Article conveying facility

Abstract

In order determination processing, a control device (2) provided in the article transport facility determines the passing order in accordance with a standby time index (I) determined on the basis of the standby time (Tf) of the plurality of passing target vehicles (1) at the merging unit (90). The standby time index (I) is determined by correcting the standby time (Tf) using a correction coefficient (X) determined in accordance with the state of each of the plurality of passing target vehicles (1).

Description

Technical Field

[0001] The present invention relates to an article conveying device including a plurality of conveyors traveling along a predetermined path and a control device for controlling the conveyors. Background Art

[0002] An example of such an article conveying device is disclosed as a conveyor system in Japanese Patent Application Laid-Open No. 2006-313463 (Patent Document 1). Hereinafter, in the description of the background art, the reference numerals shown in parentheses are the reference numerals of Patent Document 1.

[0003] In the system disclosed in Patent Document 1, a locking point is provided at a junction of the traveling paths of the conveyors (5), and it is determined whether or not to allow the conveyor (5) to pass through the locking point for each section provided with such a locking point (hereinafter, referred to as "control section").

[0004] Before the conveyor (5) enters the control section provided with the locking point, a blocking request is made to the area controller (11) to exclude other conveyors (5) from entering the control section. When the area controller (11) permits the conveyor (5) that has made the blocking request to pass through the control section, the blocking permission is given to exclude the passage of other conveyors (5). After the conveyor (5) has passed, the blocking in the control section is released to become a state in which other conveyors (5) can be received. Summary of the Invention

[0005] In the technique disclosed in Patent Document 1, it is necessary to set a control section or to grasp whether the conveyor (5) has entered or exited the control section, etc., and the control configuration tends to become complicated. In addition, as an entire device, in order to achieve efficient operation, it is desirable to determine the priority of the conveyor (5) passing through the junction in consideration of the conditions of each conveyor (5) rather than simply judging based on the timing when the conveyor (5) enters the control section.

[0006] In view of the above actual situation, it is desired to implement a technique capable of simply and appropriately controlling a plurality of conveyors related to a junction.

[0007] The technique for solving the above problems is as follows. An article conveying device is an article conveying device including a plurality of conveyors traveling along a predetermined path and a control device for controlling the above-mentioned conveyors, The above-mentioned control device is configured to perform junction control for controlling the actions of the above-mentioned plurality of conveyors at a junction where a plurality of the above-mentioned paths converge, Regarding each of the plurality of the above-mentioned conveyors that want to pass through the above-mentioned junction at the same time as the target vehicle to pass through, The above confluence control includes an order determination process for determining the passing order of the respective confluence parts of the multiple above-mentioned passing object vehicles. In the above order determination process, the above control device determines the above passing order corresponding to a standby time index determined based on the standby times of the multiple above-mentioned passing object vehicles at the above confluence part. The above standby time is corrected using a correction coefficient determined corresponding to the state of each of the multiple above-mentioned passing object vehicles to determine the above standby time index.

[0008] According to this configuration, based on the standby time of each passing object vehicle at the confluence part, it is determined whether to allow the passing object vehicle to pass. Therefore, a simple control configuration can be constructed. In addition, the actual standby time is corrected using a correction coefficient determined corresponding to the state of each passing object vehicle, thereby determining the standby time index that serves as the basis for the determination of whether to allow passing. Therefore, the determination of whether to allow passing becomes a determination considering the state of each passing object vehicle, and it can be achieved by a simple process of correcting the standby time with the above correction coefficient. As described above, according to this configuration, the control of multiple transport vehicles related to the confluence part can be performed simply and appropriately.

[0009] Through the description of the following exemplary and non-limiting embodiments described with reference to the drawings, the further features and advantages of the technology related to the present disclosure become more apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a top view of the article conveying device. Figure 2 is a control block diagram. Figure 3 is a diagram showing an example of confluence control. Figure 4 is a diagram showing the correction of the standby time. Figure 5 is a diagram showing the comparison of the standby time index. Figure 6 is a diagram showing an example in which a charging station is provided near the confluence part. Figure 7 is a diagram showing the correction of the standby time related to other embodiments. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0011] Hereinafter, embodiments of the article conveying device will be described with reference to the drawings.

