Conveying device

Abstract

A transport facility is provided with a plurality of transport vehicles and a control system. When using two transport vehicles to transport a target article from a transport start point to a transport destination via a transfer device, the control system updates an arrival prediction time at which the target article is received to the transfer device on the basis of a confirmation point passing time at which the target article passes the confirmation point. The second transport vehicle is deployed to the receiving position in conjunction with the updated predicted time.

Description

Technical Field

[0001] The present invention relates to conveying equipment. Background Art

[0002] A conveying facility including a plurality of conveying vehicles for conveying articles and a control system for controlling the plurality of conveying vehicles is used. An example of such a conveying facility is disclosed in Japanese Patent Application Laid-Open No. 2020-101846 (Patent Document 1).

[0003] In the conveying equipment of patent document 1, the time when the conveying vehicle can convey the object is predicted, and the conveying vehicle is deployed in a manner that the conveying vehicle arrives at the predicted time to receive the object. By such a structure, the object can be conveyed immediately after it becomes possible to convey the object, thereby seeking to improve the conveying efficiency. Summary of the invention

[0004] However, there are cases where the actual time when the object can be transported deviates from the predicted time due to some circumstances after the predicted time when the object can be transported. For example, there are cases where the actual time when the object can be transported is delayed from the predicted time due to congestion or traffic jam on the moving path of the transport vehicle, or a part of the moving path becomes closed to traffic. Conversely, there are cases where the actual time when the object can be transported is earlier than the predicted time due to the transport vehicle moving more smoothly than expected on the moving path.

[0005] In the former case, the transport vehicle receiving the target object must wait until the target object actually arrives, and the transport efficiency of the entire device decreases. In addition, in the latter case, even if the target object arrives, the transport cannot be started before the transport vehicle receiving the target object arrives, and the transport efficiency still decreases.

[0006] Therefore, there is a demand for transport equipment that can achieve excellent transport efficiency when using a plurality of transport vehicles to transport articles.

[0007] The conveying equipment involved in the present disclosure is a conveying equipment including a plurality of conveying vehicles for conveying articles and a control system for controlling the plurality of the conveying vehicles. When the control system uses the two transport vehicles to transport the target article from a transport starting point to a transport destination via a transfer device, the control system executes: a transport vehicle determination process for determining a first transport vehicle for transporting the target article from the transport starting point to the transfer device and a second transport vehicle for transporting the target article from the transfer device to the transport destination; A path determination process, which determines a first moving path as a path for the first transport vehicle to move from a current position of the first transport vehicle via the transport starting point to the transfer device; and a second moving path as a path for the second transport vehicle to move from a current position of the second transport vehicle via the transfer device to the transport destination; Initial prediction processing, which derives an arrival prediction time as the initial prediction time based on the first moving path, the arrival prediction time being a predicted time when the object arrives at a receiving position at the transfer device to be received by the second transport vehicle; update prediction processing, which obtains a confirmation point passing time as a time when the target object passes through at least one confirmation point set in the first movement path, and derives an updated prediction time as the updated arrival prediction time based on the confirmation point passing time; and Receiving movement processing, which moves the second transport vehicle in a manner that coordinates with the predicted time when the aforementioned target item arrives at the aforementioned receiving position based on the aforementioned initial prediction time before deriving the aforementioned updated prediction time, and based on the aforementioned updated prediction time after deriving the aforementioned updated prediction time, so as to make the aforementioned second transport vehicle arrive at the aforementioned receiving position.

[0008] According to this configuration, when two transport vehicles are used to transport the target object from the transport starting point to the transport destination, the initial prediction processing and the receiving movement processing are performed, so that the second transport vehicle can be deployed to the receiving position in coordination with the initial prediction time when the target object arrives at the receiving position of the transfer device. Therefore, the target object can be transported by the second transport vehicle immediately after the target object just arrives at the receiving position of the transfer device. Further, by performing the update prediction processing and using the updated prediction time derived therefrom to perform the receiving movement processing, the second transport vehicle can be deployed to the receiving position in coordination with the updated prediction time. Therefore, in the case where there is a deviation from the initial expectation at the time when the first transport vehicle passes the confirmed location, the deviation is corrected, and the target object can be transported by the second transport vehicle immediately after the target object just arrives at the receiving position of the transfer device. Due to these, excellent transportation efficiency can be achieved when multiple transport vehicles are used to transport items.

[0009] Further features and advantages of the technology related to the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram showing an overall image of the conveying equipment. Figure 2 It is the block diagram of the control system. Figure 3 It is a diagram showing the processing sequence executed in the control system. Figure 4 Detailed description of the process flow of the receive move process. Figure 5 is a schematic diagram showing an example of receive movement processing. Figure 6 is a schematic diagram showing an example of receive movement processing. Figure 7 is a schematic diagram showing an example of receive movement processing. Figure 8 is a schematic diagram showing an example of receive movement processing. Fig. 9 It is a schematic diagram showing an overall image of another embodiment of a conveying device. DETAILED DESCRIPTION

[0011] The embodiment of the conveying device is described with reference to the accompanying drawings. The conveying device 1 of the present embodiment is a device (article conveying device) for conveying a plurality of articles W. The conveying device 1 includes a plurality of conveying vehicles 2 each of which conveys an article W. There are various articles as articles W that are processed in the conveying device 1 and conveyed by the conveying vehicles 2. For example, when the conveying device 1 is used in a semiconductor manufacturing plant, the article W includes a wafer container for accommodating wafers (so-called FOUP: Front Opening Unified Pod) or a mask container for accommodating masks (so-called mask box), etc.

