Traveling vehicle system

Abstract

The invention provides a traveling vehicle system which can select a communication mode without adding a new instruction for selecting (specifying) the communication mode. The first communication device (340) is provided with a first storage unit (343) that associates and stores a communication scheme usable between the communication devices and a communication channel corresponding to the communication scheme, and the traveling vehicle (300) is provided with a second storage unit (320) that associates and stores area identification information for identifying each area (30) with a communication channel. The traveling vehicle (300) uses the information stored in the second storage unit (320) to determine a communication channel to be used in an area (30) including the current position of the traveling vehicle (300). The first communication device (340) uses the information stored in the first storage unit (343) to specify a communication scheme corresponding to the communication channel specified by the traveling vehicle (300), and communicates with the second communication device (200) via the specified communication channel and communication scheme.

Description

Technical Field

[0001] The present invention relates to a traveling vehicle system. Background Art

[0002] Conventionally, there is known a vehicle system including a plurality of vehicles traveling in divided areas and a controller that sends a driving instruction, etc. to each vehicle in each area. Patent document 1 discloses a technology that maintains channel information indicating wireless channels that can be used for each block and switches the wireless channel according to the block corresponding to the current position of the vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6895657 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the prior art, the wireless channel is switched according to the current position of the traveling vehicle while the channel information indicating the wireless channels that can be used by each block is prepared. In such prior art, for example, it is assumed that the communication device that has been introduced is switched to another communication device with a different communication method. In this case, in the replacement operation of the communication device, the communication method corresponding to the communication device that becomes the communication object is selected in the traveling vehicle, but a new instruction for selecting the communication method corresponding to the communication device must be added. In the prior art, there is no disclosed method for selecting (specifying) the communication method.

[0008] The present invention provides a traveling vehicle system and a traveling vehicle capable of selecting a communication method without adding a new instruction for selecting (designating) the communication method.

[0009] Means for solving problems

[0010] The driving vehicle system of the present invention comprises: a driving vehicle, which has a first communication device; and a controller, which communicates with the first communication device via a second communication device set in each area where the driving vehicle travels, and controls the driving of the driving vehicle, the first communication device has a first storage unit, the first storage unit stores the communication methods that can be used between the communication devices and the communication channels corresponding to the communication methods in association with each other, the driving vehicle has a second storage unit, the second storage unit stores area identification information that identifies each area in association with the communication channel, the driving vehicle uses the information stored in the second storage unit to determine the communication channel used in the area including its current position, the first communication device uses the information stored in the first storage unit to determine the communication method corresponding to the communication channel determined by the driving vehicle, and communicates with the second communication device through the determined communication channel and communication method.

[0011] Effects of the Invention

[0012] According to the traveling vehicle system of the present invention, the traveling vehicle uses information stored in the storage unit to achieve communication between communication devices using a communication method corresponding to a communication channel, so that a communication method can be selected without adding a new instruction for selecting (designating) the communication method.

[0013] In addition, in the vehicle system of the above-mentioned mode, the vehicle may obtain update information including area identification information, communication channel and communication mode from the controller when the second communication device is replaced, and update the information stored in the first storage unit and the second storage unit. According to this mode, information including a new communication channel is received from the controller, and the information of the communication channel is updated. Therefore, when a communication mode different from the past is applied to a certain area, rapid information update corresponding to the replacement of the second communication device can be achieved. In addition, in the vehicle system of the above-mentioned mode, the first communication device may communicate with the second communication device through a communication mode including a modulation mode. According to this mode, communication between communication devices can be achieved through communication modes corresponding to various modulation modes. In addition, in the vehicle system of the above-mentioned mode, the second storage unit may store map information related to the layout of the vehicle system including area identification information and communication channels, and the vehicle travels in each area based on the map information. According to this mode, the switching of the communication channel can be achieved without changing the specifications of the existing system that stores information such as the communication channel in the map information. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing a configuration example of a traveling vehicle system according to an embodiment.