[0012] As Figure 1 shown, the article conveying device 100 includes a plurality of transport vehicles 1 traveling along a predetermined path 9 and a control device 2 for controlling the transport vehicles 1 (refer to Figure 2 ).

[0013] In this embodiment, path 9 is set at a position away from the floor surface upward. For example, path 9 is constituted by using a track provided near the ceiling. The transporter 1 is constituted as a so-called ceiling transporter and travels along path 9 on the track.

[0014] A plurality of transfer target parts 8 are provided along path 9. The transfer target parts 8 are arranged below path 9. The transporter 1 is constituted in such a way that it transfers an article (not shown) by lifting and lowering the article between the transfer target parts 8.

[0015] Each of the plurality of transporters 1 is constituted in the following manner: it receives a conveyance instruction from a superior control device (not shown) of the overall management device and executes a task corresponding to the conveyance instruction. For example, the conveyance instruction includes information on the conveyance start point and the conveyance destination of the article. The transporter 1 that has received the conveyance instruction conveys the article from the conveyance start point to the conveyance destination. The transfer target part 8 is included in the conveyance start point or the conveyance destination.

[0016] There are various articles as the articles operated by the article conveyance device 100. In this example, the article conveyance device 100 is used in a semiconductor manufacturing factory. Therefore, a substrate accommodation container (so-called FOUP: Front Opening Unified Pod) that accommodates a substrate (wafer or panel, etc.), or an intermediate mask accommodation container (so-called intermediate mask box) that accommodates an intermediate mask, etc. are used as articles. In this case, the transporter 1 conveys articles such as the substrate accommodation container or the intermediate mask accommodation container along path 9 between the respective processes.

[0017] In this embodiment, the transfer target part 8 includes a processing device 80 that performs processing on the article and a carrier stage 81 that is adjacently arranged to the processing device 80. The so-called "processing on the article" means processing on the object to be accommodated (substrate or intermediate mask) that is accommodated in the article as the accommodation container. The transporter 1 picks up the article that has completed the processing by the processing device 80 from the carrier stage 81, or hands over the article that has not completed the processing by the processing device 80 to the carrier stage 81. In addition, the processing device 80 performs various processes such as film formation, lithography, and etching, for example.

[0018] As Figure 2 shown, the control device 2 is constituted in such a way that it can communicate with the transporter 1. The control device 2 includes, for example, a processor such as a microcomputer, and peripheral circuits such as a memory. Moreover, through the cooperation of these hardware and a program executed on a processor such as a computer, each process or each function is realized.

[0019] The control device 2 and the transporter 1 are constituted in such a way that they mutually transmit and receive signals. The transporter 1 wants to pass through a junction 90 where a plurality of paths 9 converge (refer toFigure 3 ) In the case of, a passing permission request is made to the control device 2. When the control device 2 permits a carrier vehicle 1 to pass through the merging section 90, it gives a passing permission to the carrier vehicle 1. The passing permission request is transmitted and received as a passing request signal. The passing permission is transmitted and received as a passing permission signal.

[0020] In the present embodiment, the carrier vehicle 1 includes a conveyance control unit 10 and a timer 11. In the present embodiment, the carrier vehicle 1 further includes a power storage device 12. The carrier vehicle 1 can perform various operations such as a traveling operation or a transfer operation using the power stored in the power storage device 12. Either all of the carrier vehicles 1 within the article conveyance equipment 100 may include the power storage device 12, or only a part of the carrier vehicles 1 may include the power storage device 12. That is, a part or all of the plurality of carrier vehicles 1 are equipped with the power storage device 12 that stores power.

[0021] The conveyance control unit 10 is a device configured with a central processing unit as the core and is configured to control the operation of the carrier vehicle 1. In addition, the conveyance control unit 10 transmits and receives signals to and from the control device 2. The timer 11 is configured to measure the elapsed time from an arbitrary time. In the present embodiment, the timer 11 measures the elapsed time from the moment when the carrier vehicle 1 makes a passing permission request. However, the measurement start time using the timer 11 can be set appropriately.