[0012] like Figure 1 As shown, the conveyor 1 of this embodiment is configured to be able to convey articles W between a plurality of zones including at least a first zone A1 and a second zone A2. In this embodiment, the conveyor 1 is installed in a building 60 having a plurality of floors 70 including a first floor 71 and a second floor 72. In this case, the first zone A1 is provided on the first floor 71, and the second zone A2 is provided on the second floor 72. In the example shown in the figure, the second floor 72 is a floor 70 lower than the first floor 71, but the second floor 72 may be a floor 70 higher than the first floor 71.

[0013] The transport vehicle 2 travels along the travel path 3. In the present embodiment, the travel path 3 is formed by a travel track supported by suspension from the ceiling. That is, the transport vehicle 2 of the present embodiment is a ceiling transport vehicle. The transport vehicle 2 includes a travel portion that travels along the travel track and a transfer portion supported by suspension from the travel portion.

[0014] The transport equipment 1 of this embodiment includes a plurality of first-area transport vehicles 21 that travel along a first-area travel path 31 provided in the first area A1, and a plurality of second-area transport vehicles 22 that travel along a second-area travel path 32 provided in the second area A2. In addition, the transport equipment 1 includes an interval transport device 40 that transports articles W between the first area A1 and the second area A2. As described above, in this embodiment, the first area A1 is provided on the first floor 71, and the second area A2 is provided on the second floor 72, and the interval transport device 40 of this embodiment is an inter-floor transport device. In this embodiment, the interval transport device 40 is equivalent to a "transport device".

[0015] The interval conveying device 40 includes a lifting body 41 that holds the article W and lifts it. The lifting body 41 supports and holds the article W from below, and is lifted and lowered by a lifting mechanism (for example, a mechanism that lifts and lowers the lifting body 41 by winding or unwinding a belt), thereby holding and lifting the article W. In addition, the interval conveying device 40 (lifting body 41) transports the article W between the first handover position X1 in the first area A1 and the second handover position X2 in the second area A2. In this embodiment, a plurality of interval conveying devices 40 are provided in a manner that the first area A1 and the second area A2 are connected at a plurality of locations, respectively.

[0016] The conveying device 1 takes a specific one of the multiple articles W (referred to as the "target article Ws" in this embodiment) as a target, and conveys the target article Ws from the conveying starting point S to the conveying destination G. At this time, the conveying device 1 uses two conveying vehicles 2 (i.e., a first-area conveying vehicle 21 and a second-area conveying vehicle 22) to convey the target article Ws from the conveying starting point S to the conveying destination G via the transfer device 4.

[0017] As described above, the transport equipment 1 includes a plurality of first-area transport vehicles 21 that transport articles W in the first area A1, and a plurality of second-area transport vehicles 22 that transport articles W in the second area A2. Here, focusing on the target article Ws among the plurality of articles W, in this embodiment, a specific one of the plurality of first-area transport vehicles 21 that transports the target article Ws in the first area A1 is referred to as a "first transport vehicle 21A". Similarly, in this embodiment, a specific one of the plurality of second-area transport vehicles 22 that transports the target article Ws in the second area A2 is referred to as a "second transport vehicle 22B".

[0018] The conveyance starting point S (starting point of the conveyance object Ws) and the conveyance destination G (destination of the conveyance object Ws) may be, for example, a section of a storage rack storing the object W or a loading port of a processing device.

[0019] The transfer device 4 is a device that transfers the transport of the target article Ws by the first transport vehicle 21A and the transport of the target article Ws by the second transport vehicle 22B. As in the present embodiment, in a configuration where the first transport vehicle 21A and the second transport vehicle 22B transport the target article Ws on different floors 70, one of the plurality of interval transport devices 40 becomes the transfer device 4. In this case, the transfer device 4 (interval transport device 40) transports the target article Ws from the transfer position D at the first area A1 (first floor 71) where the first transport vehicle 21A transfers the target article Ws to the receiving position R at the second area A2 (second floor 72) where the second transport vehicle 22B receives the target article Ws.

[0020] The transfer position D where the object Ws is transferred by the first transport vehicle 21A is the first transfer position X1 of the inter-transport device 40 of the transfer device 4 , and the receiving position R where the object Ws is received by the second transport vehicle 22B is the second transfer position X2 of the inter-transport device 40 .

[0021] The transport equipment 1 includes a control system 5 for controlling at least a plurality of transport vehicles 2. In the present embodiment, the control system 5 controls the plurality of transport vehicles 2 and the plurality of inter-area transport devices 40, corresponding to the transport equipment 1 including the plurality of transport vehicles 2 and the plurality of inter-area transport devices 40. In addition, the control system 5 controls the plurality of first-area transport vehicles 21, the plurality of second-area transport vehicles 22, and the plurality of inter-area transport devices 40, corresponding to the transport equipment 1 including the plurality of transport vehicles 2 as the plurality of first-area transport vehicles 21 and the plurality of second-area transport vehicles 22.

[0022] Therefore, if Figure 2 As shown, the control system 5 includes a first zone control unit 52, a second zone control unit 53 and an interval control unit 54. The first zone control unit 52 controls the operation of a plurality of first zone transport vehicles 21. The second zone control unit 53 controls the operation of a plurality of second zone transport vehicles 22. In this embodiment, the first zone control unit 52 is equivalent to the "first control unit", and the second zone control unit 53 is equivalent to the "second control unit". The interval control unit 54 controls the operation of a plurality of interval transport devices 40.

[0023] The control system 5 of this embodiment includes a total control unit 51 in addition to the first zone control unit 52, the second zone control unit 53 and the interval control unit 54. The total control unit 51 controls the first zone control unit 52, the second zone control unit 53 and the interval control unit 54 in a total manner.

