Article conveying facility

Abstract

An article transport facility (10) is provided with a control system (100) for controlling a plurality of transport vehicles (Va, Vb), and the control system (100) controls the plurality of transport vehicles (Va, Vb) on the condition that a subsequent transport vehicle (Vb) is intended to travel to a second post-branch section (33b), which is a post-branch section different from a first post-branch section (33a). A subsequent priority process is executed in which a target transport vehicle (Va) that wants to travel to a first post-branch section (33a) is made to travel to a post-branch section different from the first post-branch section (33a) by changing the travel route of the target transport vehicle (Va), and a subsequent transport vehicle (Vb) is made to travel to a second post-branch section (33b).

Description

Technical Field

[0001] The present invention relates to article transport equipment including a plurality of transport vehicles traveling along a travel path. Background Art

[0002] An example of an article conveying device is disclosed in Japanese Patent Gazette No. 2018-128914 (Patent Document 1). Below, in the description of this background technology, the figure marks in Patent Document 1 are quoted in brackets. In the article conveying device of Patent Document 1, a first stop position (P3) is set on the upstream side of the branch position (P1), and the conveying vehicle (3) that reaches the first stop position (P3) stops at the first stop position (P3) until it is allowed to pass through the branch position (P1). In the case where the conveying vehicle (3) stops at the first stop position (P3) first, the subsequent conveying vehicle (3A) stops at a position away from the previous conveying vehicle (3) to the upstream side by a set distance. Summary of the invention

[0003] In the state shown in FIG. 15 of Patent Document 1, even if the subsequent transport vehicle intends to move to a branching section different from the transport vehicle stopped at the first stop position, it is blocked by the previous transport vehicle stopped at the first stop position and cannot move. Therefore, if a situation such as congestion occurs in one of the multiple branching sections and the transport vehicle cannot move smoothly, and the previous transport vehicle stops at the first stop position, the subsequent transport vehicle cannot move until the situation is resolved, resulting in a problem of reduced overall article transport efficiency in the article transport equipment.

[0004] Therefore, it is desired to realize an article transport facility in which the overall article transport efficiency of the article transport facility is unlikely to decrease even if a transport vehicle cannot travel smoothly in one of a plurality of post-branch sections.

[0005] The article conveying equipment involved in the present disclosure is an article conveying equipment including multiple conveying vehicles that convey articles by traveling along a driving path and a control system for controlling the aforementioned conveying vehicles. In the aforementioned driving path, there is a branch portion in which the path branches from a pre-branch interval into multiple post-branch intervals. In the case where there is a subsequent conveying vehicle as a subsequent aforementioned conveying vehicle relative to a target conveying vehicle as one of the multiple aforementioned conveying vehicles, and the aforementioned target conveying vehicle that intends to travel to a first post-branch interval as one of the multiple post-branch intervals stops in the aforementioned pre-branch interval due to the traffic conditions of the aforementioned first post-branch interval, the aforementioned control system performs the following subsequent priority processing on the condition that the aforementioned subsequent conveying vehicle intends to travel to a second post-branch interval as the aforementioned post-branch interval different from the aforementioned first post-branch interval: by changing the travel route of the aforementioned target conveying vehicle so that it travels to the aforementioned post-branch interval different from the aforementioned first post-branch interval, the aforementioned subsequent conveying vehicle is caused to travel to the aforementioned second post-branch interval.

[0006] According to this configuration, when the target transport vehicle cannot travel to the branching section, by making the target transport vehicle travel to the branching section different from the first branching section as the original travel route, the target transport vehicle can be prevented from stopping in the pre-branching section, or the time for making the target transport vehicle stop in the pre-branching section can be shortened, so that the subsequent transport vehicle can quickly travel to the second branching section. Therefore, even if a transport vehicle cannot travel smoothly in one of the multiple branching sections, the overall transport efficiency of the article transporting equipment is unlikely to decrease. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a diagram showing an example of a conveying device. Figure 2 It is shown Figure 1 A diagram of an example of a transport vehicle. Figure 3 It is shown Figure 1 FIG. 1 is a diagram showing an example of a state in which a transport vehicle has traveled to a section after the first branch. Figure 4 It is shown Figure 1 FIG. 1 is a diagram showing an example of a state in which the transport vehicle has traveled to the section after the second branch. Figure 5 It is shown by Figure 1 A diagram of an example of subsequent priority processing performed by a control system. DETAILED DESCRIPTION

[0008] The following describes the implementation of the conveying device based on the accompanying drawings. Figure 1The article transport facility 10 shown in simplified form in FIG. 1 includes a transport vehicle V that travels along a travel path 30 to transport articles W. The article transport facility 10 includes a plurality of transport vehicles V. The travel path 30 refers to the entire path along which the transport vehicle V travels, and the travel path 30 is composed of a collection of a plurality of paths (partial paths).