[0022] Figure 3 The figure shows a state where, at the merging section 90 where a plurality of paths 9 merge, a plurality of carrier vehicles 1 want to pass through the merging section 90. In the illustrated example, two paths 9 merge to form the merging section 90. One of the two paths 9 is a straight path 91 that merges straight into the merging section 90, and the other is a curved path 92 that merges into the merging section 90 in a curved shape. In addition, based on the relationship with the plurality of paths 9 that merge at the merging section 90, it is relatively determined whether the path 9 is the straight path 91 or the curved path 92. In other words, among the two paths 9 that merge, the one with a larger curvature is the curved path 92, and the other is the straight path 91. That is, even the straight path 91 may be curved sometimes.

[0023] The control device 2 is configured to perform merging control for controlling the operations of a plurality of carrier vehicles 1 at the merging section 90 where a plurality of paths 9 merge.

[0024] Here, each of the plurality of carrier vehicles 1 that are to pass through the junction 90 in the same period is defined as a passing target vehicle 1. The so-called "passing through in the same period" means passing through the junction 90 within a preset period. This preset period is, for example, 3000 msec to 5000 msec. For each of the plurality of carrier vehicles 1, when the time determined based on the traveling speed and the distance from the current position to the junction 90 is within the preset period, these plurality of carrier vehicles 1 are passing target vehicles 1. In the illustrated example, the carrier vehicle 1 denoted by "A" and the carrier vehicle 1 denoted by "B" are each passing target vehicles 1. Hereinafter, these two passing target vehicles 1 may be respectively referred to as passing target vehicle A and passing target vehicle B.

[0025] The merging control includes an order determination process for determining the passing order of each of the plurality of passing target vehicles 1 at the junction 90. In the order determination process, based on the standby time index I calculated for each of the plurality of passing target vehicles 1, it is determined whether to allow the passing target vehicle 1 to pass.

[0026] In the present embodiment, the passing target vehicle 1 notifies the control device 2 of the standby time index I for itself. Moreover, in the order determination process, the control device 2 compares the standby time indexes I for each of the plurality of passing target vehicles 1, and gives passing permission for the passing target vehicle 1 with the larger standby time index I at the junction 90.

[0027] The standby time index I is determined by correcting the standby time Tf using a correction coefficient X determined corresponding to the state of each of the plurality of passing target vehicles 1. In the present embodiment, the standby time index I is corrected in such a way that it becomes a larger value as the correction coefficient X becomes larger. In this example, the standby time index I is determined by adding the correction coefficient X to the standby time Tf.

[0028] In the present embodiment, the correction coefficient X is set in such a way that the standby time index I increases when the passing target vehicle 1 is transporting an item compared to when the passing target vehicle 1 is not transporting an item. In this example, it is set in such a way that the correction coefficient X becomes larger. The carrier vehicle 1 that is transporting an item is in the middle of task execution and may be eager to reach the destination. On the other hand, for a carrier vehicle 1 that is not transporting an item, the destination may not have been determined yet, so the urgency is relatively likely to be lower. According to the above configuration, the correction coefficient X for the passing target vehicle 1 in the state of transporting an item is set to be larger, so it is easy for this passing target vehicle 1 to pass through the junction 90 prior to the passing target vehicle 1 that is not transporting an item.

[0029] In the illustrated example, the passing target vehicle A is in a state of not transporting an item (presence or absence of item: "none"). On the other hand, the passing target vehicle B is in a state of transporting an item (presence or absence of item: "yes"). Therefore, when considering the presence or absence of an object, it includes factors that make the correction coefficient Xb for the passing object vehicle B larger than the correction coefficient Xa for the passing object vehicle A.

[0030] In the present embodiment, the correction coefficient X is set in such a way that the standby time index I increases when the passing object vehicle 1 is on the straight path 91 that converges linearly at the convergence section 90 compared to when the passing object vehicle 1 is on the curved path 92 that converges curvilinearly at the convergence section 90. In this example, it is set in such a way that the correction coefficient X becomes larger. The passing object vehicle 1 traveling on the straight path 91 is more likely to have a higher traveling speed compared to the passing object vehicle 1 traveling on the curved path 92. As an overall device, by giving priority to the passing object vehicle 1 with such a relatively high traveling speed to pass through the convergence section 90, efficient operation can be achieved.