[0024] When the control system 5 uses two transport vehicles 2 to transport the target article Ws from the transport starting point S to the transport destination G via the transfer device 4, as shown in FIG. Figure 3 As shown, a transport vehicle determination process, a route determination process, an initial prediction process, an update prediction process, and a reception movement process are executed.

[0025] The transport vehicle determination process is a process for determining the first transport vehicle 21A that transports the target article Ws from the transport starting point S to the transfer device 4, and the second transport vehicle 22B that transports the target article Ws from the transfer device 4 to the transport destination G. In the transport vehicle determination process, the control system 5 determines one first-area transport vehicle 21 that is most suitable for transporting the target article Ws from the transport starting point S to the transfer device 4 as the first transport vehicle 21A from among the plurality of first-area transport vehicles 21. Similarly, the control system 5 determines one second-area transport vehicle 22 that is most suitable for transporting the target article Ws from the transfer device 4 to the transport destination G as the second transport vehicle 22B from among the plurality of second-area transport vehicles 22.

[0026] The path determination process is a process of determining a first moving path P1 as a path for the first transport vehicle 21A to move to the transfer device 4 and a second moving path P2 as a path for the second transport vehicle 22B to move to the transport destination G. In the path determination process, the control system 5 determines the path that is most suitable for the first transport vehicle 21A to move from the current position of the first transport vehicle 21A (referred to as "first current position N1") to the transfer device 4 via the transport starting point S as the first moving path P1. The control system 5 also determines the path that is most suitable for the second transport vehicle 22B to move from the current position of the second transport vehicle 22B (referred to as "second current position N2") to the transport destination G via the transfer device 4 as the second moving path P2.

[0027] In addition, the first moving path P1 includes: a first preparation path P1a, which is used for the unloaded first transport vehicle 21A to move from the first current position N1 to the transport starting point S in order to receive the target item Ws; and a first transport path P1b, which is used for the first transport vehicle 21A that has received the target item Ws to move from the transport starting point S to the transfer position D in order to transfer the target item Ws to the transfer device 4.

[0028] In addition, the second moving path P2 includes: a second preparation path P2a, which is used for the unloaded second transport vehicle 22B to move from the second current position N2 to the receiving position R in order to receive the target item Ws from the transfer device 4; and a second transport path P2b, which is used for the second transport vehicle 22B that has received the target item Ws to move from the receiving position R to the transport destination G in order to deliver the target item Ws to the transport destination G.

[0029] Regarding the transport vehicle determination process and the path determination process, either one may be executed first and the other executed later, but it is preferable to execute them simultaneously. That is, it is preferable to comprehensively consider the positions of each transport vehicle 2 and the conditions of the travel path 3 (e.g., congestion or prohibited passage) when determining the transport starting point S and the transport destination G of the target article Ws, and determine the first transport vehicle 21A and the first moving path P1 and the second transport vehicle 22B and the second moving path P2 in batches.

[0030] By grasping the travel route 3 based on a set of nodes representing each location and links connecting two nodes, and making each node and each link have information on the travel cost, for example, using methods such as Dijkstra's algorithm to calculate the combination with the minimum travel cost, such batch transport vehicle determination processing and route determination processing can be performed.

[0031] In addition, in the present embodiment, the control system 5 further determines the interval movement path P3 as the path for moving the object Ws from the first floor 71 to the second floor 72 in the path determination process. If the first movement path P1 and the second movement path P2 are determined in such a way that the movement cost is minimized, the interval conveying device 40 to be used is naturally determined, so the interval conveying device 40 becomes the transfer device 4, and the path from the first handover position X1 (transfer position D) to the second handover position X2 (receiving position R) of the interval conveying device 40 is determined as the interval movement path P3.

[0032] The transport vehicle determination process and the path determination process are executed by the integrated control unit 51. The integrated control unit 51 sends information about the determined first transport vehicle 21A and the first moving path P1 to the first zone control unit 52, sends information about the determined second transport vehicle 22B and the second moving path P2 to the second zone control unit 53, and sends information about the determined transfer device 4 to the zone control unit 54.

[0033] The initial prediction process is a process of deriving the predicted arrival time as the predicted time when the object article Ws arrives at the receiving position R of the transfer device 4 based on at least the first moving path P1 as the initial prediction time. In this embodiment, in the initial prediction process, the control system 5 derives the initial prediction time based on the first moving path P1 and the interval moving path P3. That is, the control system 5 derives the initial prediction time based on the moving time of the first transport vehicle 21A moving from the first current position N1 of the first moving path P1 to the transfer position D and the transport time of the object article Ws from the transfer position D to the receiving position R by the interval transport device 40.

[0034] More specifically, the control system 5 derives the time after the following time from the moment when the first transport vehicle 21A starts to move from the first current position N1 (hereinafter referred to as the "initial time") as the initial predicted time: the time required for the first transport vehicle 21A to travel and move on the first preparation path P1a from the first current position N1 to the transport starting point S, and to receive the target item Ws at the transport starting point S (hereinafter referred to as the "first preparation time"); the time required for the first transport vehicle 21A that has received the target item Ws to travel and move on the first transport path P1b from the transport starting point S to the transfer position D, and to transfer the target item Ws to the transfer device 4 at the transfer position D (hereinafter referred to as the "first transport time"); and the time required for the transfer device 4 that has received the target item Ws to transport the target item Ws from the transfer position D to the receiving position R (hereinafter referred to as the "interval transport time").

