is increased. In the vehicle system of one aspect of the present invention, regardless of the preset vehicle travel direction, a vehicle that is closer to the target platform along the travel path is selected, thereby shortening the time it takes for the vehicle to reach the target platform.

[0017] Effects of the Invention

[0018] According to one aspect of the present invention, the conveying efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a configuration diagram showing the configuration of a traveling vehicle system according to one embodiment.

[0020] Figure 2 Yes Figure 1 Functional block diagram of the functional composition of the driving vehicle system.

[0021] Figure 3 (A) is a diagram illustrating turnaround control. Figure 3 (B) is a diagram showing a method of searching for a vehicle starting from a station with a turnaround sign.

[0022] Figure 4 (A) and Figure 4 (B) is a diagram showing a method of searching for a vehicle starting from a station with a turnaround sign.

[0023] Figure 5 A diagram illustrating switchback travel control. DETAILED DESCRIPTION

[0024] Hereinafter, an embodiment will be described with reference to the accompanying drawings. In the description of the accompanying drawings, the same elements are marked with the same symbols and repeated descriptions are omitted. The dimensional ratios of the accompanying drawings are not necessarily consistent with the dimensional ratios of the description. In addition, when describing an embodiment, upstream and downstream refer to the predetermined direction of travel of the vehicle 5 ( Figure 1 Upstream and downstream in the direction of the arrow shown in the track 11).

[0025] The vehicle system 1 is a system for transporting articles using a vehicle 5 that can move along a track (travel path). The vehicle 5 is an unmanned vehicle, such as an elevated vehicle, a tracked trolley, etc. Here, in a factory, etc., the vehicle system 1 is described as an example in which an elevated vehicle 5 (hereinafter referred to as "vehicle 5") travels along a one-way track laid on the roof of the factory, etc. Figure 1 As shown, the traveling vehicle system 1 mainly includes a track 11 , a plurality of stations (platforms) ST, a plurality of traveling vehicles 5 , and a traveling vehicle controller 3 .

[0026] The rail 11 is a member for the traveling vehicle 5 to travel, and is suspended from the ceiling. Figure 1 In this embodiment, the track 11 is divided into a plurality of Figure 1 In this example, there are six bays. Track 11 includes internal lines BR1, which serve as the travel paths within a bay, and interconnecting lines BR2, which connect different bays. Internal lines BR1 are designed for one-way traffic, allowing vehicles 5 to turn right. Similar to internal lines BR1, interconnecting lines BR2 are designed for one-way traffic, allowing vehicles 5 to turn right. Internal lines BR1 and interconnecting lines BR2 have branching points BP, where the track 11 branches, and merging points CP, where the track 11 merges.

[0027] The station ST is located along the track 11. The station ST is where items are transferred to and from the traveling vehicle 5. For example, in a semiconductor processing plant, the station ST includes a loading port where FOUPs are transferred between semiconductor processing equipment and the traveling vehicle 5, and a buffer area where the traveling vehicle 5 can temporarily place FOUPs.

[0028] The traveling vehicle 5 is configured to be able to transfer articles. In addition to the mechanism for transferring articles, the traveling vehicle 5 also has the following features: Figure 2 As shown, the vehicle body control unit 53 is further provided with a position acquisition unit 51 and a vehicle body control unit 53 .

[0029] The position acquisition unit 51 is responsible for acquiring the position of the vehicle on the track 11. For example, the position acquisition unit 51 may be composed of a reader that reads a barcode or other information indicating a point attached to the track 11, as well as an encoder. The position acquisition unit 51 transmits the point information obtained by the reader and the distance traveled from the point obtained by the encoder as position data to the vehicle controller 3. By periodically or continuously transmitting the information acquired by the position acquisition unit 51 to the vehicle controller 3, the vehicle controller 3 can determine the position of the vehicle 5.