[0031] In the illustrated example, the passing object vehicle A is on the curved path 92 (travel path: curved path). The passing object vehicle B is on the straight path 91 (travel path: straight path). Therefore, when considering the path 9 on which the passing object vehicle 1 travels, it includes factors that make the correction coefficient Xb for the passing object vehicle B larger than the correction coefficient Xa for the passing object vehicle A.

[0032] In the present embodiment, the correction coefficient X is set in such a way that the standby time index I increases as the congestion level J at the path 9 where the passing object vehicle 1 is located becomes higher. In this example, it is set in such a way that the correction coefficient X becomes larger. As a result, it is easy for the passing object vehicle 1 on the path 9 with a relatively high congestion level J to pass through the convergence section 90 prior to the passing object vehicle 1 on the path 9 with a relatively low congestion level J. Therefore, the traveling of the passing object vehicle 1 on the path 9 with a relatively high congestion level J can be made smooth, and thus, the equalization of the congestion level J can be achieved for the entire path 9. In addition, the "congestion level J" is determined based on the number of transporter vehicles 1 within a predetermined area of the path 9. Also, when considering a single transporter vehicle 1, it can be determined based on the stop time or traveling speed of the transporter vehicle 1, or the time to pass through a set specific section, etc. The "congestion level J" only needs to be quantitatively determined by numericalization. For example, the congestion level J is determined using 5 grade values from 1 to 5.

[0033] In the illustrated example, on path 9 where the object vehicle A is located, only the object vehicle A exists, and the congestion level J is "1" (congestion level: 1). On path 9 where the object vehicle B is located, there are multiple transport vehicles 1, and the congestion level J is "3" (congestion level: 3). Therefore, when focusing on the congestion level J, the correction coefficient Xa for the object vehicle A is not affected by the congestion level J. The correction coefficient Xb for the object vehicle B is affected by the congestion level J, and the correction coefficient Xb includes elements that become larger.

[0034] As described above, the correction coefficient X is determined considering various indicators. For each of the multiple object vehicles 1 passing through, the correction coefficient X is added to the standby time Tf to determine the standby time index I.

[0035] In the illustrated example, for the object vehicle A, the correction coefficient Xa is not affected by the various indicators caused by the presence or absence of goods, the driving path, and the congestion level J, and is "0". Therefore, adding the "0" of the correction coefficient Xa to the "4000 msec" which is the standby time Tf of the object vehicle A, the standby time index I for the object vehicle A becomes "4000". For the object vehicle B, the correction coefficient Xb is affected by all the various indicators caused by the presence or absence of goods, the driving path, and the congestion level J, and is "2000". Therefore, adding the "2000" of the correction coefficient Xb to the "3000 msec" which is the standby time Tf of the object vehicle B, the standby time index I for the object vehicle B becomes "5000". In addition, in this example, the standby time index I is a dimensionless value without a unit. However, in this example, since the standby time index I is obtained by adding the correction coefficient X to the standby time Tf, its unit can also be the same as that of the standby time Tf, which is "msec". Or, a unit other than "msec" can also be used as the unit of the standby time index I.

[0036] Figure 4 It is a graph with the horizontal axis being the standby time Tf and the vertical axis being the standby time index I. After the object vehicle 1 stops at the stop point S, the standby time Tf and the standby time index I start to gradually increase. These are measured by the timer 11 mounted on each object vehicle 1.

[0037] As described above, in this example, since the correction coefficient Xa for the object vehicle A is "0", even if the correction coefficient Xa is added to the standby time Tf, the graph is not affected. On the other hand, the correction coefficient Xb for the object vehicle B is a positive value (in this example, "2000"), so by adding the correction coefficient Xb to the standby time Tf, the graph moves upward.

[0038] Figure 5It is a timing chart from the perspective of the control device 2 that performs the execution order determination process. In the illustrated example, the object vehicle A stops at the stop point S earlier than the object vehicle B, and from this point, the measurement of the standby time Tf (standby time index I) starts. For the object vehicle B that stops at the stop point S later than the object vehicle A, the start of the measurement of the standby time Tf (standby time index I) becomes a later time than that of the object vehicle A.

