Article conveying facility

Abstract

The article conveying equipment is provided with a control system; the control system is configured such that, when an entry permission issuing process for issuing entry permissions to the merging unit (43) for a plurality of entry waiting transport vehicles (Va) is executed, the entry permissions are issued for the number X of entry waiting transport vehicles (Va) among the entry waiting transport vehicles (Va) in the first pre-merging section; if the first number of transport vehicles (Va) waiting for entry in the first pre-confluence section is N1, the second number of transport vehicles (Va) waiting for entry in the second pre-confluence section is N2, and the number of adjustment vehicles equal to or greater than 0 is M, X = N1-N2 + M.

Description

Technical Field

[0001] The present invention relates to an article conveying device including a plurality of conveyors that move along a preset movable path. Background Art

[0002] An example of such an article conveying device is disclosed in Japanese Unexamined Patent Application Publication No. 2018-128914 (Patent Document 1). In the article conveying device of Patent Document 1, a first stop position (P3) and a second stop position (P4) are set upstream of a merging position (P2). For example, the conveyor (3) that enters the pre-merging section where the second stop position (P4) is located waits at the second stop position (P4) until it is permitted to enter the merging section where the merging position (P2) is located. Summary of the Invention

[0003] In the article conveying device of Patent Document 1, even if the number of conveyors stopped in the pre-merging section where the second stop position is located becomes extremely large, the conveyors stopped in the pre-merging section where the first stop position is located and the conveyors stopped in the pre-merging section where the second stop position is located enter the merging section under the same conditions. Therefore, an uneven state in which the number of conveyors stopped in the pre-merging section where the second stop position is located is large continues, and conveyors that cannot enter the pre-merging section where the second stop position is located may become congested in an upstream section from this pre-merging section. Moreover, if such congestion occurs, the conveying efficiency of articles in the entire article conveying device may decrease.

[0004] Therefore, it is desired to realize an article conveying device that can easily suppress the occurrence of congestion in an upstream section from the pre-merging section.

[0005] The article conveyance device related to the present disclosure is an article conveyance device including a plurality of conveyance vehicles that move along a preset movable path to convey articles and a control system that controls the plurality of aforementioned conveyance vehicles; in the aforementioned movable path, there is a confluence section where two pre-confluence sections merge into one post-confluence section; in the two aforementioned pre-confluence sections, the one with a larger number of the aforementioned conveyance vehicles waiting to enter the aforementioned confluence section, i.e., the waiting-to-enter conveyance vehicles, is set as the first pre-confluence section, and the other is set as the second pre-confluence section; the aforementioned control system is configured such that, when performing an entry permission issuance process of issuing an entry permission for the plurality of aforementioned waiting-to-enter conveyance vehicles to enter the aforementioned confluence section, for the aforementioned waiting-to-enter conveyance vehicles in the aforementioned first pre-confluence section, the entry permission is issued to the aforementioned waiting-to-enter conveyance vehicles in an amount of X units. If the number of the aforementioned waiting-to-enter conveyance vehicles in the aforementioned first pre-confluence section, i.e., the first number, is set as N1, the number of the aforementioned waiting-to-enter conveyance vehicles in the aforementioned second pre-confluence section, i.e., the second number, is set as N2, and the adjustment number, which is a number of 0 or more, is set as M, then X = N1 - N2 + M.

[0006] According to this structure, since a larger number of conveyance vehicles are preferentially given entry permission to the confluence section starting from the pre-confluence section with a larger number of waiting-to-enter conveyance vehicles, the inequality in the number of waiting-to-enter conveyance vehicles in the two pre-confluence sections can be alleviated. Therefore, it is easy to reduce the possibility of a situation where the number of waiting-to-enter conveyance vehicles in a certain pre-confluence section becomes extremely large and affects the movement of other conveyance vehicles in the section upstream of this pre-confluence section. Thus, it is easy to suppress the occurrence of congestion in the section upstream of the pre-confluence section. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a schematic diagram showing the article conveyance device of the embodiment.

[0008] Figure 2 It shows Figure 1 a schematic diagram of the conveyance vehicle.

[0009] Figure 3 It is to explain Figure 1 the entry permission issuance process in the article conveyance device.

[0010] Figure 4 It shows Figure 3 a schematic diagram of the next state.

[0011] Figure 5 It shows Figure 4 a schematic diagram of the next state.

[0012] Figure 6 It is to explain Figure 1 the entry permission issuance process in the article conveyance device. Detailed implementation mode

[0013] Hereinafter, the article conveying device 10 according to the first embodiment will be described with reference to the drawings.