[0015] Figure 2 It is a diagram showing an example of the layout of the traveling vehicle system according to the embodiment.

[0016] Figure 3 It is a diagram showing an example of information stored in the controller according to the embodiment.

[0017] Figure 4 This is a diagram showing an example of information stored in the second communication device according to the embodiment.

[0018] Figure 5 This is a flowchart showing an example of the flow of processing of the controller accompanying replacement of the second communication device according to the embodiment.

[0019] Figure 6 This is a flowchart showing an example of the flow of processing of the traveling vehicle accompanying replacement of the second communication device according to the embodiment.

[0020] Figure 7 This is a flowchart showing an example of the flow of a process of determining a communication channel performed by the traveling vehicle according to the embodiment.

[0021] Figure 8 This is a flowchart showing an example of the flow of a process for determining a communication method performed by the first communication device according to the embodiment. DETAILED DESCRIPTION

[0022] The following describes the embodiments with reference to the accompanying drawings. The present invention is not limited to the embodiments described below. In the accompanying drawings, in order to illustrate the embodiments, a portion may be enlarged, reduced, or emphasized, and the scale may be appropriately changed to express the embodiments.

[0023] Figure 1 It is a diagram showing a configuration example of a traveling vehicle system according to an embodiment. Figure 2 1 is a diagram showing an example of the layout of a traveling vehicle system of an embodiment. The traveling vehicle system 1 includes a controller 100, a second communication device 200, and a traveling vehicle 300. For example, the traveling vehicle system 1 is a system configured in a semiconductor device manufacturing plant. The traveling vehicle 300 transports containers (articles) such as a FOUP (Front-Opening Unified Pod) storing semiconductor wafers used for manufacturing semiconductor devices or a reticle box storing processing parts such as a reticle based on a travel instruction from the controller 100. In the traveling vehicle system 1, a plurality of controllers 100, second communication devices 200, and traveling vehicles 300 may also be provided.

[0024] The vehicle 300 travels along the track 10. The vehicle 300 is, for example, an elevated vehicle. The track 10 is a travel area for the vehicle 300, and is, for example, a travel track installed on the ceiling of a clean room. The track 10 is installed adjacent to a processing device not shown in the figure or a storage device (automatic warehouse) not shown in the figure. The processing device is, for example, an exposure device, a coating developer, a film forming device, or an etching device, which performs various processes on the semiconductor wafers in the container transported by the vehicle 300. The storage device stores, for example, the container transported by the vehicle 300. In addition, the vehicle 300 may also be a tracked trolley or a trackless trolley that travels on the ground. In the case where the vehicle 300 is a tracked trolley that travels on the ground, the track 10 is installed on the ground.

[0025] A power supply line (not shown) is provided on the track 10. The power supply line is arranged along the track 10. For example, an alternating current is supplied to the power supply line. The traveling vehicle 300 has a power receiving coil, and receives power from the power supply line in a non-contact manner through electromagnetic induction. When power is supplied in a non-contact manner, dust and the like generated by contact can be suppressed, so it is suitable for clean rooms. Figure 2 In the layout shown, with respect to the track 10, it is set to divide the island 2 into one or more areas 30 (for example, areas 30a, 30b, 30c, 30d, etc.). For example, the island 20 is a unit managed by one controller 100, and a second communication device 200 is provided in each area 30. That is, according to the number of areas included in the island 20, one or more second communication devices 200 (for example, second communication devices 200a, 200b, etc.) are connected to the controller 100. In addition, a feeder cable 2 (2a, 2b) for wireless communication with the traveling vehicle 300 is connected to the second communication device 200 (200a, 200b). In addition, the layout shown in the figure is an example, and any layout can be set. In the following description, when the areas 30a, 30b, 30c, and 30d are not specifically distinguished, they are simply referred to as "areas 30". In addition, when the second communication devices 200a and 200b are not particularly distinguished, they are simply referred to as "the second communication device 200". Figure 2 As shown, when the same communication channel is used in different areas 30, it is preferable to set the communication channel to be separated by a predetermined distance or more in order to suppress interference.