[0039] However, for the object vehicle B, due to the influence of each index, the correction coefficient Xb is set to a large value. Therefore, at the determination moment when the control device 2 that determines the execution order determines whether to allow the object vehicle 1 to pass, the standby time index I (5000) for the object vehicle B becomes larger than the standby time index I (4000) for the object vehicle A. Thus, as a result of the control device 2 comparing the standby time indexes I of both sides, the object vehicle B is given permission to pass through the merging section 90.

[0040] In this way, in the order determination process, the control device 2 compares the standby time indexes I determined based on the standby times Tf of multiple object vehicles 1 at the merging section 90, and allows the object vehicle 1 with the largest standby time index I to pass through earlier than other object vehicles 1.

[0041] Here, as described above, in the present embodiment, the transport vehicle 1 is equipped with a power storage device 12 (refer to Figure 2 ). The power storage device 12 is, for example, a battery or a capacitor, etc.

[0042] Figure 6 A specific merging section 90 among the multiple merging sections 90 existing in the article transport device 100 is shown.

[0043] As Figure 6 shown, in the present embodiment, a charging station 7 for charging the power storage device 12 is provided in the vicinity of the merging section 90. For example, a power supply line for non-contact power supply is provided in a part of the path 9, and a part of the area where the power supply line is provided is the charging station 7. In the present embodiment, the charging station 7 is provided on the curved path 92 among the straight path 91 and the curved path 92 that merge at the merging section 90.

[0044] In the present embodiment, the correction coefficient X is set such that the standby time index I is reduced when the amount of power stored in the power storage device 12 mounted on the passing vehicle 1 is equal to or less than a predetermined reference margin, as compared to when the amount of power stored in the power storage device 12 is greater than the reference margin. In this example, the correction coefficient X is set to decrease. As a result, the standby time index I is likely to become a relatively small value. Therefore, the passing vehicle 1 equipped with the power storage device 12 whose power has become equal to or less than the reference margin has a higher possibility of waiting near the merging section 90. Thus, the passing vehicle 1 can charge the power storage device 12 at the charging station 7 using its standby time Tf.

[0045] In addition, as described above, on the curved path 92 where the traveling speed of the passing vehicle 1 is likely to become relatively low, the correction coefficient X is originally relatively small, so the passing vehicle 1 on the curved path 92 has a higher possibility of waiting near the merging section 90. In the present embodiment, since the charging station 7 is provided on the curved path 92, a situation where the passing vehicle 1 can easily charge can be created.

[0046] In the present embodiment, the correction coefficient X is set as follows: when the amount of power stored in the power storage device 12 mounted on the passing vehicle 1 is equal to or less than the reference margin and there is no charging station 7 near the merging section 90 that the passing vehicle 1 wants to pass through, the standby time index I is increased as compared to when the amount of power stored in the power storage device 12 is greater than the reference margin. In this example, the correction coefficient X is set to increase. In such a case, by setting the correction coefficient X large, the standby time index I is likely to become a relatively large value. Therefore, the passing vehicle 1 equipped with the power storage device 12 whose power has become equal to or less than the reference margin can easily pass through the merging section 90 without a charging station 7 and can easily charge at other charging stations 7 etc. at an early stage.

[0047] In the illustrated example, it is easy to prioritize the passage of the passing vehicle B located on the straight path 91 through the merging section 90. When the passing vehicle B can pass through the merging section 90 prior to the passing vehicle A, the passing vehicle B can advance toward the charging station 7 provided at another location at an early stage and can charge there.

[0048] (Other Embodiments) Next, other embodiments will be described.

[0049] (1) In the above embodiment, an example has been described in which the standby time index I is determined by adding the standby time Tf to the correction coefficient X. However, it is not limited to such an example, and the standby time index I may be determined by multiplying and adding the correction coefficient X to the standby time Tf. In this case, for example, as Figure 7As shown, the slope of the curve is changed by multiplication, and the curve is shifted upward by addition. However, the standby time index I can also be determined only by multiplying the correction coefficient X. Alternatively, in addition to the above, the standby time index I can be determined by subtracting or dividing the correction coefficient X from / to the standby time Tf. Even in this case, the standby time index I is set to become a large value by operating the correction coefficient X. That is, there are various methods for operating the correction coefficient X for the standby time index I, but as a result of the operation, the correction coefficient X corresponding to various situations is set in such a way that the standby time index I becomes a large value. For example, sometimes the smaller the correction coefficient X becomes, the larger the standby time index I becomes.