[0009] The article conveying equipment 10 has a control system 100 for controlling the conveying vehicle V. The various functions of the control system 100 are realized, for example, by the cooperation of hardware such as a computing processing device and a program executed on the hardware. Regarding the control system 100, it may be entirely provided in the conveying vehicle V, or part of it may be provided in the conveying vehicle V, and part of it may be provided in an external control device (a control device provided outside the conveying vehicle V and capable of communicating with the conveying vehicle V). Regarding the control system 100, it may be entirely provided in the external control device. Here, the external control device may not be a single device, but a collection of multiple devices that can communicate with each other. The control system 100 controls so that the travel of multiple conveying vehicles V respectively reaches the destination. As examples of the "destination of the conveying vehicle", the station of the conveying starting point and the station of the conveying target described later can be listed.

[0010] Figure 2 1 is a diagram showing an example of a transport vehicle V. The transport vehicle V includes a controller (machine controller) for controlling a travel drive unit 13 or a guide drive unit 20 described later. When at least a portion of the control system 100 is provided in an external control device, the controller provided in the transport vehicle V operates in accordance with instructions from the external control device. When at least a portion of the control system 100 is provided in the transport vehicle V, the controller provided in the transport vehicle V may also constitute at least a portion of the control system 100.

[0011] like Figure 2 As shown, the direction along the travel path 30 is the travel direction X, and the direction perpendicular to the travel direction X when viewed in the vertical direction along the vertical direction Z (vertical direction) (here, the horizontal direction perpendicular to the travel direction X) is the width direction Y. Figure 1 As shown, a positive direction F is set in each part of the travel path 30. The opposite direction of the positive direction F is the reverse direction R (refer to Figure 2 ), the transport vehicle V basically travels along the positive direction F on the travel path 30. The travel path 30 is configured so that the transport vehicle V can travel along the positive direction F to circulate between the transport start point and the transport destination of the article W.

[0012] like Figure 2As shown, the side along the travel path 30 facing the positive direction F is the downstream side X1, and the side along the travel path 30 facing the reverse direction R is the upstream side X2. The travel direction X can be alternatively referred to as the front-rear direction of the transport vehicle V, the downstream side X1 can be alternatively referred to as the front side of the transport vehicle V, and the upstream side X2 can be alternatively referred to as the rear side of the transport vehicle V. One side in the width direction Y (here, the right side facing the positive direction F) is the first width direction side Y1, and the other side in the width direction Y (here, the left side facing the positive direction F) is the second width direction side Y2.

[0013] The transport vehicle V transports the article W while traveling along the travel path 30. The article W is, for example, a FOUP (Front Opening Unified Pod) that accommodates semiconductor wafers. The transport vehicle V is an unmanned transport vehicle. The travel path 30 can also be formed physically or virtually. The travel path 30 is physically formed by a travel track 36 (here, a pair of travel tracks 36 arranged at intervals along the width direction Y). The travel track 36 is, for example, suspended from a ceiling.

[0014] exist Figure 2 In the embodiment, the driving path 30 is assumed to be formed along the ceiling, but the driving path 30 may be formed on the ground or the like. When the driving path 30 is formed on the ground, for example, the driving path 30 is physically formed by a track provided on the ground, or is virtually formed on the driving path 30 by a QR code or RF (Radio Frequency) tag provided on the ground or the like. In addition, the ground may be a ground supported by suspension from the ceiling.

[0015] like Figure 2 As shown, the transport vehicle V includes a first travel portion 11 as a travel portion. The first travel portion 11 includes travel wheels 14 that roll on a travel surface (here, a surface facing the upper side Z1) of a travel track 36 and a travel drive portion 13 (for example, an electric motor such as a servo motor) that rotates the travel wheels 14. The first travel portion 11 travels along the travel track 36 by rotating the travel wheels 14 by the travel drive portion 13. The transport vehicle V also includes a second travel portion 12 on the upstream side X2 relative to the first travel portion 11. The second travel portion 12 is constructed in the same manner as the first travel portion 11, and travels along the travel track 36 by rotating the travel wheels 14 by the travel drive portion 13.

[0016] The transport vehicle V includes a main body 15 connected to the first travel portion 11. The article W is transported by the transport vehicle V in a state where it is contained in the main body 15. The main body 15 is supported on the first travel portion 11 in a state where it is arranged at the lower side Z2 relative to the first travel portion 11. The main body 15 is connected to both the first travel portion 11 and the second travel portion 12, and is supported on the first travel portion 11 and the second travel portion 12 in a state where it is arranged at the lower side Z2 relative to the first travel portion 11 and the second travel portion 12.

[0017] exist Figure 2 In the example shown, the transport vehicle V is equipped with an anti-collision sensor 17 for detecting another transport vehicle V that is present on the downstream side X1 relative to the transport vehicle V. When the anti-collision sensor 17 detects another transport vehicle V, the transport vehicle V equipped with the anti-collision sensor 17 decelerates or stops to avoid collision with the other transport vehicle V.