[0014] Figure 1 It is a diagram showing an example of the article conveying device 10 of the present embodiment. As shown in Figure 1 simplified representation, the article conveying device 10 includes a plurality of conveyors V that move along a preset movable path 30 to convey the article U. The movable path 30 is a path (travel path) on which the conveyor V can travel. The movable path 30 refers to the entire path on which the conveyor V travels. The movable path 30 is composed of a set of multiple paths (partial paths).

[0015] The article conveying device 10 includes a control system 100 that controls the plurality of conveyors V. Each function of the control system 100 is realized, for example, by the cooperation of hardware such as an arithmetic processing device and a program executed on the hardware. The entire control system 100 may be provided on the conveyor V, or a part of it may be provided on the conveyor V and a part on an external control device (a control device provided outside the conveyor V and capable of communicating with the conveyor V). The entire control system 100 may also be provided on the external control device. Here, the external control device may not be a single device, but a set of multiple devices capable of communicating with each other. The control system 100 controls the travel of the plurality of conveyors V so that they reach their respective destinations. Examples of the "destination of the conveyor" include the stations of the conveying source and the conveying target described later.

[0016] Figure 2 It is a diagram showing an example of the conveyor V. The conveyor V has a controller (equipment controller) that controls the travel drive unit 13 and the guide drive unit 20 described later. When at least a part of the control system 100 is provided on the external control device, the controller provided in the conveyor V operates according to an instruction from the external control device. When at least a part of the control system 100 is provided in the conveyor V, the controller provided in the conveyor V may constitute at least a part of the control system 100.

[0017] As Figure 2 shown, the direction along the movable path 30 is set as the travel direction W, and the direction (here, the horizontal direction orthogonal to the travel direction W) observed in the up-down direction Z (vertical direction) along the up-down direction is set as the width direction Y. As Figure 1 shown, a forward direction F is set for each part of the movable path 30. The direction opposite to the forward direction F is set as the reverse direction R (refer to Figure 2) The transporter V travels substantially along the movable path 30 in the forward direction F. In the present embodiment, the movable path 30 is configured such that the transporter V can circulate between the conveyance source and the conveyance destination of the article U by traveling in the forward direction F.

[0018] As Figure 2 shown, the side along the movable path 30 toward the forward direction F is defined as the downstream side W1, and the side along the movable path 30 toward the reverse direction R is defined as the upstream side W2. The traveling direction W can also be referred to as the front-rear direction of the transporter V, the downstream side W1 can also be referred to as the front side of the transporter V, and the upstream side W2 can also be referred to as the rear side of the transporter V. One side in the width direction Y (here, on the right side toward the forward direction F) is defined as the first width side Y1, and the other side in the width direction Y (here, on the left side toward the forward direction F) is defined as the second width side Y2.

[0019] The transporter V travels along the movable path 30 to convey the article U. The article U is, for example, a FOUP (Front Opening Unified Pod) that houses semiconductor wafers. The transporter V is an automated guided vehicle. The transporter V may or may not be equipped with wheels. The movable path 30 may be physically formed or virtually formed. In the present embodiment, the movable path 30 is physically formed by the traveling rails 36 (here, a pair of traveling rails 36 spaced apart from each other in the width direction Y). The traveling rails 36 are, for example, suspended and supported from the ceiling.

[0020] In Figure 2 it is envisioned that the movable path 30 is formed along the ceiling, but the movable path 30 can also be formed on the floor surface or the like. In the case where the movable path 30 is formed on the floor surface, for example, the movable path 30 is physically formed by rails and passageways provided on the floor surface, or the movable path 30 is virtually formed by two-dimensional codes, RF (Radio Frequency) tags, magnetic tapes, etc. provided on the floor surface. The movable path 30 can also be a path calculated based on the recognition result of the surrounding environment of the transporter V. In addition, the floor surface can also be a floor surface suspended and supported from the ceiling.

[0021] As Figure 2As shown, the transporter V has a first traveling unit 11 as a traveling unit. The first traveling unit 11 includes traveling wheels 14 that rotate on the traveling surface of the traveling track 36 (here, the surface facing the upper side Z1), and a traveling drive unit 13 (for example, an electric motor such as a servo motor) that rotates the traveling wheels 14. By the traveling wheels 14 being rotationally driven by the traveling drive unit 13, the first traveling unit 11 travels along the traveling track 36. In the present embodiment, the transporter V further has a second traveling unit 12 on the upstream side W2 relative to the first traveling unit 11. The second traveling unit 12 is configured in the same manner as the first traveling unit 11, and is rotationally driven by the traveling drive unit 13 via the traveling wheels 14 to travel along the traveling track 36.