[0026] The controller 100 communicates with the first communication device 340 via the second communication device 200 as a modem provided for each area 30 (for example, areas 30a, 30b, 30c, and 30d) of the track 10 including the traveling vehicle 300, and transmits a travel instruction to the traveling vehicle 300. The traveling vehicle 300 has the first communication device 340 as a modem, and travels in each area 30 based on the transport instruction received from the controller 100 via the first communication device 340 and the second communication device 200. In addition, the traveling vehicle 300 transmits its own state information to the controller 100 in response to a request from the controller 100. For example, the state information includes the traveling vehicle identification information for identifying the traveling vehicle 300, and includes information related to the current position, destination, traveling state, and the state of the transported object. The traveling state is information indicating the current speed of the traveling vehicle 300. The state of the transported object is information indicating the presence and type of the transported object.

[0027] In the above configuration, the controller 100 includes a control unit 110, a storage unit 120, and a wired communication processing unit 130. The control unit 110 manages the controller 100 in a unified manner and executes various processes in the controller 100. For example, the control unit 110 generates a travel instruction based on the state information received from the traveling vehicle 300. Then, the control unit 110 transmits the generated travel instruction to the traveling vehicle 300 via the second communication device 200. The communication between the controller 100 and the traveling vehicle 300 is realized by a communication method corresponding to the current position of the traveling vehicle 300 that is the communication object.

[0028] The storage unit 120 is, for example, a nonvolatile memory, and stores state information received from the traveling vehicle 300 (each traveling vehicle 300) and map information related to the layout of the traveling vehicle system 1. In addition, the storage unit 120 stores area identification information for identifying each area 30 in the layout of the traveling vehicle system 1 in association with a communication channel corresponding to the communication method. Figure 3 is a diagram showing an example of information stored in a controller according to an embodiment. Figure 3 As shown, the storage unit 120 stores the area identification information in association with the communication channel. For example, the storage unit 120 stores the area identification information "area A" in association with the communication channel "30". Figure 3 The information shown may also be included in the map information. The control unit 110 uses the information stored in the storage unit 120 to determine the area identification information of the area 30 where the traveling vehicle 300 is located based on the current position of the traveling vehicle 300, and determines the communication channel corresponding to the communication method that can be used between the traveling vehicles 300. Then, the control unit 110 transmits the determined communication channel to the second communication device 200 via the wired communication processing unit 130.

[0029] The second communication device 200 includes a wired communication processing unit 210, a control unit 220, a storage unit 230, and a wireless communication processing unit 240, and exchanges various information between the relay controller 100 and the traveling vehicle 300. The storage unit 230 stores communication methods that can be used between communication devices (for example, between the first communication device 340 and the second communication device 200 described later) and communication channels corresponding to the communication methods in association with each other. Figure 4 1 is a diagram showing an example of information stored in the second communication device according to an embodiment. Figure 4 As shown, the storage unit 230 stores the communication channels "1 to 50" in association with the communication method A (for example, FSK: Frequency Shift Keying). Figure 4 In the example, the communication channels of communication mode B (e.g., low-speed OFDM: Orthogonal Frequency Division Multiplexing) are set to "51 to 100", and the communication channels of communication mode C (e.g., high-speed OFDM) are set to "101 to 120". In this way, the communication mode includes the modulation mode. In addition, the storage unit 230 stores the communication modes and communication channels that can be used by the present device (second communication device 200). Therefore, the storage unit 230 may not store, for example, Figure 4 The communication methods and communication channels shown are all. In addition, the communication methods and communication channels are examples, and can be set to any communication methods and communication channels. For example, the communication method can also be optical wireless communication, Wi-Fi or other wireless communication.