[0018] like Figure 2 As shown in FIG. 1 , information storage bodies 38 such as two-dimensional codes or RF tags are provided at multiple locations along the travel path 30. The information storage bodies 38 are provided, for example, at stations described later and branch waiting areas E2 (see FIG. 1 ). Figure 5 ) or the like which can be the stopping position of the transport vehicle V. The information storage body 38 stores position information which is information of the position where the information storage body 38 is provided. The transport vehicle V has a reading device 16 which reads the position information stored in the information storage body 38, and identifies its own current position based on the position information read by the reading device 16. The transport vehicle V identifies its own current position based on, for example, the position information read by the reading device 16 and the travel distance after the reading device 16 reads the position information. The travel distance of the transport vehicle V is measured, for example, using a rotary encoder. In addition, the transport vehicle V can also be configured to identify its own current position based on the output of a position measuring device such as a GNSS (Global Navigation Satellite System) receiver.

[0019] The control system 100 knows the current position of each of the plurality of transport vehicles V. In this embodiment, as described above, the transport vehicle V is configured to recognize its own current position, and the control system 100 knows the current position of each of the plurality of transport vehicles V by acquiring information on the current position of the transport vehicle V from each transport vehicle V.

[0020] A plurality of stations that become destinations of the transport vehicle V are set on the travel path 30. The transport vehicle V transfers the article W between the station and the article support provided at the station. The operation of the transport vehicle V includes the operation of traveling along the travel path 30, the operation of receiving the article W from the article support at the station, and the operation of unloading the article W onto the article support at the station. After the transport vehicle V travels to the station at the starting point of transportation and receives the article W at the station, it travels to the station at the destination of transportation and unloads the article W at the station.

[0021] Examples of the “article support” include a loading port of the processing device 34 , a loading and unloading port of the storage device 35 , and a storage rack (not shown) for temporarily storing articles W. The article support is disposed, for example, at a station directly below the travel path 30 .

[0022] In the above-mentioned "destination point" of the transport vehicle V, including the Figure 1 The processing device station 34s is used for transferring the article W between the processing devices 34 for processing the article W shown in FIG. Figure 1 A storage device station 35s is provided for transferring the articles W between the storage devices 35 for storing the articles W (shown in the figure). A maintenance station (not shown) for the transport vehicle V may be provided at the destination of the transport vehicle V.

[0023] like Figure 2 As shown, a guide rail 37 is provided in a section of the travel path 30. The guide rail 37 is arranged on the upper side Z1 relative to the travel rail 36. When viewed in the vertical direction, the guide rail 37 is arranged in the width direction Y between a pair of travel rails 36 arranged at a distance in the width direction Y.

[0024] The transport vehicle V includes: a guided portion (21, 22) that is guided by the guided rail 37 by contacting the guided rail 37 from either side in the width direction Y; and a guide drive unit 20 (for example, a solenoid or an electric motor) that moves the guided portion in the width direction Y. The movement of the guided portion in the width direction Y by the guide drive unit 20 is performed, for example, by driving only the guided portion in the width direction Y, or by driving the guided portion in the width direction Y together with a support unit that supports the guided portion.

[0025] The first travel portion 11 includes a first guide wheel 21 as a guided portion that rotates (here, freely rotates) around an axis along the vertical direction Z, and the guide drive unit 20 provided in the first travel portion 11 moves the first guide wheel 21 in the width direction Y. Figure 2In the example shown, the first travel unit 11 includes two first guide wheels 21 arranged in parallel in the travel direction X. The guide drive unit 20 moves the two first guide wheels 21 in the width direction Y by moving a support portion supporting the two first guide wheels 21 in the width direction Y.

[0026] The second travel portion 12 includes a second guide wheel 22 that rotates (here, freely rotates) around an axis in the up-down direction Z as a guided portion, and the guide drive unit 20 provided in the second travel portion 12 moves the second guide wheel 22 in the width direction Y. Figure 2 In the example shown, the second travel unit 12 includes two second guide wheels 22 arranged side by side in the travel direction X, and the guide drive unit 20 moves the two second guide wheels 22 in the width direction Y by moving the support portion supporting the two second guide wheels 22 in the width direction Y. In the following, when describing matters common to the first guide wheel 21 and the second guide wheel 22, they are not distinguished and are described as "guide wheels".

[0027] Figure 3 1 and 2 are diagrams showing a state in which the target transport vehicle Va, which is one of the plurality of transport vehicles V, has traveled to the first post-branching section 33a. Figure 4 3 is a diagram showing a state where a subsequent transport vehicle Vb of the transport vehicle V that is a successor of the target transport vehicle Va has traveled to the second post-branch section 33b. In the travel path 30, there is a branch section 31 where the path branches from one pre-branch section 32 into a plurality of post-branch sections (33a, 33b). Figure 3 and Figure 4 In the illustrated example, the branch portion 31 branches into two path sections, namely, the first post-branching section 33 a and the second post-branching section 33 b , but may branch into three or more path sections.