[0030] The vehicle body control unit 53 controls the travel of the vehicle 5 and is an electronic control unit comprised of, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The vehicle body control unit 53 controls the travel of the vehicle 5 based on transport commands sent from the vehicle controller. Transport commands will be described in detail later.

[0031] The vehicle controller 3 controls the vehicles 5. Specifically, the vehicle controller 3 has a travel control function, controlling the travel of the vehicles 5 based on transport instructions sent from a higher-level controller (not shown). Furthermore, the vehicle controller 3 has a distribution function, controlling the travel of multiple vehicles 5 and distributing transport instructions to the multiple vehicles 5. Furthermore, the vehicle controller 3 periodically inquires with each vehicle 5 whether any items are loaded, thereby detecting the presence of any items.

[0032] like Figure 2 As shown, the vehicle controller 3 includes an input unit 31, a display unit 32, a communication unit 33, and a control unit 40. The input unit 31 is composed of, for example, a keyboard and a mouse, and is used by the user to input various operations and various set values. The display unit 32 is composed of, for example, a liquid crystal display, and is used to display various setting screens and input screens inputted via the input unit 31.

[0033] The communication unit 33 is a processing unit that communicates with other devices, and for example, transmits transport instructions to the traveling vehicle 5 via a wireless communication network, or receives information regarding the current position of the traveling vehicle 5 and the presence or absence of transported objects. Furthermore, the communication unit 33 also receives transport instructions including information about the station ST serving as the starting point (source) and the end point (destination) from a higher-level controller via, for example, a LAN (Local Area Network).

[0034] The control unit 40 is a part that performs various control processes of the vehicle system 1 described in detail later, and is composed of, for example, a CPU, ROM, RAM, etc. Figure 2 As shown, the control unit 40 includes a travel control unit 41 and a command dispatch unit 43, which are conceptual components that execute various control processes of the vehicle system 1, as well as a mapping information storage unit 45. The travel control unit 41 and command dispatch unit 43, formed as such conceptual components, can be configured as software that loads programs stored in ROM into RAM and executes them on the CPU. The mapping information storage unit 45 is configured as hardware such as an SSD (Solid State Drive) or HDD (Hard Disk Drive). Alternatively, the control unit 40 can be configured as hardware such as circuits.

[0035] When a transport instruction is issued, the travel control unit 41 searches for a route that will allow the vehicle 5 to travel to the specified station ST included in the transport instruction based on the mapping information, and then drives the vehicle 5 according to the route. In this embodiment, the transport instruction is transmitted from the host controller. The aforementioned mapping information is information related to the track 11 and the stations ST, and is stored in the mapping information storage unit 45. More specifically, it is layout information indicating the layout of the track 11 and the configuration of the stations ST. The layout of the track 11 is represented by multiple nodes and multiple links. The configuration of the stations ST is represented by associating them with the aforementioned nodes or the locations (point information) set for each node.

[0036] Here, the mapping information is explained. The mapping information of this embodiment includes information related to the specific points SP set corresponding to the branch part BP and the confluence part CP. The specific points SP are information related to the position where the traveling vehicle 5 performs the turnaround driving control. In addition, the turnaround driving control will be explained in detail later. For example, Figure 3 As shown in (A) of FIG. 1 , the specific point SP corresponding to the confluence portion CP in this embodiment is set slightly downstream of the confluence portion CP. Figure 5 As shown in FIG, the specific point SP corresponding to the branch portion BP in this embodiment is set slightly upstream of the branch portion BP. Alternatively, the specific point SP may coincide with the position of the confluence portion CP and the position of the branch portion BP.