[0050] (2) In the above embodiment, an example was described in which the correction coefficient X is set so as to be larger for the passing object vehicle 1 in the state of positively transporting an article than for the passing object vehicle 1 not in the state of transporting an article. However, it is not limited to such an example, and even if any one of the plurality of passing object vehicles 1 that can pass through the merging section 90 in the same period is in the state of positively transporting an article, the correction coefficient X can be set in consideration of at least one of the content of the article being transported, the content of the given transport instruction, and the transport destination of the article, so as to determine the priority (superiority / inferiority) of passing for both passing object vehicles 1 in the state of positively transporting an article. That is, the priority of article transport can also be reflected in the correction coefficient X.

[0051] (3) In the above embodiment, an example was described in which the correction coefficient X is determined under the influence of various situations such as whether the passing object vehicle 1 is positively transporting an article, the path 9 where the passing object vehicle 1 is located (whether it is a straight path 91 or a curved path 92), and the congestion degree J. However, it is not limited to such an example, and the correction coefficient X can also be set for each of the above situations (that is, a plurality of correction coefficients X are set). In this case, the standby time index I is determined by operating all of the plurality of correction coefficients X for the standby time Tf.

[0052] (4) In the above embodiment, an example was described in which the correction coefficient X is set so as to be larger for the passing object vehicle 1 located on the straight path 91 where the relative traveling speed is likely to become high than for the passing object vehicle 1 located on the curved path 92 where the relative traveling speed is likely to become low. However, it is not limited to such an example, and the magnitude of the correction coefficient X can be set from the viewpoint of the traveling speed of the passing object vehicle 1 without depending on the shape of the path 9. That is, it can also be set in such a way that the correction coefficient X becomes larger as the traveling speed of the passing object vehicle 1 near the merging section 90 becomes higher, and conversely, it can be set in such a way that the correction coefficient X becomes smaller as the traveling speed becomes lower.

[0053] (5)In the above-described embodiment, the following example was described: In the sequence determination process, the control device 2 compares the standby time indexes I determined based on the standby times Tf of the plurality of passing object vehicles 1 at the merging section 90, and causes the passing object vehicle 1 with the maximum standby time index I to pass before the other passing object vehicles 1. However, it is not limited to such an example. In the sequence determination process, the control device 2 only needs to determine the passing sequence corresponding to the standby time index I. For example, the control device 2 may also calculate the reciprocal of the value obtained by correcting the standby time Tf with the correction coefficient X, calculate it as the standby time index I, and cause the passing object vehicle 1 with the minimum standby time index I to pass before the other passing object vehicles 1.

[0054] (6)In the above-described embodiment, the following example was described: When the control device 2 permits the passing of the carrier vehicle 1 through the merging section 90, it permits the passing of the carrier vehicle 1. It is also possible to collectively perform this passing permission for a plurality of carrier vehicles 1. In this case, the control device 2 only needs to give passing permission to each carrier vehicle 1 on the basis of designating the passing sequence based on the standby time index I of each carrier vehicle 1. Thereby, the carrier vehicles 1 can pass through the merging section 90 without interfering with each other.

[0055] (7)In the above-described embodiment, the following example was described: The timer 11 measures the elapsed time since the moment when the passing permission request is made for the carrier vehicle 1. However, it is not limited to such an example. The timer 11 may also measure the elapsed time since the moment when the carrier vehicle 1 stops at the stop point S set in the vicinity of the merging section 90.

[0056] (8)In the above-described embodiment, the following example was described: The carrier vehicle 1 is provided with the timer 11. However, it is not limited to such an example. It is also possible that the control device 2 is provided with the timer 11. In this case, it is also possible to measure the elapsed time since each carrier vehicle 1 stops in the vicinity of the merging section 90 by the timer 11 provided in the control device 2.