[0022] The transporter V has a main body unit 15 connected to the first traveling unit 11. The article U is transported by the transporter V while being housed in the main body unit 15. In the present embodiment, the main body unit 15 is supported by the first traveling unit 11 in a state of being disposed on the lower side Z2 relative to the first traveling unit 11. In the present embodiment, the main body unit 15 is connected to both the first traveling unit 11 and the second traveling unit 12, and is supported by the first traveling unit 11 and the second traveling unit 12 in a state of being disposed on the lower side Z2 relative to the first traveling unit 11 and the second traveling unit 12.

[0023] In Figure 2 the example shown, the transporter V has a collision prevention sensor 17 that detects other transporters V existing on the downstream side W1 relative to the transporter V. When the collision prevention sensor 17 detects another transporter V, the transporter V on which the collision prevention sensor 17 is mounted decelerates or stops, etc., to avoid a collision with the other transporter V.

[0024] As Figure 2 shown, in the present embodiment, information holders 38 such as two-dimensional codes and RF tags are provided at multiple locations in the movable path 30. The information holder 38 is provided, for example, at locations such as the stations and the pre-merging section 41 (see Figure 3 ), the post-merging section 45 (see Figure 3 ) that can be the stop positions of the transporter V. The information holder 38 holds the position information of the position where the information holder 38 is provided. The transporter V has a reading device 16 that reads the position information held by the information holder 38, and identifies its own current position based on the position information read by the reading device 16. The transporter V, for example, identifies its own current position based on the position information read by the reading device 16 and the traveling distance after the reading device 16 reads the position information. The traveling distance of the transporter V is measured using a rotary encoder, for example. In addition, it is also possible to configure the transporter V to identify its own current position based on the output of a positioning device such as a GNSS (Global Navigation Satellite System) receiver.

[0025] The control system 100 grasps the current positions of the plurality of transfer vehicles V respectively. In the present embodiment, as described above, the transfer vehicle V is configured to identify its own current position, and the control system 100 grasps the current positions of the plurality of transfer vehicles V respectively by obtaining information on the current positions of the transfer vehicles V from each transfer vehicle V. The control system 100 may also be configured to grasp the number of transfer vehicles Va waiting to enter, the number of transfer vehicles V in the pre-merge section 41, the number of transfer vehicles V in the merge section 43, or the number of transfer vehicles V in the post-merge section 45 by obtaining information on the current positions of the transfer vehicles V from each transfer vehicle V.

[0026] A plurality of stations serving as the destination points of the transfer vehicle V are set on the movable path 30. The transfer vehicle V transfers the article U between the article support part provided at the station. In the operation of the transfer vehicle V, it includes a running operation of traveling along the movable path 30, an operation of receiving the article U from the article support part at the station, and an operation of unloading the article U to the article support part at the station. After the transfer vehicle V travels to the station of the transfer source and receives the article U at the station, it travels to the station of the transfer destination and unloads the article U at the station.

[0027] Examples of the "article support part" include the loading port of the processing device 34 that processes, differentiates, etc. the article U, the in-out port of the storage device 35, and an unillustrated storage shelf that temporarily stores the article U. The article support part is, for example, arranged directly below the movable path 30 at the station.

[0028] Among the "destination points" of the transfer vehicle V described above, it includes a processing device use station 34s for exchanging the article U with the processing device 34 that performs the processing on the article U ( Figure 1 as shown). Among the "destination points" of the transfer vehicle V, it includes a storage device use station 35s for exchanging the article U with the storage device 35 that stores the article U ( Figure 1 as shown). The destination points of the transfer vehicle V may also include a maintenance use station (not shown) of the transfer vehicle V.

[0029] As Figure 2 shown, a guide rail 37 is provided in a part of the interval of the movable path 30. In the present embodiment, the guide rail 37 is arranged on the upper side Z1 with respect to the running rail 36. In the present embodiment, the guide rail 37 is arranged between the width directions Y of a pair of running rails 36 arranged at intervals in the width direction Y when viewed in the vertical direction.

[0030] The transporter V includes a guided portion (21, 22) that is guided by the guide rail 37 by contacting the guide rail 37 from one side in the width direction Y, and a guide drive portion 20 (for example, a solenoid or an electric motor) that moves the guided portion in the width direction Y. The movement of the guided portion in the width direction Y by the guide drive portion 20 is performed, for example, by driving only the guided portion in the width direction Y, or by driving the guided portion in the width direction Y together with the support portion that supports the guided portion.