[0028] The pre-branch section 32 is a section that does not include the pre-branch section 32 that is further upstream X2 than the branch section 31. The pre-branch section 32 is a section that is preset for each branch section 31. In the present embodiment, the pre-branch section 32 is a section that does not include other pre-branch sections 32. The pre-branch section 32 is a section where the guide rail 37 is not provided. The pre-branch section 32 is a section that does not include the above-mentioned station. The pre-branch section 32 is a section that does not include a confluence section where a plurality of paths converge. The pre-branch section 32 is a straight section.

[0029] The post-branching section (33a, 33b) is a section that does not include a post-branching section that is further downstream X1 than the branch section 31. The post-branching section is a section that is preset for each branch section 31. In the present embodiment, the post-branching section is a section that does not include other post-branching sections. The post-branching section is a section where the guide rail 37 is not provided. The post-branching section is a section that does not include the above-mentioned station. The post-branching section is a section that does not include a confluence section where multiple paths converge.

[0030] The reverse direction R, the travel direction X, the downstream side X1, the upstream side X2, the width direction Y, the first width direction side Y1, and the second width direction side Y2 are determined based on the positive direction F of the travel direction of the path branched by the branch portion 31. Figures 3 to 5 In FIG. 1 , their illustration is omitted and only the positive direction F is shown.

[0031] At the branching portion 31, whether the transport vehicle V advances to the first branching rear section 33a or the second branching rear section 33b is determined in accordance with the position of the first guide wheel 21 and the second guide wheel 22 in the width direction Y when entering the branching portion 31. Specifically, when the position of the first guide wheel 21 and the second guide wheel 22 when entering the branching portion 31 is a position that contacts the guide rail 37 from the first side Y1 in the width direction, the transport vehicle V advances to the branching rear section on the first side Y1 in the width direction (at Figure 3 and Figure 4 When the first guide wheel 21 and the second guide wheel 22 are in contact with the guide rail 37 from the second side Y2 in the width direction when entering the branch portion 31, the transport vehicle V advances to the branch portion 33b on the second side Y2 in the width direction. Figure 3 and Figure 4 The guide drive unit 20 moves the guide wheels (21, 22) to a position in the width direction Y corresponding to the branch path of the travel target before the transport vehicle V enters the branch portion 31.

[0032] The transport vehicle V has a movement detection unit (21a, 22a) for detecting the movement of the guide wheels (21, 22) in the width direction Y. The control system 100 detects that the guide wheels have moved in the width direction Y by acquiring the detection result of the movement detection unit on the movement of the guide wheels in the width direction Y.

[0033] The movement detection unit (21a, 22a) is configured to detect the movement of the guide wheels in the width direction Y by detecting the position of the guide wheels (21, 22) or the support portion supporting the guide wheels in the width direction Y, for example. The movement detection unit may also be configured to detect the movement of the guide wheels in the width direction Y by detecting the movement of the guide wheels or the support portion supporting the guide wheels. In this case, the movement detection unit detects the movement of the guide wheels or the support portion supporting the guide wheels by detecting the torque change of the motor constituting the guide drive unit 20, for example.

[0034] The transport vehicle V includes the following as movement detection units (21a, 22a): a first movement detection unit 21a that detects movement of the first guide wheel 21 in the width direction Y; and a second movement detection unit 22a that detects movement of the second guide wheel 22 in the width direction Y. The first movement detection unit 21a is provided on the first traveling unit 11, and the second movement detection unit 22a is provided on the second traveling unit 12.

[0035] like Figure 5 As shown, the branch area E1 is pre-set in the branch section 31. When one of the plurality of transport vehicles V is present in the branch area E1, the control system 100 performs branch standby control to stop the other transport vehicles V that intend to enter the branch area E1 in the branch standby area E2 provided in the pre-branch section 32. The branch area E1 does not include the branch standby area E2, but may include a part of the pre-branch section 32 of the branch section 31 or a part of the post-branch section (33a, 33b) of the branch section 31.

[0036] Multiple transport vehicles V can stop in the branch standby area E2. The branch standby area E2 may also be composed of multiple areas. The branch standby area E2 may also include a branch portion that is further upstream X2 than the branch portion 31, a post-branch section, a confluence section, a curved section, etc. In the example shown in the figure, the branch standby area E2 is a straight section.

[0037] When there is a subsequent transport vehicle Vb as a subsequent transport vehicle V relative to the target transport vehicle Va which is one of the multiple transport vehicles V, and the target transport vehicle Va which intends to travel to the first branch post section 33a which is one of the multiple branch post sections (33a, 33b) stops in the pre-branch section 32 due to the traffic condition of the first branch post section 33a, the control system 100 performs the following subsequent priority processing on the condition that the subsequent transport vehicle Vb intends to travel to the second branch post section 33b which is a branch post section different from the first branch post section 33a: by changing the travel route of the target transport vehicle Va so that it travels to a branch post section different from the first branch post section 33a, the subsequent transport vehicle Vb travels to the second branch post section 33b.