[0057] (9)In addition, as long as there is no contradiction, the configurations disclosed in the above-described embodiment can also be combined and applied with the configurations disclosed in other embodiments. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0058] (Summary of this embodiment) Hereinafter, the summary of this embodiment will be described.

[0059] An article conveying device, which is an article conveying device including a plurality of carrier vehicles traveling along a predetermined path and a control device for controlling the foregoing carrier vehicles, The aforementioned control device is configured to perform merging control for controlling the actions of the multiple aforementioned transport vehicles at a merging section where the multiple aforementioned paths converge. Regarding each of the multiple aforementioned transport vehicles that are intended to pass through the aforementioned merging section during the same period as the passing target vehicles. The aforementioned merging control includes an order determination process for determining the passing order of each of the multiple aforementioned passing target vehicles at the aforementioned merging section. In the aforementioned order determination process, the aforementioned control device determines the aforementioned passing order corresponding to a standby time index determined based on the standby times of the multiple aforementioned passing target vehicles at the aforementioned merging section. The aforementioned standby time index is determined by correcting the aforementioned standby time using a correction coefficient determined corresponding to the state of each of the multiple aforementioned passing target vehicles.

[0060] According to this configuration, based on the standby time of each passing target vehicle at the merging section, it is determined whether to allow the passing target vehicle to pass. Therefore, a simple control configuration can be constructed. In addition, the actual standby time is corrected using a correction coefficient determined corresponding to the state of each passing target vehicle, thereby determining the standby time index that serves as the basis for the determination of whether to allow passing. Therefore, the determination of whether to allow passing becomes a determination considering the state of each passing target vehicle, and it can be achieved by a simple process of correcting the standby time using the above correction coefficient. As described above, according to this configuration, the control of multiple transport vehicles related to the merging section can be performed simply and appropriately.

[0061] Preferably, In the aforementioned order determination process, for each of the multiple aforementioned passing target vehicles, the aforementioned standby time indexes are compared, and the passing target vehicle with the largest aforementioned standby time index passes earlier than the other aforementioned passing target vehicles.

[0062] According to this configuration, it is possible to make the increase and decrease of the standby time and the increase and decrease of the standby time index have a correlation. Therefore, it becomes easier to simply control multiple transport vehicles related to the merging section.

[0063] Preferably, The aforementioned correction coefficient is set in such a way that the aforementioned standby time index is increased when the aforementioned passing target vehicle is transporting an item compared to the case where the passing target vehicle is not transporting the aforementioned item.

[0064] According to this configuration, it is easy to give priority to the passing target vehicle in the state of transporting an item to pass through the merging section over the passing target vehicle that is not transporting an item.

[0065] Preferably, Set the correction coefficient in such a way that the standby time index is increased as compared with the case where the passing vehicle passes through the straight path that linearly converges at the convergence section and the case where the passing vehicle passes through the curved path that converges at the convergence section in a curved manner.

[0066] The passing vehicle traveling on the straight path is likely to have a higher traveling speed than the passing vehicle traveling on the curved path. As a whole device, by preferentially passing the passing vehicle whose relative traveling speed is likely to be higher through the convergence section, efficient operation can be achieved. According to this configuration, it is easy for the passing vehicle located on the straight path to pass through the convergence section prior to the passing vehicle located on the curved path. Therefore, as a whole device, efficient operation can be easily achieved.

[0067] Preferably, Set the correction coefficient in such a way that the standby time index is increased as the congestion level at the path where the passing vehicle is located becomes higher.

[0068] According to this configuration, it is easy for the passing vehicle located on the path with a relatively high congestion level to pass through the convergence section prior to the passing vehicle located on the path with a relatively low congestion level. Therefore, equalization of the congestion level can be achieved as a whole for the paths, and furthermore, efficient operation can be easily achieved as a whole device.

[0069] Preferably, A part or all of the plurality of transport vehicles are equipped with a power storage device for storing electric power. A charging station for charging the power storage device is provided near the convergence section. Set the correction coefficient in such a way that the standby time index is decreased as compared with the case where the electric power stored in the power storage device mounted on the passing vehicle is below a predetermined reference margin and the case where the electric power stored in the power storage device is larger than the reference margin.