[0031] In the present embodiment, the first traveling portion 11 includes a first guide wheel 21 that rotates (here, freely rotates) around an axis along the vertical direction Z as the guided portion, and the guide drive portion 20 provided on the first traveling portion 11 moves the first guide wheel 21 in the width direction Y. In Figure 2 the example shown, the first traveling portion 11 includes two first guide wheels 21 arranged in the traveling direction W, and the guide drive portion 20 moves the two first guide wheels 21 in the width direction Y by moving the support portion that supports the two first guide wheels 21 in the width direction Y.

[0032] In the present embodiment, the second traveling portion 12 includes a second guide wheel 22 that rotates (here, freely rotates) around an axis along the vertical direction Z as the guided portion, and the guide drive portion 20 provided on the second traveling portion 12 moves the second guide wheel 22 in the width direction Y. In Figure 2 the example shown, the second traveling portion 12 includes two second guide wheels 22 arranged in the traveling direction W, and the guide drive portion 20 moves the two second guide wheels 22 in the width direction Y by moving the support portion that supports the two second guide wheels 22 in the width direction Y. Hereinafter, when describing matters common to the first guide wheel 21 and the second guide wheel 22, they are denoted as "guide wheels" without distinction.

[0033] The transporter V includes a movement detection portion that detects the movement of the guide wheel in the width direction Y. In the present embodiment, the first guide wheel 21 and the second guide wheel 22 are guide wheels, and the first movement detection portion 21a and the second movement detection portion 21b are movement detection portions. The control system 100 detects that the guide wheel has moved in the width direction Y by obtaining the detection result of the movement of the guide wheel in the width direction Y obtained by the movement detection portion.

[0034] Figure 3 It is a diagram showing an example of the confluence portion 43 provided on the movable path 30. The above reverse direction R, traveling direction W, downstream side W1, upstream side W2, width direction Y, width direction first side Y1, and width direction second side Y2 are determined based on the forward direction F of the traveling direction that converges at the confluence portion 43. Therefore, in Figure 3In the figure, their illustrations are omitted and only the forward direction F is shown. In the movable path 30, a merging portion 43 is provided where paths from two pre-merging sections 41 merge into one post-merging section 45. In the movable path 30, a branching portion 47 is provided where a path branches from one pre-branching section into two post-branching sections (see Figure 1 ).

[0035] The pre-merging section 41 is an interval preset for each merging portion 43. The two pre-merging sections 41 are part of the movable path 30 and may also be one area respectively. One or both of the two pre-merging sections 41 may be composed of multiple areas. The pre-merging section 41 may also include the post-merging section 45 on the upstream side W2 of the pre-merging section 41. In the present embodiment, the pre-merging section 41 is an interval that does not include the merging portion 43 on the upstream side W2 of the pre-merging section 41. The pre-merging section 41 does not include other pre-merging sections 41. The pre-merging section 41 does not include the above-mentioned stations. The pre-merging section 41 is an interval where the guiding track 37 is not provided. In the illustrated example, the pre-merging section 41 is a straight interval.

[0036] In the present embodiment, the end on the upstream side W2 of the pre-merging section 41 is the location where the transport vehicle V requests permission from the control system 100 to pass through the merging portion 43. The end on the downstream side W1 of the pre-merging section 41 is the location where the leading transport vehicle V waiting to enter the merging portion 43 stops.

[0037] The post-merging section 45 is an interval preset for each merging portion 43. The post-merging section 45 is part of the movable path 30 and may also be one area. The post-merging section 45 may also be composed of multiple areas. The post-merging section 45 may also include the pre-merging section 41 on the downstream side W1 of the post-merging section 45. In the present embodiment, the post-merging section 45 is an interval that does not include the merging portion 43 on the downstream side W1 of the post-merging section 45. The post-merging section 45 does not include other post-merging sections 45. The post-merging section 45 does not include the above-mentioned stations. The post-merging section 45 is an interval where the guiding track 37 is not provided. In the illustrated example, the post-merging section 45 is a straight interval.

[0038] Here, among the two pre-merging sections 41, the one with the larger number N of transport vehicles V waiting to enter the merging portion 43, that is, the waiting-to-enter transport vehicle Va, is set as the "first pre-merging section", and the other is set as the "second pre-merging section". In Figure 3 's state, the pre-merging section 41b is the first pre-merging section, showing the situation where the pre-merging section 41a is the second pre-merging section.