[0038] In the following, the case where the subsequent priority processing is to make the target transport vehicle Va move to the second branch post section 33b is described as an example, but it is also possible to make the target transport vehicle Va move to a branch post section different from the first branch post section 33a and the second branch post section 33b at the branch section 31 where the path branches into more than three branch post sections. In the following, the case where the target transport vehicle Va stops in the pre-branch section 32 and the subsequent priority processing is performed is described as an example, but it is also possible to perform the subsequent priority processing in a manner that the target transport vehicle Va does not stop in the pre-branch section 32 but moves to the second branch post section 33b.

[0039] Examples of the above-mentioned "traffic conditions" when the target transport vehicle Va stops in the pre-branch section 32 include congestion, travel or stop of a transport vehicle V with a breakdown, full vehicles at the processing device station 34s, full vehicles at the storage device station 35s, abnormality of the travel track 36, abnormality of the processing device 34, abnormality of the storage device 35, and a condition where the transport vehicle V cannot pass. For example, the control system 100 determines whether there is "congestion" based on the number of transport vehicles V existing in the post-branch section (33a, 33b), a preset section on the downstream side X1 of the post-branch section, the pre-branch section 32 on the downstream side X1, the post-branch section on the downstream side X1, or the above-mentioned stations.

[0040] Figure 5 The following state is shown: the control system 100 changes the route of the object transport vehicle Va among the three transport vehicles V (Va, Vb, Vc) that stop in the branch standby area E2 and makes it move to the second branch rear interval 33b, so that the subsequent transport vehicle Vb moves to the second branch rear interval 33b. After the subsequent transport vehicle Vb moves to the second branch rear interval 33b, when the route of the transport vehicle Vc is the second branch rear interval 33b, the control system 100 makes the transport vehicle Vc move to the second branch rear interval 33b. When the route of the transport vehicle Vc is the first branch rear interval 33a, the transport vehicle Vc is stopped at the front row (head) of the branch standby area E2. Thereafter, the transport vehicle Vc becomes the next object transport vehicle Va. In addition, when the problem generated in the first branch rear interval 33a is eliminated, the transport vehicle Vc may not be stopped at the front row of the branch standby area E2.

[0041] In the following, N is an integer greater than or equal to 2. The control system 100 performs subsequent priority processing with the further condition that the number of subsequent transport vehicles V relative to the target transport vehicle Va is greater than or equal to N. Examples of "subsequent transport vehicles V" include transport vehicles V other than the target transport vehicle Va that are stopped in the branch standby area E2, transport vehicles V other than the target transport vehicle Va that are stopped and traveling in the branch standby area E2, and transport vehicles V other than the target transport vehicle Va that are stopped and traveling in the pre-branch section 32.

[0042] Examples of the above-mentioned "further conditions" include: the number of subsequent transport vehicles V is the upper limit of the number of vehicles that can be stopped in the branch standby area E2; the number of subsequent transport vehicles V is a predetermined number that is more than half of the number of vehicles that can be stopped in the branch standby area E2 and less than the upper limit of the number of vehicles that can be stopped; the number of subsequent transport vehicles V that stop in the branch standby area E2 is more than 2 or more than 3; the number of subsequent transport vehicles V that exist in the pre-branch section 32 is more than 2 or more than 3. The control system 100 may also be configured to be directed to a branch post section different from the first branch post section 33a (in Figure 5 In the example shown, the above-mentioned subsequent priority processing is performed under the further condition that the number of subsequent transport vehicles V traveling in the second post-branch section 33b) is N or more (N is an integer greater than 2).

[0043] The control system 100 performs the subsequent priority processing with the further condition that the destination of the subsequent transport vehicle Vb is the processing device station 34s. In addition, the control system 100 may perform the subsequent priority processing with the “further condition” that the destination of any of the subsequent transport vehicles V relative to the target transport vehicle Va is the processing device station 34s. The control system 100 may perform the subsequent priority processing with the “further condition” that the processing device station 34s is not full, and the control system 100 may perform the subsequent priority processing regardless of whether the processing device station 34s is full.

[0044] Here, the transport vehicle V in a state where the article W is not transported is referred to as an "empty transport vehicle", and the transport vehicle V in a state where the article W is transported is referred to as an "actual transport vehicle". The control system 100 may also perform subsequent priority processing based on the further condition that any one of the subsequent transport vehicles V relative to the object transport vehicle Va is an empty transport vehicle. The control system 100 may also perform subsequent priority processing based on the further condition that the number of empty transport vehicles in the subsequent transport vehicles V relative to the object transport vehicle Va is N or more (N is an integer greater than 2). The control system 100 may also perform subsequent priority processing based on the further condition that any one of the subsequent transport vehicles V relative to the object transport vehicle Va is an actual transport vehicle. The control system 100 may also perform subsequent priority processing based on the further condition that the number of actual transport vehicles in the subsequent transport vehicles V relative to the object transport vehicle Va is N or more (N is an integer greater than 2).