[0035] When deriving the initial prediction time, for example, the distance along the travel path 3, the structure of the travel path 3 (straight / curved, branch / merge, etc.), the transfer time of the article W, and the congestion (the number of other first-zone transport vehicles 21 on the travel path 3) and the like can be considered. In addition, depending on the conveying equipment 1, there is a case where a buffer is provided at the first handover position X1, and the buffer temporarily stores the article W received from the first-zone transport vehicle 21 until it is transported by the interval transport device 40. In addition, there is a case where a buffer is provided at the second handover position X2, and the buffer temporarily stores the article W transported by the interval transport device 40 until it is received by the second-zone transport vehicle 22. In the case where such a buffer (for example, a conveyor) is provided, the congestion of the buffer (the number of other articles W on the buffer) can also be considered when deriving the initial prediction time.

[0036] The initial prediction process is executed by the integrated control unit 51. The integrated control unit 51 obtains, for example, information on the passing time associated with a plurality of nodes and a plurality of links constituting the first preparation path P1a or the first conveying path P1b, or information on the time required to pass through the section conveying device 40 constituting the transfer device 4, and performs the initial prediction process based on these. The integrated control unit 51 performs the initial prediction process and notifies the second zone control unit 53 of the derived initial prediction time.

[0037] Here, before explaining the update prediction process, the basic process of the reception movement process will be explained first.

[0038] The basic receiving movement processing is a processing for moving the second transport vehicle 22B in such a manner that the second transport vehicle 22B arrives at the receiving position R in coordination with the predicted time when the target article Ws arrives at the receiving position R, based on the initial predicted time derived in the initial prediction processing. In the basic receiving movement processing, the predicted time when the target article Ws arrives at the receiving position R is the initial predicted time, so the control system 5 moves the second transport vehicle 22B in such a manner that the second transport vehicle 22B arrives at the receiving position R in coordination with the initial predicted time.

[0039] In the receiving movement process, the control system 5 derives the time required until the second transport vehicle 22B reaches the receiving position R (hereinafter referred to as “preparation required time”) based on the second preparation path P2a in the second movement path P2. Figure 4 The control system 5 derives the required preparation time as the time required for the second transport vehicle 22B to travel from the second current position N2 on the second preparation path P2a until it reaches the receiving position R of the transfer device 4. In this embodiment, the required preparation time is equivalent to the "required time".

[0040] In the present embodiment, the calculation of the required preparation time is performed by the second area control unit 53. For example, the second area control unit 53 obtains information on the passing time associated with a plurality of nodes and a plurality of links constituting the second preparation route P2a, and calculates the required preparation time based on the information.

[0041] The control system 5 moves the second transport vehicle 22B toward the receiving position R based on the situation that the time has become the difference between the required preparation time and the initial predicted time. That is, the control system 5 starts the movement of the second transport vehicle 22B from the second current position N2 toward the receiving position R at the time that the difference between the required preparation time and the initial predicted time has become. By processing in this way, when the target article Ws is smoothly transported as initially predicted and arrives at the receiving position R of the transfer device 4, the target article Ws can be immediately transported by the second transport vehicle 22B. Therefore, even if only the basic receiving movement processing is performed, the transportation efficiency can be improved to some extent.

[0042] Next, the update prediction processing unique to this embodiment and the reception movement processing further improved in this embodiment are described.

[0043] The update prediction process is a process of obtaining the time when the target article Ws passes through the confirmation point C set on the first moving path P1 (hereinafter referred to as "confirmation point passing time"), and deriving the updated prediction time as the updated arrival prediction time based on the confirmation point passing time. The confirmation point C is set at at least one part of the first moving path P1. The confirmation point C can be set at a special point in the first moving path P1, for example, it can be set at the transportation starting point S or the transfer position D of the transfer device 4, the branch point or the confluence point in the first zone travel path 31, etc.

[0044] The first zone control unit 52 obtains information on the time when the confirmation location passes (hereinafter referred to as "passing time information"). For example, the passing time information can be obtained by reading a position information holder (such as a QR code or IC tag) provided at the confirmation location C using a corresponding reader provided on the first transport vehicle 21A, or by performing image recognition processing on a photographic image taken by a camera provided on the first floor 71. The first zone control unit 52 obtains the passing time information and sends the passing time information to the overall control unit 51.

[0045] In the update prediction process, the control system 5 derives the update prediction time based on at least the confirmation point passing time and the moving time (hereinafter referred to as "confirmed transport time") of the first transport vehicle 21A from the confirmation point C of the first moving path P1 to the transfer position D. In the case where the transport equipment 1 has a section transport device 40 as in the present embodiment, the control system 5 derives the update prediction time based on the confirmation point passing time, the confirmed transport time, and the transport time (i.e., section transport time) of transporting the object Ws from the transfer position D to the receiving position R using the section transport device 40.

[0046] More specifically, the control system 5 derives the time after the confirmed delivery time and the interval delivery time from the time of passing the confirmed location as the updated predicted time. By performing such an updated prediction process, even if the time when the first transport vehicle 21A passes the confirmed location C deviates from the original predicted time, the predicted time when the object article Ws arrives at the receiving position R can be modified in a manner to eliminate its deviation. In the case where the first transport vehicle 21A passes the confirmed location C at a predetermined time earlier than scheduled, the updated predicted time derived as a result of the updated prediction process becomes a time earlier than the initial predicted time by a predetermined time. Conversely, in the case where the first transport vehicle 21A passes the confirmed location C at a predetermined time later than scheduled, the updated predicted time derived becomes a time later than the initial predicted time by a predetermined time.

[0047] The update prediction process is executed by the overall control unit 51. The overall control unit 51 performs the update prediction process and notifies the second area control unit 53 of the estimated update prediction time in the same manner as the initial prediction time.