[0030] The control unit 220 manages the second communication device 200 in a unified manner and performs various processes in the second communication device 200. For example, the control unit 220 receives a transport instruction and a communication channel from the controller 100 via the wired communication processing unit 210. Then, the control unit 220 determines the communication method corresponding to the communication channel using the information stored in the storage unit 230. Thereafter, the control unit 220 transmits the transport instruction and the like to the traveling vehicle 300 via the wireless communication processing unit 240 using the determined communication method. The wireless communication processing unit 240 performs modulation processing (wirelessization, etc.) corresponding to the communication method on the data transmitted to the traveling vehicle 300.

[0031] Here, in the traveling vehicle system 1, the second communication device 200 may be replaced in order to improve the performance of the system. As a result, the communication method used by the replaced second communication device 200 may be different from that used by the second communication device 200 before the replacement. For example, in the traveling vehicle system 1, the communication method used by the replaced second communication device 200 may be changed from a communication method that can only be used to ... Figure 4The modem of the communication method A shown in the figure is replaced with a modem that can use the communication method B and the communication method C in addition to the communication method A. By replacing the second communication device 200, the controller 100 updates the area identification information and the communication channel information stored in the storage unit 120, and the communication channel and the communication method information stored in the storage unit 230. Then, the controller 100 transmits the update information including the area identification information, the communication channel, and the communication method to the traveling vehicle 300 (each traveling vehicle 300).

[0032] The traveling vehicle 300 includes a control unit 310, a second storage unit 320, a wired communication processing unit 330, a first communication device 340, and a transceiver antenna 350. In addition, the first communication device 340 includes a wired communication processing unit 341, a control unit 342, a first storage unit 343, and a wireless communication processing unit 344, which relay the exchange of various information between the traveling vehicle 300 and the controller 100. The first storage unit 343 is the same as the storage unit 230, and stores the communication method and the communication channel in association (refer to Figure 4 ). The second storage unit 320 is, for example, a nonvolatile memory, and stores various information received from the controller 100 and map information related to the layout of the driving vehicle system 1, similarly to the storage unit 120. In addition, the second storage unit 320 stores the area identification information in association with the communication channel, similarly to the storage unit 120 (see Figure 3 ). The first communication device 340 communicates with the second communication device 200 by a communication method including a modulation method, similarly to the second communication device 200.

[0033] The control unit 310 manages the traveling vehicle 300 in a unified manner and executes various processes in the traveling vehicle 300. For example, the control unit 310 travels in each area 30 based on the map information stored in the second storage unit 320. In addition, the control unit 310 obtains update information including area identification information, communication channel, and communication method from the controller 100 when the second communication device 200 is replaced, and updates the information stored in the first storage unit 343 and the second storage unit 320. As described above, in the traveling vehicle system 1, the second communication device 200 may be replaced. In addition, in the traveling vehicle system 1, the first communication device 340 is also replaced in the same manner as the replacement of the second communication device 200. The replacement timing of the first communication device 340 may be any timing, but in this embodiment, the case where (all) the first communication devices 340 are replaced before the replacement of the second communication device 200 is taken as an example. In the replacement of the first communication device 340, it is not necessary to stop all the traveling vehicles 300 at the same timing, and it is sufficient to replace them appropriately.

[0034] In order to communicate with the controller 100, the control unit 310 uses the information stored in the second storage unit 320 to determine the communication channel used in the area including the current position of the control unit 310, and notifies the first communication device 340 via the wired communication processing unit 330. The control unit 342 manages the first communication device 340 in a unified manner and performs various processes in the first communication device 340. For example, the control unit 342 uses the information stored in the first storage unit 343 to determine the communication method corresponding to the communication channel determined by the control unit 310 of the traveling vehicle 300, and communicates with the second communication device 200 through the determined communication channel and communication method. The control unit 342 obtains the communication channel determined by the control unit 310 via the wired communication processing unit 341. The wireless communication processing unit 344 performs modulation processing (wireless, etc.) according to the communication method based on the data sent to the controller 100. The transceiver antenna 350 is connected to the feeder cable 2 and transmits the modulated data to the controller 100.