[0045] The control system 100 performs the subsequent priority processing under the further condition that the period during which the target transport vehicle Va stops in the pre-branch section 32 becomes longer than the predetermined determination period. Examples of the period during which the target transport vehicle Va stops in the pre-branch section 32 as the "further condition" include the period during which the target transport vehicle Va stops in the front row of the branch waiting area E2, the period during which the target transport vehicle Va stops in the front row of the branch waiting area E2 and the period outside the front row, etc.

[0046] Alternatively, the subsequent priority processing may be performed with the condition that the destination of the target transport vehicle Va can be reached by passing through the second branching section 33b as a further condition. Examples of "reachable conditions" include being able to reach the destination without traveling in the reverse direction R, being able to reach the destination without traveling in a section where the transport vehicle V cannot pass, being able to reach the destination without traveling in a section where a faulty transport vehicle V exists, being able to reach the destination without traveling in a section where an abnormality exists on the driving track 36, being able to reach the destination without traveling in a congested section, and being able to reach the destination without returning to the branch section 31.

[0047] Subsequent priority processing can also be performed under the condition that the destination of the object transport vehicle Va cannot be reached through the second branch rear section 33b, with the further condition that there is a retreat section (not shown) in which the object transport vehicle Va can retreat in the branch rear section different from the first branch rear section 33a. The object transport vehicle Va retreating to the retreat section, for example, returns to the pre-branch section 32 through the control system 100 or the device transporting the transport vehicle V and enters the first branch rear section 33a. In the subsequent priority processing, the destination of the object transport vehicle Va traveling to the second branch rear section 33b can also be changed.

[0048] The control system 100 calculates the estimated time required for the target transport vehicle Va to reach the destination point, based on the time required for the target transport vehicle Va to pass through a post-divergence section different from the first post-divergence section 33a (in Figure 5 In the example shown, the increase in the expected time required for the object transport vehicle Va to reach the destination point through the second branch post section 33b) relative to the expected time required for the object transport vehicle Va to reach the destination point through the first branch post section 33a is below a predetermined judgment threshold as a further condition, and subsequent priority processing is performed.

[0049] The "estimated required time" is calculated based on, for example, the path cost determined according to the distance from the branch portion 31 to the destination point and the "travel condition" of the target transport vehicle Va. The "path cost" is calculated, for example, by Dijkstra's algorithm. The estimated required time can also be calculated using past statistical information, etc.

[0050] The path cost is calculated so that it increases as the "distance" from the branch portion 31 to the destination point increases. The path cost is calculated so that it increases when the "travel condition" is a condition that the travel time of the transport vehicle V increases. For example, when the travel condition includes the congestion of the path, the path cost is calculated so that it increases as the congestion of the path increases. The "congestion of the path" is calculated based on, for example, the number of transport vehicles V in a preset section.

[0051] The above-mentioned "travel conditions" include, for example, at least one of the congestion of the route, the structure of the route (for example, whether it is a straight section, a curved section, a branch section, or a junction), the number of stations on the route, and the state of the transport vehicle V (for example, whether it is an empty transport vehicle or an actual transport vehicle). For example, in a section connected to a maintenance elevator for lowering the transport vehicle V from the travel path 30 formed on the ceiling side to the ground side for maintenance, the congestion of the section may become high due to the presence of the transport vehicle V going to the maintenance elevator or the transport vehicle V returning from the maintenance elevator to the travel path 30.

[0052] The path cost is the value obtained by adding the interval costs of all the intervals included in the path from the branch 31 to the destination point. The interval cost of each interval can be a value obtained by multiplying the basic cost, which is the cost corresponding to the distance of the interval, by a correction coefficient determined in accordance with the driving conditions of the transport vehicle V in the interval. The basic cost is set in a manner that increases as the interval in which the basic cost is set becomes longer. The correction coefficient is set in a manner that increases when the driving conditions of the transport vehicle V in the interval in which the correction coefficient is set are such that the time required for the transport vehicle V to pass through the interval becomes longer. Although the details are omitted, the travel path 30 can be represented by nodes and links connecting the nodes. The node corresponds to a specific location such as a branch 31 or a junction, and the link corresponds to a path portion connecting the specific locations. In this case, the above-mentioned interval cost can be used as the cost of the interval corresponding to the link (link cost).

[0053] Next, other embodiments of the article transport facility 10 will be described.

[0054] (1) In the above-mentioned embodiment, the following configuration is used as an example for explanation: the branching section on the first side Y1 in the width direction is the second branching section 33b, and the branching section on the second side Y2 in the width direction is the first branching section 33a. However, the present invention is not limited to such an example. For example, the branching section on the first side Y1 in the width direction may be the first branching section 33a, and the branching section on the second side Y2 in the width direction may be the second branching section 33b.