[0048] As described above, in the receiving movement process, the control system 5 moves the second transport vehicle 22B so as to make the second transport vehicle 22B arrive at the receiving position R in coordination with the predicted time when the target article Ws arrives at the receiving position R. At this time, after the updated predicted time is derived by the updated prediction process ( Figure 4 Step #02: Yes), the updated predicted time is the modified arrival predicted time to the receiving position R, so the control system 5 moves the second transport vehicle 22B in such a way that the second transport vehicle 22B arrives at the receiving position R in coordination with the updated predicted time.

[0049] The control system 5 moves the second transport vehicle 22B toward the receiving position R based on the time from the time required for preparation to the updated predicted time (step #03). That is, the control system 5 starts the movement of the second transport vehicle 22B from the second current position N2 toward the receiving position R when the time required for preparation to the updated predicted time has become the difference. By doing so, even if the object Ws arrives at the receiving position R of the transfer device 4 deviating from the initial prediction, the second transport vehicle 22B can be deployed in coordination with it.

[0050] For example, when the target object Ws arrives at the receiving position R earlier than scheduled, the second transport vehicle 22B is deployed earlier than originally scheduled, and the target object Ws can be immediately transported by the second transport vehicle 22B after the target object Ws arrives at the receiving position R. In addition, for example, when the target object Ws arrives at the receiving position R later than scheduled, the second transport vehicle 22B is deployed later than originally scheduled, and can be used for other purposes within the waiting time. Therefore, by executing the receiving movement process, the transportation efficiency can be greatly improved.

[0051] In addition, in the case of the time from the time required for preparation to the initial prediction time before the update prediction time is derived (step #02: No), the receiving movement process is performed according to the basic content. That is, in such a case, the control system 5 advances the second transport vehicle 22B toward the receiving position R based on the situation of the time required for preparation to the initial prediction time. The control system 5 starts the movement of the second transport vehicle 22B from the second current position N2 toward the receiving position R when it has become the time required for preparation to the initial prediction time.

[0052] The receiving and moving process (particularly, the dispatching process of the second transport vehicle 22B in this case) is executed by the second zone control unit 53 . The second zone control unit 53 executes the receiving and moving process based on the initial predicted time and / or the updated predicted time received from the overall control unit 51 .

[0053] Below, refer to Figures 5 to 8 , a more specific example of receiving mobile processing is described. Figures 5 to 8 In the figure, the upper part shows the movement of the object Ws transported by the first transport vehicle 21A, the middle part shows the movement of the object Ws transported by the transfer device 4, and the lower part shows the movement of the object Ws transported by the second transport vehicle 22B. In addition, the upper part and the lower part also show the movement of the first transport vehicle 21A and the second transport vehicle 22B.

[0054] In these figures, "Tp" indicates the initial time, "Te" indicates the initial predicted time, "Tc" indicates the confirmed point passing time, "Tu" indicates the updated predicted time, and "Tm" indicates the movement start time. In addition, "T1" indicates the first preparation time, "T2" indicates the first transportation time, "T3" indicates the section transportation time, and "T4" indicates the preparation time. In addition, a total of two locations, namely, the transportation starting point S and the transfer position D of the transfer device 4, are set as the confirmed point C.

[0055] exist Figure 5 , the movement of the object article Ws, the first transport vehicle 21A and the second transport vehicle 22B based on the initial prediction after the transport vehicle determination process, the path determination process and the initial prediction process are shown. For example, if the initial time is 15:30:00, the first preparation time is 3 minutes and 15 seconds, the first transport time is 4 minutes and 30 seconds, and the interval transport time is 2 minutes and 15 seconds, then the initial prediction time is derived as 15:40:00 after the first preparation time, the first transport time and the interval transport time (10 minutes later) from 15:30:00 as the initial time. And, if the preparation time is 2 minutes and 00 seconds, 15:38:00, which is earlier than 15:40:00 as the initial prediction time (2 minutes and 00 seconds earlier), is derived as the movement start time, and if this time is reached, the second transport vehicle 22B starts to move.

[0056] exist Figure 6 The actual arrival rate of the first transport vehicle 21A to the transport starting point S is shown in FIG. Figure 5In the example of the example, the situation of the subsequent movement of the object article Ws, etc. when the original prediction is still early. In the illustrated example, the first preparation time was predicted to be 3 minutes and 15 seconds (in other words, it arrived at the transportation starting point S at 15:33:15 seconds), but the confirmation point passing time obtained at the transportation starting point S is actually 15:33:00 seconds. In this case, 15:39:45 seconds after the first transportation time and the interval transportation time (after 6 minutes and 45 seconds) from 15:33:00 seconds as the confirmation point passing time at the transportation starting point S is derived as the updated prediction time. And, 15:37:45 seconds, which is earlier than 15:39:45 seconds as the updated prediction time, is derived as the movement start time, and if it becomes this moment, the second transportation vehicle 22B starts to move.

[0057] exist Figure 7 , it is shown that the actual arrival of the first transport vehicle 21A at the transfer position D is further than Figure 6 In the example of the figure, the first preparation time was originally predicted to be 3 minutes and 15 seconds and the first conveying time was 4 minutes and 30 seconds (in other words, it arrived at the transfer position D at 15:37:45 seconds), but the confirmed point passing time actually obtained at the transfer position D was 15:37:00 seconds. In this case, 15:39:15 seconds after the interval conveying time (2 minutes and 15 seconds later) from 15:37:00 seconds as the confirmed point passing time at the transfer position D is derived as the latest updated predicted time. Moreover, 15:37:15 seconds, which is earlier than 15:39:15 seconds as the latest updated predicted time by the required preparation time (2 minutes and 00 seconds earlier), is derived as the movement start time. If this time is reached, the second transport vehicle 22B starts to move.