[0037] Furthermore, in the mapping information of this embodiment, a switchback entry flag indicating whether or not to enter the station ST by switchback travel control is associated with each station ST, and a switchback exit flag indicating whether or not to exit the station ST by switchback travel control is associated with each station ST. Figure 3 As shown in (A), turning back means that the vehicle 5 enters the station ST1 by driving the vehicle 5 in the opposite direction to the normal driving direction. In addition, driving the vehicle 5 into the station ST1 means that the vehicle 5 enters a position where it can load and unload relative to the station ST1. Figure 5As shown, turning back and exiting means that the vehicle 5 is driven in the direction opposite to the normal driving direction, so that the vehicle 5 exits from the station ST2. In addition, entering the station ST2 means that the vehicle 5 enters a position where it can load and unload relative to the station ST2.

[0038] In addition to executing the one-way driving control for driving the vehicle 5 in one direction, the driving control unit 41 also executes a switchback driving control in which reverse sections S1 and S2 are set in at least a portion of the driving route, each of which starts or ends at a specific point SP and causes the vehicle 5 to drive in the opposite direction to the one direction (see FIG. Figure 3 (A) and Figure 5 ), and causes the vehicle 5 to travel in the opposite direction in the reverse sections S1 and S2. Thus, the travel control unit 41 causes the vehicle 5 to travel according to the travel route searched as described above. That is, the travel control unit 41 of this embodiment sometimes sets reverse sections S1 and S2 with a specific point SP as the starting point or the end point in at least a part of the travel route, which causes the vehicle 5 to travel in the opposite direction in an exceptional manner, and controls the travel of the vehicle 5 according to the travel route including the reverse sections S1 and S2. Turnaround travel control means causing the vehicle 5 to travel in the opposite direction to the predetermined travel direction of the vehicle 5 (right turn in the internal line BR1 and the interconnected line BR2: arrow direction) with a specific point SP as the starting point or the end point.

[0039] like Figure 3 As shown in (A), when the vehicle 5 enters the station ST1 (ST) having a switchback entry flag indicating entry by switchback travel control, the travel control unit 41 performs switchback travel control in the reverse section S1 from the nearest specific point SP located on the downstream side of the station ST1 to the station ST1, and causes the vehicle 5 to enter the station ST1. Figure 5 As shown, the travel control unit 41 performs a turnaround travel control in the reverse section S1 from the station ST2 (ST) to the nearest specific point SP located on the upstream side of the station ST2 (ST) when causing the traveling vehicle 5 to exit from the station ST2 (ST) having a turnaround exit sign indicating exit through the turnaround travel control, thereby causing the traveling vehicle 5 to exit (escape) from the station ST2 (ST).

[0040] The command distribution unit 43 determines the vehicle to execute the transport command from among the multiple vehicles 5. Here, the transport command sent from the host controller (not shown) will be described. A transport command may include information related to the destination station ST (hereinafter referred to as a "first transport command") or include information related to both the source and destination stations ST (hereinafter referred to as a "second transport command"). Upon receiving the transport command from the host controller, the vehicle controller 3 selects a vehicle 5 from among the multiple vehicles 5 and causes the selected vehicle 5 to move to the destination or source station ST.

[0041] The vehicle controller 3, having received the first transport command, moves the vehicle 5 toward the station ST, which is the destination of the transport specified in the transport command, to receive the items (load the items) at the destination. Furthermore, the vehicle controller 3, having received the second transport command, moves the vehicle 5 toward the station ST, which is the source of the transport, to receive the items (load the items) from the station ST. Next, the vehicle controller 3 moves the vehicle 5 toward the station ST, which is the destination of the transport, to deliver the items (unload the items) to the station ST, which is the destination of the transport.

[0042] The command dispatch unit 43 has a unique method for searching for a vehicle 5 traveling toward a station ST serving as a destination or source, when a turnaround entry flag associated with the transport command indicates entry through turnaround travel control. Specifically, when searching for a vehicle 5 traveling toward a station ST for which the turnaround entry flag is not set, and searching for the first empty vehicle 5 found upstream of the station ST, the command dispatch unit 43 of this embodiment searches for the first specific point found downstream from the destination or source station ST, and identifies the first vehicle 5 found upstream from the found specific point. The first vehicle 5 found is the vehicle 5 with the shortest distance along the track 11. If there is a branch upstream from the found specific point, both sides may be searched, or only the track 11 on the side without the station ST corresponding to the specific point may be searched.