[0035] Figure 5 1 is a flowchart showing an example of the flow of processing of the controller accompanying the replacement of the second communication device according to the embodiment. Figure 5 As shown, when the second communication device 200 is replaced (step S101: "Yes"), the controller 100 updates the area identification information and the communication channel information stored in the storage unit 120 (step S102). In addition, the controller 100 updates the communication method and the communication channel information stored in the storage unit 230 (step S103). On the other hand, when the second communication device 200 is not replaced (step S101: "No"), the controller 100 enters the replacement waiting state of the second communication device 200. In addition, the processing of step S102 and step S103 can also be performed one after another.

[0036] Specifically, the controller 100 stops the system of the target area 30 (the area 30 including the second communication device 200 to be replaced) when the second communication device 200 in the area 30 under its jurisdiction is replaced, and updates the information of the communication channel corresponding to the communication method available in the area 30 to stop the system (the information of the communication channel stored in the storage unit 120). Furthermore, the controller 100 instructs the second communication device 200 to also update the information of the communication method and the communication channel stored in the storage unit 230.

[0037] After that, the controller 100 transmits the update information to the traveling vehicle 300, and makes the system of the target area 30 operate again (step S104). Specifically, the controller 100 transmits the update information including the area identification information, the communication channel, and the communication method to the traveling vehicle 300 via the second communication device 200. Then, the controller 100 makes the system of the target area 30 where the system was stopped operate again. As described above, the replacement of the second communication device 200 is performed in units of the area 30 (in units of the island 20), and is performed without stopping the entire system of the traveling vehicle system 1.

[0038] Figure 6 1 is a flowchart showing an example of a process flow of a traveling vehicle accompanying replacement of the second communication device according to the embodiment. Figure 6 As shown, when the traveling vehicle 300 receives the update information (step S201: "Yes"), it updates the area identification information and the communication channel information stored in the second storage unit 320 (step S202). In addition, the traveling vehicle 300 updates the communication method and the communication channel information stored in the first storage unit 343 (step S203). On the other hand, when the traveling vehicle 300 does not receive the update information (step S201: "No"), it enters the reception waiting state of the update information. In addition, the processing of step S202 and step S203 can also be performed one after another.

[0039] Specifically, the traveling vehicle 300 receives update information including the area identification information, the communication channel, and the communication method from the controller 100 via the first communication device 340, and updates the communication channel corresponding to the area identification information stored in the second storage unit 320. Furthermore, the traveling vehicle 300 instructs the first communication device 340 to also update the information of the communication method and the communication channel stored in the first storage unit 343. Thus, the traveling vehicle 300 can easily select the communication method for communication with the replaced second communication device 200 without adding a new instruction for selecting (designating) the communication method.

[0040] Figure 7 FIG. 4 is a flowchart showing an example of a flow of a communication channel determination process performed by a traveling vehicle according to an embodiment. Figure 7 As shown, the traveling vehicle 300 determines a communication channel based on the current position (step S301). Then, the traveling vehicle 300 notifies the first communication device 340 of the determined communication channel (step S302). Specifically, the traveling vehicle 300 uses the information stored in the second storage unit 320 to determine the communication channel corresponding to the area identification information of the area 30 including the current position of the traveling vehicle 300. Then, the traveling vehicle 300 notifies the first communication device 340 of the determined communication channel so as to communicate with the controller 100 (second communication device 200) using the communication method corresponding to the determined communication channel.

[0041] Figure 8 1 is a flowchart showing an example of the flow of a communication method determination process performed by the first communication device of the embodiment. Figure 8 As shown, the first communication device 340 obtains a communication channel from the traveling vehicle 300 (control unit 310 of the traveling vehicle 300) (step S401). Then, the first communication device 340 determines the communication method corresponding to the obtained communication channel, and communicates with the second communication device 200 through the determined communication method (step S402). Specifically, when the first communication device 340 communicates with the second communication device 200, it obtains the communication channel from the control unit 310. Then, the first communication device 340 uses the information stored in the first storage unit 343 to determine the communication method corresponding to the obtained communication channel, and after performing modulation processing corresponding to the determined communication method, communicates with the second communication device 200.