[0058] exist Figure 6 and Figure 7 In the example of FIG. 1 , the time at which the second transport vehicle 22B starts to move is adjusted according to the actual passing time of the transport starting point S and the transfer position D, so that the second transport vehicle 22B arrives at the receiving position R when the target object Ws arrives at the receiving position R. Therefore, the target object Ws can be transported by the second transport vehicle 22B immediately after the target object Ws arrives at the receiving position R. Compared with the case where the receiving movement process is performed only based on the initial predicted time without performing the updated prediction process, the useless waiting time at the receiving position R can be reduced to Figure 6 In the example, the 15 seconds are shortened to Figure 7 In the example shown in FIG. 1 , the conveying efficiency of the conveying device 1 can be improved by shortening the conveying time by 45 seconds.

[0059] exist Figure 8The current position (second current position N2) of the second transport vehicle 22B is shown in Figure 5 The case of the movement of the object article Ws, etc. when the transfer position D of the transfer device 4 in the example is far away. In this example, the preparation time required is 7 minutes and 30 seconds corresponding to the distance along the second zone driving path 32 from the second current position N2 to the transfer position D. In this case, 15:32:30 seconds, which is earlier than the initial predicted time of 15:40:00 seconds (7 minutes and 30 seconds earlier), is derived as the movement start time, and the movement start time is before the scheduled 15:33:15 seconds when the first transport vehicle 21A arrives at the transport starting point S. In such a case, if it becomes its movement start time, the second transport vehicle 22B starts to move without waiting for the first transport vehicle 21A to arrive at the transport starting point S as the initial confirmation location C.

[0060] (Other Embodiments) (1) In the above-mentioned embodiment, the following configuration is used as an example for explanation: in the receiving movement process, the control system 5 starts moving the second transport vehicle 22B toward the receiving position R at the time when the difference between the required preparation time and the initial predicted time or the updated predicted time has become. However, the configuration is not limited to that, and the control system 5 may start moving the second transport vehicle 22B toward the receiving position R, for example, from a time slightly earlier than the difference between the required preparation time and the initial predicted time or the updated predicted time.

[0061] (2) In the above-mentioned embodiment, the following configuration is mainly assumed and described: in the transport vehicle determination process, the control system 5 determines the second transport vehicle 22B from the second zone transport vehicles 22 that are stopped at this time. However, the configuration is not limited to that, and the control system 5 may also include the second zone transport vehicle 22 that is moving at this time but is scheduled to stop before the time difference between the required preparation time and the initial predicted time as a candidate for the second transport vehicle 22B.

[0062] (3) In the above embodiment, referring to Figures 5 to 8 , and the following configuration is mainly assumed for explanation: the two locations, the transportation starting point S and the transfer position D of the transfer device 4, are used as the confirmation location C, and the control system 5 performs the update prediction process twice. However, it is not limited to such a configuration, and the confirmation location C may be set at only one location, and the control system 5 performs the update prediction process only once. Alternatively, the confirmation location C may be set at more than three locations, and the control system 5 performs the update prediction process more than three times. The setting of the confirmation location C is not necessarily limited to the transportation starting point S or the transfer position D, and may also be other special locations (such as a branch location or a confluence location in the first district travel path 31), or may be a non-special location (any location in the first district travel path 31).

[0063] (4) In the above embodiment, the following configuration is used as an example for explanation: in the update prediction process, the control system 5 derives the time after the confirmed point passing time and the interval conveyance time as the updated prediction time. However, the configuration is not limited to that, and the control system 5 may derive the latest updated prediction time by, for example, deriving the time difference between the scheduled time of passing the confirmed point C and the actual confirmed point passing time, and adding the time difference to the initial prediction time or the immediately previous updated prediction time. Alternatively, the control system 5 may recalculate the post-confirmation conveyance time and the interval conveyance time when the object Ws arrives at the confirmed point C, and use the time after the recalculated post-confirmation conveyance time and the recalculated interval conveyance time from the confirmed point passing time as the latest updated prediction time.

[0064] (5) In the above-mentioned embodiment, the following configuration is used as an example for explanation: in the receiving movement process, the control system 5 keeps the second transport vehicle 22B moving toward the receiving position R after starting the movement of the second transport vehicle 22B based on the initial predicted time. However, the control system 5 is not limited to such a configuration, and the control system 5 may adjust the movement of the second transport vehicle 22B to the receiving position R based on the updated predicted time after deriving the updated predicted time after starting the movement of the second transport vehicle 22B based on the initial predicted time. Alternatively, the following configuration may be used: the control system 5 performs the transport vehicle determination process for the second transport vehicle 22B again when the updated predicted time is derived after starting the movement of the second transport vehicle 22B based on the initial predicted time.

[0065] (6) In the above embodiment, the second zone control unit 53 calculates the required preparation time. However, the present invention is not limited to such a configuration, and for example, the overall control unit 51 may also calculate the required preparation time when deriving the initial predicted time.

[0066] (7) In the above embodiment, the following configuration is used as an example for explanation: the control system 5 includes an upper-level integrated control unit 51, a lower-level first-area control unit 52, a second-area control unit 53, and a section control unit 54. However, the configuration is not limited to that, and the control system 5 may be composed of a single control device as a whole. Alternatively, each of the plurality of transport vehicles 2 may be equipped with a control unit, and these control units may be connected to each other so as to be able to communicate with each other and constitute the control system 5 as a whole.