[0055] (2) In the above-mentioned embodiment, the following configuration is described as an example: the subsequent priority processing is performed under the further condition that the number of subsequent transport vehicles V relative to the target transport vehicle Va is plural. However, the present invention is not limited to such an example, and for example, the subsequent priority processing may be performed when the number of subsequent transport vehicles V is 1.

[0056] (3) In the above-mentioned embodiment, the following configuration is described as an example: the subsequent priority processing is performed with the further condition that the period during which the target transport vehicle Va stops in the pre-branch section 32 is longer than the predetermined determination period. However, the present invention is not limited to such an example, and for example, the determination period may not be predetermined.

[0057] (4) In the above-mentioned embodiment, the following configuration is used as an example to explain that the estimated time required for the target transport vehicle Va to reach the destination is calculated, and the subsequent priority processing is performed with the increase in the estimated time being less than a predetermined judgment threshold as a further condition. However, the present invention is not limited to such an example, and for example, the estimated time required for the target transport vehicle Va to reach the destination may not be calculated.

[0058] (5) In the above-mentioned embodiment, the following configuration is described as an example: the processing device station 34s and the storage device station 35s are included at the destination of the transport vehicle V. However, the present invention is not limited to such an example. For example, the storage device station 35s may not be included at the destination of the transport vehicle V. For example, the processing device station 34s may not be included at the destination of the transport vehicle V.

[0059] (6) In the above-mentioned embodiment, the following configuration is described as an example: the branch waiting area E2 where a plurality of transport vehicles V can stop is provided in the pre-branch section 32. However, the present invention is not limited to such an example, and for example, the branch waiting area E2 may be an area where only one transport vehicle V can stop. Instead of providing the branch waiting area E2 in the pre-branch section 32, a deceleration travel area where the transport vehicle V decelerates may be provided in the pre-branch section 32.

[0060] (7) In the above-mentioned embodiment, the following configuration is used as an example for explanation: the pre-branch section 32 is a section preset for each branch portion 31 and is a section that does not include other pre-branch sections 32. However, the present invention is not limited to such an example. For example, the pre-branch section 32 may include a pre-branch section 32 that is further upstream X2 than the pre-branch section 32, a post-branch section, a station, a branch portion, a confluence portion, a curved section, etc. The pre-branch section 32 may be changed according to the destination of the transport vehicle V.

[0061] (8) In the above-mentioned embodiment, the following configuration is used as an example for explanation: the post-branch interval (33a, 33b) is a preset interval for each branch portion 31, and is an interval that does not include other post-branch intervals. However, the present invention is not limited to such an example. For example, the post-branch interval may include a pre-branch interval 32 that is further downstream X1 than the post-branch interval, a post-branch interval, a station, a branch portion, a confluence portion, a curved interval, etc. The post-branch interval may also be changed according to the destination of the transport vehicle V.

[0062] (9) In addition, as long as no contradiction occurs, the configuration disclosed in each of the above-mentioned embodiments can also be combined with the configuration disclosed in other embodiments and applied (including the combination of the embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all points. Therefore, various changes can be appropriately made without departing from the scope of the present disclosure.

[0063] Hereinafter, the article transport facility according to the present disclosure will be described.

[0064] As a scheme, an article conveying device is an article conveying device comprising multiple conveying vehicles that convey articles by traveling along a driving path and a control system for controlling the aforementioned conveying vehicles, wherein in the aforementioned driving path, there is a branch portion where the path branches from one pre-branch interval into multiple post-branch intervals, and in the case where there is a subsequent conveying vehicle as the subsequent aforementioned conveying vehicle relative to a target conveying vehicle as one of the multiple aforementioned conveying vehicles, and the aforementioned target conveying vehicle that intends to travel to a first post-branch interval as one of the multiple post-branch intervals stops in the aforementioned pre-branch interval due to the traffic conditions of the aforementioned first post-branch interval, the aforementioned control system performs the following subsequent priority processing on the condition that the aforementioned subsequent conveying vehicle intends to travel to a second post-branch interval as the aforementioned post-branch interval different from the aforementioned first post-branch interval: by changing the travel route of the aforementioned target conveying vehicle so that it travels to the aforementioned post-branch interval different from the aforementioned first post-branch interval, the aforementioned subsequent conveying vehicle is caused to travel to the aforementioned second post-branch interval.

[0065] According to this configuration, when the target transport vehicle cannot travel to the branching section, by making the target transport vehicle travel to the branching section different from the first branching section as the original travel route, the target transport vehicle can be prevented from stopping in the pre-branching section, or the time for making the target transport vehicle stop in the pre-branching section can be shortened, so that the subsequent transport vehicle can quickly travel to the second branching section. Therefore, even if a transport vehicle cannot travel smoothly in one of the multiple branching sections, the overall transport efficiency of the article transporting equipment is unlikely to decrease.

[0066] As one aspect, the control system executes the subsequent priority processing on the further condition that the number of the transport vehicles following the target transport vehicle is N or more (N is an integer of 2 or more).