[0043] Here, the station ST of the destination included in the first transport instruction received by the vehicle controller 3 is located at Figure 1 The flow until the traveling vehicle 5 moves to the station ST1 will be described, taking as an example a case where the traveling vehicle 5 is at the station ST1 of the internal route BR1 indicated by the black arrow and the turn-back entry flag is set at the station ST1.

[0044] When the command distribution unit 43 confirms that the return entry flag is set at the station ST1, Figure 3As shown in (B), the search starts from station ST1 and searches for the specific point SP that is first found in the downstream direction. Figure 4 As shown in (A), the command allocation unit 43 searches for the first vehicle 5 found upstream, starting from the searched specific point SP. Specifically, the command allocation unit 43 allocates a transport command to the vehicle 5A thus identified. In this embodiment, although there is a branch from the searched specific point SP toward the upstream direction, the search for vehicles 5 is conducted only on the track 11 on the side without the station ST1 corresponding to the specific point SP.

[0045] Then, if Figure 4 As shown in (B) of FIG. 1 , the travel control unit 41 searches for a route for the vehicle 5A assigned the transport instruction to reach station ST1 (route search). Upon confirming that station ST1 has a switchback entry flag, the travel control unit 41 searches for the first specific point SP found downstream, starting from the current position of the vehicle 5A assigned the transport instruction, that corresponds to station ST1 for executing switchback travel control.

[0046] The travel control unit 41 sets a reverse travel section S1, which causes the vehicle 5A to travel in the opposite direction, starting from the searched specific point SP. The travel control unit 41 controls the travel of the vehicle 5A according to the travel route that includes the reverse travel section S1. Specifically, the travel control unit 41 moves the vehicle 5A in one direction to the specific point SP found from the current position. At this specific point SP, the travel control unit 41 executes a switchback travel control, causing the vehicle 5A to travel in the reverse direction within the reverse travel section S1. As a result, the vehicle 5A arrives at station ST1.

[0047] In addition, the station ST of the movement source included in the second transport instruction received by the vehicle controller 3 is Figure 1 The station ST2 exists in the internal route BR1 with the black arrow and the return exit flag is set at the station ST2. The station ST of the moving destination is Figure 1 The flow until the traveling vehicle 5 moves to the station ST1 via the station ST2 will be described, taking as an example a case where the station ST1 exists in the internal route BR1 indicated by the black arrow and the turn-around entry flag is set at the station ST1.

[0048] like Figure 1 As shown, the command distribution unit 43 searches for the first vehicle 5 found upstream, starting from station ST2, the source of movement. Specifically, the command distribution unit 43 distributes a transport command to the vehicle 5B thus identified. Next, the travel control unit 41 searches for a route for vehicle 5B, to which the transport command has been assigned, to reach station ST2 (route search). The travel control unit 41 searches for a route for reaching station ST2 by traveling in one direction from the current location.

[0049] Next, the travel control unit 41 searches for a route from station ST2 to station ST1 (route search). Upon confirming that station ST2 has a switchback exit flag, the travel control unit 41 searches for the first specific point SP found upstream, starting from the current location of station ST2, that corresponds to station ST2 for executing switchback travel control.

[0050] like Figure 5 As shown, the travel control unit 41 sets a reverse travel section S2, which exceptionally causes the vehicle 5 to travel in the opposite direction to the one direction, with the specific point SP thus found as the end point, and controls the travel of the vehicle 5 according to the travel route including the reverse travel section S2. Specifically, the travel control unit 41 causes the vehicle 5 to move in the reverse direction in the reverse travel section S2 from the station ST2 to the position of the specific point SP found, and executes switchback travel control at the specific point SP, causing the vehicle 5 to move in the one direction on the track 11 within the internal line BR1.