[0067] (8) In the above embodiment, the following configuration is described as an example: the conveying equipment 1 is installed in a building 60 having a plurality of floors 70, and the interval conveying device 40 is an inter-floor conveying device. However, the configuration is not limited to that. Fig. 9 As shown, the conveying equipment 1 may be installed across multiple buildings 60 including the first building 61 and the second building 62. In this case, the interval conveying device 40 becomes an inter-building conveying device, and a conveyor may be used, for example. In addition, the conveying equipment 1 may be installed across multiple buildings 60 each having multiple floors 70, and the interval conveying device 40 may be composed of a combination of an inter-floor conveying device and an inter-building conveying device.

[0068] (9) In the above embodiment, the following configuration is described as an example: the transfer device 4 is a section conveying device 40. However, the configuration is not limited to that. For example, the transfer device 4 may be a loading device that only loads articles. In such a configuration, the loading position of the article W at the loading device serves as both the transfer position D and the receiving position R.

[0069] (10) In the above embodiment, the following configuration is described as an example: the transport facility 1 uses two transport vehicles 2 to transport the target article Ws from the transport starting point S to the transport destination G via one transfer device 4. However, the present invention is not limited to such a configuration, and the transport facility 1 may use three or more transport vehicles 2 to transport the target article Ws from the transport starting point S to the transport destination G. In this case, the number of transfer devices 4 is one less than the number of transport vehicles 2.

[0070] (11) The configurations disclosed in the above-mentioned embodiments (including the above-mentioned embodiments and other embodiments; the same applies hereinafter) can also be combined and applied with the configurations disclosed in other embodiments as long as no contradiction occurs. With regard to other configurations, the embodiments disclosed in this specification are illustrative in all aspects and can be appropriately changed within the scope of the present disclosure.

[0071] (Summary of Implementation Methods) To summarize the above, the transportation equipment according to the present disclosure preferably includes the following structures.

[0072] A conveying device is provided, which is a conveying device comprising a plurality of conveying vehicles for conveying articles and a control system for controlling the plurality of the conveying vehicles. When the control system uses the two transport vehicles to transport the target article from a transport starting point to a transport destination via a transfer device, the control system executes: a transport vehicle determination process for determining a first transport vehicle for transporting the target article from the transport starting point to the transfer device and a second transport vehicle for transporting the target article from the transfer device to the transport destination; A path determination process, which determines a first moving path as a path for the first transport vehicle to move from a current position of the first transport vehicle via the transport starting point to the transfer device; and a second moving path as a path for the second transport vehicle to move from a current position of the second transport vehicle via the transfer device to the transport destination; Initial prediction processing, which derives an arrival prediction time as the initial prediction time based on the first moving path, the arrival prediction time being a predicted time when the object arrives at a receiving position at the transfer device to be received by the second transport vehicle; update prediction processing, which obtains a confirmation point passing time as a time when the target object passes through at least one confirmation point set in the first movement path, and derives an updated prediction time as the updated arrival prediction time based on the confirmation point passing time; and Receiving movement processing, which moves the second transport vehicle in a manner that coordinates with the predicted time when the aforementioned target item arrives at the aforementioned receiving position based on the aforementioned initial prediction time before deriving the aforementioned updated prediction time, and based on the aforementioned updated prediction time after deriving the aforementioned updated prediction time, so as to make the aforementioned second transport vehicle arrive at the aforementioned receiving position.

[0073] According to this configuration, when two transport vehicles are used to transport the target object from the transport starting point to the transport destination, the initial prediction processing and the receiving movement processing are performed, so that the second transport vehicle can be deployed to the receiving position in coordination with the initial prediction time when the target object arrives at the receiving position of the transfer device. Therefore, the target object can be transported by the second transport vehicle immediately after the target object just arrives at the receiving position of the transfer device. Further, by performing the update prediction processing and using the updated prediction time derived therefrom to perform the receiving movement processing, the second transport vehicle can be deployed to the receiving position in coordination with the updated prediction time. Therefore, in the case where there is a deviation from the initial expectation at the moment when the first transport vehicle passes the confirmed location, the deviation is corrected, and the target object can be transported by the second transport vehicle immediately after the target object just arrives at the receiving position of the transfer device. Due to these, excellent transportation efficiency can be achieved when multiple transport vehicles are used to transport items.

[0074] Preferably, as a solution, The control system, in the aforementioned receiving movement process, Based on the path from the current position of the second transport vehicle to the transfer device in the second moving path, the required time required for the second transport vehicle to reach the receiving position is deduced, When the updated predicted time is derived before the time that is the difference between the required time and the initial predicted time, the second transport vehicle is advanced toward the receiving position based on the time that is the difference between the required time and the updated predicted time.

[0075] According to this configuration, when the update prediction time is derived, the second transport vehicle can be appropriately started to move by dispatching the second transport vehicle to the receiving position in coordination with the arrival of the target article at the receiving position of the transfer device based on the update prediction time and the required time.

[0076] Preferably, as a solution, The control system, in the aforementioned receiving movement process, When a time different from the required time to the initial predicted time is derived before the updated predicted time, the second transport vehicle is advanced toward the receiving position based on the time different from the required time to the initial predicted time.

[0077] According to this configuration, if the updated predicted time is not derived, the second transport vehicle can be appropriately started to move based on the initial predicted time and the required time so as to be deployed to the receiving position in coordination with the time when the target article arrives at the receiving position of the transfer device.