[0042] Thus, according to the traveling vehicle system 1 of the embodiment, communication between the communication devices using the communication method corresponding to the communication channel is realized using the information stored in the second storage unit 320 and the information stored in the first storage unit 343, so that the communication method can be selected without adding a new instruction for selecting (designating) the communication method. In addition, according to the traveling vehicle system 1, the traveling vehicle 300 receives update information including the area identification information, the communication channel, and the communication method from the controller 100 when the second communication device 200 is replaced, and updates the information of the communication channel. Therefore, when a communication method different from the past is applied to a certain area 30, rapid information update corresponding to the replacement of the second communication device 200 can be realized. In addition, according to the traveling vehicle system 1, the first communication device 340 communicates with the second communication device 200 by a communication method including a modulation method, so that communication between the communication devices can be realized by a communication method corresponding to various modulation methods. Furthermore, according to the traveling vehicle system 1, the second storage unit 320 stores map information including area identification information and communication channels, so that the communication channels can be switched without changing the specifications of the existing system storing information such as communication channels in the map information.

[0043] The embodiments of the present invention have been described above, but the technical scope of the present invention is not limited to the above-mentioned embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-mentioned embodiments. In addition, the method in which such changes or improvements are made is also included in the technical scope of the present invention. Sometimes one or more of the elements described in the above-mentioned embodiments are omitted. In addition, the elements described in the above-mentioned embodiments can be appropriately combined. In addition, to the extent permitted by law, the disclosures of all documents cited in the above-mentioned embodiments are cited as part of the description herein.

[0044] In addition, the technical scope of the present invention is not limited to the methods described in the above-mentioned embodiments, etc. Sometimes one or more of the elements described in the above-mentioned embodiments, etc. are omitted. In addition, the elements described in the above-mentioned embodiments, etc. can be appropriately combined. In addition, within the scope permitted by law, the disclosure of all documents cited in the special application 2022-092437 as a Japanese patent application and the above-mentioned embodiments, etc. is cited as part of the disclosure of this article.

[0045] Explanation of symbols:

[0046] 1: traveling vehicle system; 100: controller; 200: second communication device; 300: traveling vehicle; 310: control unit; 320: second storage unit; 330: wired communication processing unit; 340: first communication device; 341: wired communication processing unit; 342: control unit; 343: first storage unit; 344: wireless communication processing unit; 350: transceiver antenna.

Claims

1. A driving vehicle system, characterized in that: The traveling vehicle system comprises: a traveling vehicle having a first communication device; and a controller that communicates with the first communication device via a second communication device provided in each area where the traveling vehicle travels, and controls the travel of the traveling vehicle. The first communication device comprises a first storage unit, wherein the first storage unit stores communication methods that can be used between communication devices and communication channels corresponding to the communication methods in association with each other. The traveling vehicle includes a second storage unit, and the second storage unit stores area identification information for identifying each area in association with the communication channel. The traveling vehicle determines the communication channel to be used in an area including the current position of the traveling vehicle using the information stored in the second storage unit. The first communication device determines the communication method corresponding to the communication channel determined by the traveling vehicle using the information stored in the first storage unit, and communicates with the second communication device through the determined communication channel and the communication method.

2. The driving vehicle system according to claim 1, characterized in that: The traveling vehicle obtains update information including the area identification information, the communication channel, and the communication method from the controller when the second communication device is replaced, and updates the information stored in the first storage unit and the second storage unit.

3. The traveling vehicle system according to claim 1 or 2, characterized in that: The first communication device communicates with the second communication device using the communication method including a modulation method.

4. The traveling vehicle system according to claim 1 or 2, characterized in that: The second storage unit stores map information related to the layout of the traveling vehicle system including the area identification information and the communication channel. The traveling vehicle travels in each area based on the map information.

5. The traveling vehicle system according to claim 3, characterized in that: The second storage unit stores map information related to the layout of the traveling vehicle system including the area identification information and the communication channel. The traveling vehicle travels in each area based on the map information.

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