[0051] like Figure 3 (A) and Figure 3 As shown in (B), upon confirming that station ST1 has a switchback entry flag, the travel control unit 41 searches for a specific point SP corresponding to station ST1 for executing switchback travel control, starting from the specific point SP corresponding to station ST2. The travel control unit 41 sets a reverse travel section S1, in which the vehicle 5 is exceptionally directed to travel in the opposite direction from the one direction, starting from the specific point SP corresponding to station ST1. The travel control unit 41 controls the travel of the vehicle 5 according to the travel route including this reverse travel section S1. Specifically, the travel control unit 41 moves the vehicle 5 from the specific point SP corresponding to station ST2 in one direction to the specific point SP corresponding to station ST1, executes switchback travel control at the specific point SP corresponding to station ST1, and reverses the vehicle 5 in reverse travel section S1. As a result, the vehicle 5A arrives at station ST1.

[0052] The effects of the vehicle system 1 according to the above embodiment will be described. Figure 1 The following describes the travel path of a vehicle 5 traveling on the internal route BR1 indicated by the black arrow to reach the station ST1 within the internal route BR1. In the above-mentioned conventional vehicle system 1, the travel direction of the vehicle 5 is determined to be one direction ( Figure 1 Therefore, a route is searched that takes the interlinking line BR2 to the station ST1 ( Figure 1 The vehicle 5 arrives at the station ST1 based on the driving route shown by the dotted line P1.

[0053] On the other hand, in the vehicle system 1 of the above embodiment, the travel control unit 41 sets the track 11 starting from the specific point SP corresponding to the confluence CP on the downstream side of the station ST1 and ending at the station ST1 as the reverse section S1. Then, the travel control unit 41 controls the vehicle 5 to travel in reverse in the reverse section S1 and enter the station ST1. The travel route including such a reverse section S1 ( Figure 1 The travel route shown by the solid line P is shorter than the travel route searched by the above-mentioned conventional method. As a result, the time until the vehicle 5 arrives at the predetermined station ST1 can be shortened, thereby improving the transportation efficiency.

[0054] In the mapping information of the vehicle system 1 of the above-described embodiment, a switchback entry flag indicating whether or not the vehicle 5 enters a station ST through switchback travel control is associated with each station ST. When the vehicle 5 enters a station ST1 having the switchback entry flag indicating entry through switchback travel control, the travel control unit 41 causes the vehicle 5 to reverse travel along a reverse travel section S1 from the nearest specific point SP located downstream of station ST1 to station ST1, thereby causing the vehicle 5 to enter station ST1. With this configuration, the vehicle 5 can enter station ST1 through switchback travel control, potentially shortening the time required for the vehicle to arrive.

[0055] In the mapping information of the vehicle system 1 of the above-described embodiment, a switchback exit flag indicating whether to exit from a station ST by switchback travel control is associated with each station ST. When the vehicle 5 is to exit from a station ST2 having the switchback exit flag indicating exit by switchback travel control, the travel control unit 41 causes the vehicle 5 to reverse travel along a reverse travel section S2 from station ST2 to the nearest specific point SP located upstream of station ST2, thereby causing the vehicle 5 to exit from station ST2. In this configuration, the vehicle 5 can be caused to exit from a station ST by switchback travel control, where the time until the vehicle reaches the next target station ST can be shortened by exiting the switchback travel control.

[0056] The command distribution unit 43 of the vehicle system 1 of the above embodiment searches for the first specific point SP found in the downstream direction with the station ST as the destination or source of movement as the starting point, and determines the vehicle 5 found first in the upstream direction with the found specific point SP as the starting point, when the return entry flag associated with the station ST as the destination or source of movement included in the transport command is a flag indicating entry through return travel control. Figure 1 The operation and effects of the traveling vehicle system 1 configured in this manner will be described.