[0078] Preferably, as a solution, The transfer device is a transport device that transports the target article from the transfer position of the target article using the first transport vehicle to the receiving position. Regarding the aforementioned control system, The initial predicted time is derived based on the moving time of the first transport vehicle from the current position of the first transport vehicle on the first moving path to the transfer position, and the transport time of the target object from the transfer position to the receiving position using the transport device, and the updated predicted time is derived based on the passing time of the confirmed location, the moving time of the first transport vehicle from the confirmed location on the first moving path to the transfer position, and the transport time of the target object from the transfer position to the receiving position using the transport device.

[0079] According to this configuration, when the transfer device is a conveying device that conveys articles, the initial predicted time or the updated predicted time can be appropriately derived by also considering the conveying time of the target article from the transfer position to the receiving position by the conveying device.

[0080] Preferably, as a solution, The first transport vehicle transports the target object in the first area. The second transport vehicle transports the target object in the second area. The transfer device is a zone transport device for transporting the target article between the first zone and the second zone. The control system includes a first control unit for controlling the transport vehicle in the first zone, a second control unit for controlling the transport vehicle in the second zone, and a general control unit for controlling the first control unit and the second control unit. the first control unit acquires passage time information as information of passage time of the confirmation point, and transmits the passage time information to the overall control unit; The integrated control unit performs the update prediction process and notifies the second control unit of the derived update prediction time. The second control unit executes the reception movement processing based on the notified update prediction time.

[0081] According to this configuration, when transporting articles between the first zone and the second zone, the transport vehicles and the inter-zone transport devices of each zone can be properly controlled through the cooperation of the first control unit, the second control unit and the overall control unit. In addition, the passing time information is transferred between the first control unit and the overall control unit, and the information of the updated predicted time is transferred between the overall control unit and the second control unit. The overall control unit plays a core role and can properly perform the receiving and moving processing by the second control unit.

[0082] The conveying equipment according to the present disclosure only needs to be able to achieve at least one of the above-mentioned effects. Description of Reference Numerals

[0083] 1Conveying equipment 2Conveyor vehicle 4Transfer device 5. Control System 21A First transport vehicle 22B Second transport vehicle 40-section conveyor (conveyor) 51 General Control Department 52 first zone control unit (first control unit) 53 Second zone control unit (second control unit) A1 Zone 1 A2 Second Zone P1 first moving path P2 Second moving path STransportation starting point GDelivery destination N1 First current position (the current position of the first transport vehicle) N2 Second current position (current position of the second transport vehicle) D Handover position R receiving position CConfirm the location W Items Ws Target Items

Claims

1. A conveying device comprising a plurality of conveying vehicles for conveying articles and a control system for controlling the plurality of conveying vehicles, It has the following characteristics: When the control system uses the two transport vehicles to transport the target article from a transport starting point to a transport destination via a transfer device, the control system executes: a transport vehicle determination process for determining a first transport vehicle for transporting the target article from the transport starting point to the transfer device and a second transport vehicle for transporting the target article from the transfer device to the transport destination; a path determination process of determining a first moving path as a path for the first transport vehicle to move from a current position of the first transport vehicle to the transfer device via the transport starting point; and a second moving path, which is a path for the second transport vehicle to move from a current position of the second transport vehicle via the transfer device to the transport destination; An initial prediction process is performed to derive an arrival prediction time as an initial prediction time based on the first moving path, wherein the arrival prediction time is a prediction time when the target article arrives at a receiving position of the transfer device to be received by the second transport vehicle; update prediction processing, which obtains a confirmation point passing time as a time when the target object passes through a confirmation point set at least one part of the first movement path, and derives an updated prediction time as the updated arrival prediction time based on the confirmation point passing time; and Receiving movement processing, which moves the second transport vehicle in a manner that coordinates with the predicted time when the target article arrives at the receiving location based on the initial prediction time before the updated prediction time is derived, and based on the updated prediction time after the updated prediction time is derived, so that the second transport vehicle arrives at the receiving location.

2. The conveying device according to claim 1, wherein: The control system, in the receiving movement process, Based on the path from the current position of the second transport vehicle to the transfer device in the second moving path, deriving the time required until the second transport vehicle reaches the receiving position, When the updated predicted time is derived before the time that is the difference between the required time and the initial predicted time, the second transport vehicle is advanced toward the receiving position based on the time that is the difference between the required time and the updated predicted time.

3. The conveying device according to claim 2, wherein: The control system, in the receiving movement process, When a time different from the required time to the initial predicted time is derived before the updated predicted time, the second transport vehicle is advanced toward the receiving position based on the time different from the required time to the initial predicted time.

4. The conveying device according to any one of claims 1 to 3, wherein: The transfer device is a transport device that transports the target article from a transfer position of the target article using the first transport vehicle to the receiving position. Regarding the control system, The initial predicted time is derived based on the travel time of the first transport vehicle from the current position of the first transport vehicle on the first travel path to the transfer position and the transport time of the target object from the transfer position to the receiving position by the transport device, The update prediction time is derived based on the confirmed location passing time, the travel time of the first transport vehicle from the confirmed location on the first travel path to the transfer location, and the transport time of the target article from the transfer location to the receiving location using the transport device.

5. The conveying device according to any one of claims 1 to 3, wherein: The first transport vehicle transports the target object in the first area, The second transport vehicle transports the target object in the second area, The transfer device is a zone transport device for transporting the target article between the first zone and the second zone. The control system includes a first control unit that controls the transport vehicle in the first zone, a second control unit that controls the transport vehicle in the second zone, and a general control unit that controls the first control unit and the second control unit. The first control unit obtains passage time information as information on the passage time of the confirmation point, and sends the passage time information to the overall control unit. The integrated control unit performs the update prediction process and notifies the derived update prediction time to the second control unit. The second control unit executes the reception movement process based on the notified update prediction time.

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