[0067] According to this configuration, whether or not to execute the subsequent priority process is determined according to the number of subsequent transport vehicles relative to the target transport vehicle, and thus the subsequent priority process can be appropriately executed according to the degree of necessity for giving priority to the subsequent transport vehicles.

[0068] As one aspect, the control system executes the subsequent priority processing on the further condition that a period during which the target transport vehicle stops in the pre-branch section becomes equal to or longer than a predetermined determination period.

[0069] According to this configuration, the subsequent priority processing is not executed until the target transport vehicle stops in the pre-branch section for a period longer than the determination period. Therefore, by executing the subsequent priority processing except when the stop period in the pre-branch section is short, it is easy to avoid the target transport vehicle from taking an unnecessary detour.

[0070] As a scheme, the control system calculates the estimated time required for the object transport vehicle to reach the destination point, and executes the subsequent priority processing based on the further condition that the increase in the estimated time required for the object transport vehicle to reach the destination point after passing through the branch post section different from the first branch post section relative to the estimated time required for the object transport vehicle to reach the destination point after passing through the first branch post section is below a predetermined judgment threshold.

[0071] According to this configuration, when the target transport vehicle will arrive at the destination too late due to being caused to travel to a branching section different from the first branching section, subsequent priority processing is not performed, thereby easily minimizing the decrease in the transport efficiency of the items caused by causing the target transport vehicle to take a detour.

[0072] As a scheme, the destination point of the aforementioned transport vehicle includes a processing device station for transferring the aforementioned items to and from a processing device that processes the aforementioned items, and a storage device station for transferring the aforementioned items to and from a storage device that stores the aforementioned items. The aforementioned control system performs the aforementioned subsequent priority processing on the further condition that the aforementioned destination point of the aforementioned subsequent transport vehicle is the aforementioned processing device station.

[0073] In order to efficiently process the processing device, it is ideal to transfer the items to the processing device at an appropriate time. On the other hand, the storage device only stores the items, so it is easy to allow the deviation of the timing of transporting the items. According to this structure, the subsequent priority processing is performed on the condition that the destination of the subsequent transport vehicle is the processing device station, so it is easy to transfer the items to the processing device at an appropriate time.

[0074] The article transport facility according to the present disclosure only needs to achieve at least one of the above-mentioned effects.

[0075] The technical features of the article transport facility according to the present disclosure can also be applied to a method for controlling a transport vehicle or a program for controlling a transport vehicle. Description of Reference Numerals

[0076] 10: Goods conveying equipment 30: Driving path 31: Branch 32: Pre-branch interval 33a: Interval after the first branch 33b: Interval after the second branch 34: Processing device 34s: Processing equipment station 35: Storage device 35s: Storage equipment station 100: Control system V: Transport vehicle Va: Object transport vehicle Vb: Follow-up transport vehicle W: Items.

Claims

1. An article conveying device, comprising a plurality of conveying vehicles that convey articles by traveling along a travel path and a control system that controls the conveying vehicles, The article conveying device has the following characteristics: The travel route has a branch portion where the route branches from one pre-branch section to a plurality of post-branch sections. The control system: In a case where there is a subsequent transport vehicle that is a subsequent transport vehicle to the target transport vehicle that is one of the plurality of transport vehicles, When the target transport vehicle that is to travel to a first post-divergence section that is one of the plurality of post-divergence sections stops in the pre-divergence section due to the traffic condition of the first post-divergence section, On the condition that the subsequent transport vehicle intends to travel to a second post-branch section which is the post-branch section different from the first post-branch section, The following priority processing is performed by changing the travel route of the target transport vehicle so that the target transport vehicle travels to the post-divergence section different from the first post-divergence section, and causing the following transport vehicle to travel to the second post-divergence section.

2. The article conveying device according to claim 1, wherein: Let N be an integer greater than 2, The control system executes the subsequent priority processing on the further condition that the number of the transport vehicles following the target transport vehicle is N or more.

3. The article conveying device according to claim 1 or 2, wherein: The control system executes the subsequent priority processing on the further condition that the period during which the target transport vehicle stops in the pre-branch section becomes equal to or longer than a predetermined determination period.

4. The article conveying device according to claim 1 or 2, wherein: The control system calculates the estimated time required for the target transport vehicle to reach the destination point, and executes the subsequent priority processing based on the further condition that the increase in the estimated time required for the target transport vehicle to reach the destination point after passing through the branch post section different from the first branch post section relative to the estimated time required for the target transport vehicle to reach the destination point after passing through the first branch post section is below a predetermined judgment threshold.

5. The article conveying device according to claim 1 or 2, wherein: At the destination of the transport vehicle, there are a processing device station for delivering the article to a processing device for processing the article and a storage device station for delivering the article to a storage device for storing the article. The control system executes the subsequent priority processing on the further condition that the destination point of the subsequent transport vehicle is the processing device station.

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