[0057] That is, in the configuration of the conventional vehicle system 1, even though there is a vehicle 5A that is relatively close to the station ST1 along the track 11, the vehicle 5A can only travel in one direction and the distance to the station ST1 becomes long ( Figure 1 In some cases, a vehicle 5 different from vehicle 5A, for example, one within interconnecting line BR2, may be selected (and a delivery command may be assigned). In this case, the time it takes for vehicle 5 to arrive at station ST1 increases. On the other hand, in the configuration of vehicle system 1 of this embodiment, vehicle 5A is selected regardless of the preset travel direction of vehicle 5, which is closer to station ST1 along track 11. This shortens the time it takes for vehicle 5 to arrive at station ST1.

[0058] In the above embodiment, whether the station ST is entered by the switchback driving control is stored in the switchback entry flag. In this configuration, only the on / off status of the flag needs to be stored, which can reduce the data capacity compared to the configuration in which the station ST is associated with the specific point SP in the map information.

[0059] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention.

[0060] In the above embodiment, as examples of transport instructions, a first transport instruction and a second transport instruction, each containing different types of information, are used. However, the host controller may transmit only the first transport instruction, only the second transport instruction, or both the first and second transport instructions. Furthermore, a transport instruction may include information of a different type than the above.

[0061] In the above embodiment, the structure of the track 11 composed of six internal lines BR1 and the interconnecting lines BR2 that connect different sections is described as an example, but any layout can be used as long as the structure of the track 11 includes a confluence portion CP and a branch portion BP.

[0062] In the above embodiment, the host controller and the vehicle controller 3 are described as separate components, but they may be integrated.

[0063] In the vehicle system 1 of the above-described embodiment and modified examples, the elevated vehicle 5 is described as an example of a vehicle. However, other examples of the vehicle include unmanned vehicles that travel on tracks provided on the ground or on a platform.

[0064] Explanation of symbols

[0065] 1: Vehicle system; 3: Vehicle controller; 5: Vehicle; 5, 5A, 5B: Vehicle; 11: Track (driving path); 40: Control unit; 41: Driving control unit; 43: Instruction distribution unit; 45: Mapping information storage unit; 51: Position acquisition unit; 53: Vehicle body control unit; BP: Branch unit; CP: Confluence unit; BR1: Internal line; BR2: Interconnected line; S1, S2: Reverse section; SP: Specific point; ST, ST1, ST2: Station (loading platform).

Claims

1. A vehicle system comprising: a travel path including at least one of a branching portion and a merging portion for a vehicle to travel in one direction; a plurality of vehicles traveling along the travel path and transferring articles between loading platforms provided along the travel path; and a vehicle controller for controlling the travel of the vehicles based on a transport instruction. In the vehicle system, the vehicle controller includes a travel control unit that, when generating a transport instruction, searches for a travel path for the vehicles to travel to a specified loading platform included in the transport instruction based on mapping information including information related to the travel path and the loading platform, and controls the vehicles according to the transport instruction. The above-mentioned driving path causes the above-mentioned vehicle to travel, and the above-mentioned mapping information also has information related to a specific point set corresponding to at least one of the above-mentioned branch part and the above-mentioned confluence part. In addition to executing one-way driving control for causing the above-mentioned vehicle to travel in the above-mentioned one direction, the above-mentioned driving control unit also executes a turnaround driving control, thereby causing the above-mentioned vehicle to travel according to the above-mentioned driving path. In the above-mentioned turnaround driving control, a reverse section with the above-mentioned specific point as the starting point or the end point and causing the above-mentioned vehicle to travel in a direction opposite to the above-mentioned one direction is set in at least a part of the above-mentioned driving path, and the above-mentioned vehicle is caused to travel in a direction opposite to the above-mentioned one direction in the above-mentioned reverse section.