[0070] According to this configuration, when the electric power stored in the power storage device mounted on the passing vehicle is below the predetermined reference margin, it is set in such a way that the correction coefficient becomes smaller, so the standby time index is unlikely to become a large value. Therefore, the priority of this passing vehicle becomes lower, and the possibility of waiting at the convergence section becomes higher. Moreover, according to this configuration, the power storage device can be charged during the period when the passing vehicle equipped with the power storage device waits at the convergence section.

[0071] Preferably, The foregoing correction coefficient is set in the following manner: when the amount of power stored in the power storage device mounted on the passing object vehicle is less than or equal to the foregoing reference margin and there is no foregoing charging station near the junction where the passing object vehicle intends to pass, the standby time index is increased as compared with the case where the amount of power stored in the power storage device is greater than the reference margin.

[0072] According to this configuration, when the amount of power stored in the power storage device is less than or equal to the reference margin and there is no charging station near the junction where the passing object vehicle intends to pass, the correction coefficient is set large, so the standby time index is likely to become a large value. Therefore, a passing object vehicle with the amount of power stored in the power storage device less than or equal to the reference margin can easily pass through a junction without a charging station and can easily and early charge at other charging stations or the like. Industrial applicability

[0073] The technology related to the present disclosure can be applied to an article conveying device including a plurality of conveyors traveling along a pre-determined path and a control device for controlling the foregoing conveyors. Explanation of reference numerals

[0074] 100: Article conveying device 1: Conveyor 12: Power storage device 2: Control device 7: Charging station 9: Path 90: Junction 91: Straight path 92: Curved path Tf: Standby time X: Correction coefficient I: Standby time index J: Congestion level

Claims

1. An article transporting device comprising a plurality of transport vehicles traveling along a predetermined path and a control device for controlling the transport vehicles, It has the following characteristics: The control device is configured to perform a merging control for controlling the movements of the plurality of transport vehicles at a merging portion where the plurality of paths merge. Each of the plurality of transport vehicles that want to pass through the junction at the same time is regarded as a passing vehicle, The merging control includes an order determination process for determining a passing order of each of the plurality of passing object vehicles at the merging section. The control device determines the passing order in accordance with a waiting time index determined based on a waiting time of a plurality of the passing vehicles at the merging section in the order determination processing, The waiting time index is determined by correcting the waiting time using a correction coefficient determined according to the state of each of the plurality of passing vehicles.

2. The article conveying device according to claim 1, wherein: The control device compares the waiting time indexes for each of the plurality of passing subject vehicles in the order determination process, and allows the passing subject vehicle having the largest waiting time index to pass earlier than the other passing subject vehicles.

3. The article conveying device according to claim 2, wherein: The correction coefficient is set so that the waiting time index is increased when the passing vehicle is conveying an article compared to when the passing vehicle is not conveying the article.

4. The article conveying device according to claim 2, wherein: The correction coefficient is set so that the waiting time index is increased when the passing vehicle is on a straight path that merges into the merging portion in a straight line compared to when the passing vehicle is on a curved path that merges into the merging portion in a curved line.

5. The article conveying device according to claim 2, wherein: The correction coefficient is set so that the waiting time index increases as the congestion level on the route where the passing object vehicle is located increases.

6. The article conveying device according to claim 2, wherein: Some or all of the plurality of transport vehicles are equipped with a power storage device for storing electricity. A charging station for charging the power storage device is provided near the junction. The correction coefficient is set so that the waiting time index is reduced when the amount of electricity stored in the power storage device mounted on the passing vehicle is equal to or less than a predetermined reference remaining amount compared to when the amount of electricity stored in the power storage device is greater than the reference remaining amount.

7. The article conveying device according to claim 6, wherein: The correction coefficient is set as follows: when the amount of electricity stored in the power storage device mounted on the passing vehicle is less than the reference balance and there is no charging station in front of the junction through which the passing vehicle wants to pass, the standby time indicator is increased compared to a case where the amount of electricity stored in the power storage device is greater than the reference balance.

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