2. The vehicle system according to claim 1, wherein: In the above-mentioned mapping information, a turnaround entry flag indicating whether the vehicle enters the above-mentioned loading platform through the above-mentioned turnaround driving control is associated with each of the above-mentioned loading platforms. When the above-mentioned driving control unit causes the above-mentioned vehicle to enter the above-mentioned loading platform having the above-mentioned turnaround entry flag indicating that the vehicle enters through the above-mentioned turnaround driving control, the above-mentioned vehicle is reversed in the above-mentioned reverse section from the above-mentioned specific point located on the nearest downstream side in the above-mentioned one direction of the above-mentioned loading platform to the above-mentioned loading platform through the above-mentioned turnaround driving control, so that the above-mentioned vehicle enters the above-mentioned loading platform.

3. The traveling vehicle system according to claim 1, wherein: In the above-mentioned mapping information, a turnaround exit flag indicating whether to exit from the above-mentioned loading platform through the above-mentioned turnaround driving control is associated with each of the above-mentioned loading platforms. When the above-mentioned driving control unit causes the above-mentioned vehicle to exit from the above-mentioned loading platform having the above-mentioned turnaround exit flag indicating exit through the above-mentioned turnaround driving control, the above-mentioned vehicle is reversed in the above-mentioned reverse section from the above-mentioned loading platform to the above-mentioned specific point located at the nearest point on the upstream side in the above-mentioned one direction of the above-mentioned loading platform through the above-mentioned turnaround driving control, so that the above-mentioned vehicle is withdrawn from the above-mentioned loading platform.

4. The traveling vehicle system according to claim 2, wherein: In the above-mentioned mapping information, a turnaround exit flag indicating whether to exit from the above-mentioned loading platform through the above-mentioned turnaround driving control is associated with each of the above-mentioned loading platforms. When the above-mentioned driving control unit causes the above-mentioned vehicle to exit from the above-mentioned loading platform having the above-mentioned turnaround exit flag indicating exit through the above-mentioned turnaround driving control, the above-mentioned vehicle is reversed in the above-mentioned reverse section from the above-mentioned loading platform to the above-mentioned specific point located at the nearest point on the upstream side in the above-mentioned one direction of the above-mentioned loading platform through the above-mentioned turnaround driving control, so that the above-mentioned vehicle is withdrawn from the above-mentioned loading platform.

5. The traveling vehicle system according to any one of claims 2 to 4, wherein: The above-mentioned vehicle controller further includes an instruction distribution unit, which determines a vehicle to execute the above-mentioned transport instruction from the plurality of vehicles, wherein the above-mentioned transport instruction includes information related to the above-mentioned loading platform serving as the moving destination. When the above-mentioned return entry flag associated with the above-mentioned loading platform serving as the moving destination contained in the above-mentioned transport instruction is a flag indicating entry through the above-mentioned return travel control, the above-mentioned instruction distribution unit searches for the above-mentioned specific point first found on the downstream side in the above-mentioned one direction with the above-mentioned loading platform serving as the moving destination as the starting point, and searches for the above-mentioned vehicle first found on the upstream side in the above-mentioned one direction with the above-mentioned specific point found as the starting point.

6. The traveling vehicle system according to any one of claims 2 to 4, wherein: The above-mentioned traveling vehicle controller further includes an instruction distribution unit, which determines a traveling vehicle to execute the above-mentioned transport instruction from the plurality of traveling vehicles, wherein the above-mentioned transport instruction includes information related to the above-mentioned loading platform serving as the moving source and the above-mentioned loading platform serving as the moving destination. When the above-mentioned return entry flag associated with the above-mentioned loading platform serving as the moving source included in the above-mentioned transport instruction is a flag indicating entry through the above-mentioned return travel control, the above-mentioned instruction distribution unit searches for the above-mentioned specific point first found on the downstream side in the above-mentioned one direction with the above-mentioned loading platform serving as the moving source as the starting point, and searches for the above-mentioned traveling vehicle first found on the upstream side in the above-mentioned one direction with the above-mentioned specific point found as the starting point.

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