[0039] As an example of a carrier V waiting to enter the carrier Va, there can be mentioned a stopped carrier V in the pre-merge section 41, a traveling carrier V in the pre-merge section 41, etc. The carriers V waiting to enter the carrier Va may also include a traveling carrier V in a section on the upstream side W2 of the pre-merge section 41. The carriers V waiting to enter the carrier Va are obtained, for example, by various sensors, a camera device (not shown) that images the pre-merge section 41, and image recognition. The control system 100 obtains the number N of carriers V waiting to enter each of the two pre-merge sections 41, determines the pre-merge section with the larger number N of carriers V waiting to enter as the first pre-merge section, and determines the other as the second pre-merge section.

[0040] The control system 100 is configured such that, when performing an entry permission issuance process for issuing an entry permission to the carrier Va waiting to enter the merge section 43 for a plurality of carriers, among the carriers V waiting to enter in the first pre-merge section, an entry permission is issued to the carrier Va corresponding to the number X of entry permission units. If the number N of carriers V waiting to enter in the first pre-merge section, that is, the first number, is N1, the number N of carriers V waiting to enter in the second pre-merge section, that is, the second number, is N2, and the adjustment number M, which is a quantity of 0 or more, the number X of entry permission units is represented by the following formula (1).

[0041] X = N1 - N2 + M...(1)

[0042] In Figure 3 the example shown, the adjustment number M is 0 units. Therefore, when the first number N1 is 4 units and the second number N2 is 2 units, the number X of entry permission units is 2 units. In Figure 3 the example shown, when the adjustment number M is set to 1 unit, the number X of entry permission units is 3 units. In addition, the adjustment number M is an arbitrary value, for example, it can also be 3 units, 4 units, etc., and can also be a value different for each merge section 43. As an example of the adjustment number M, there can be mentioned a number of 0 or more, a number of 1 or more, an integer of 0 or more, an integer of 1 or more, an integer of 2 or more, etc. When the value of the number X of entry permission units calculated by formula (1) is not an integer, rounding up, rounding down, rounding to the nearest integer, etc. are performed.

[0043] In the present embodiment, in the entry permission issuance process, the control system 100 simultaneously issues an entry permission to the carrier Va corresponding to the number X of entry permission units, but an entry permission may also be issued with a time difference. In the present embodiment, in the entry permission issuance process, it is configured to issue an entry permission to the carrier Va corresponding to the number X of entry permission units from the side closer to the merge section 43, but it may also be configured to issue an entry permission regardless of the distance from the merge section 43.

[0044] Figure 4 This shows an example of the state after the entry permission issuance process is executed and before the next entry permission issuance process is about to be executed. After the control system 100 executes the entry permission issuance process, it executes the next entry permission issuance process after the waiting entry carrier Va that has received the entry permission through this entry permission issuance process exits all the pre-merging sections 41. Additionally, the above next entry permission issuance process can also be executed before the waiting entry carrier Va exits all the merging sections 43. If this is the case, the carrier V can enter the merging section 43 efficiently. The above next entry permission issuance process can also be executed after the waiting entry carrier Va has completely exited all the merging sections 43. If this is the case, the carrier V can enter the merging section 43 safely.

[0045] Figure 5 It represents Figure 4 the subsequent state in the figure, showing the state where all the waiting entry carriers Va that have received the entry permission through the entry permission issuance process enter the post-merging section 45. The control system 100 can also be configured to execute the next entry permission issuance process after all the waiting entry carriers Va that have received the entry permission through this entry permission issuance process enter the post-merging section 45 after the entry permission issuance process is executed.

[0046] Figure 5 This shows an example of the state where the number N of waiting entry carriers Va in the two pre-merging sections 41 is the same. The control system 100 is configured such that, when executing the entry permission issuance process and when the number N of waiting entry carriers Va in the two pre-merging sections 41 is the same, it issues an entry permission to the waiting entry carrier Va in the pre-merging section 41 that meets one of the pre-set conditions and whose number is the adjusted number M plus at least one.

[0047] In Figure 5 the example shown, when the adjusted number M is 0, the control system 100 issues an entry permission to 1 waiting entry carrier Va whose number is the adjusted number M plus 1. When the adjusted number M is 1, the control system 100 issues an entry permission to 2 waiting entry carriers Va whose number is the adjusted number M plus 1 again.

[0048] Examples of the "pre-merge section suitable for a specific pre-set condition" include the pre-merge section 41 with a relatively long standby time at the beginning for waiting to enter the transporter Va, the pre-merge section 41 on one side that alternates differently according to each entry permission issuance process, one of the pre-merge sections 41, the pre-merge section 41 with a relatively small number of transporters V that can enter among the two pre-merge sections 41, the pre-merge section 41 with a relatively short length among the two pre-merge sections 41, etc. In the illustrated example, the number of transporters V that can enter in the pre-merge section 41 is represented by the number of transporters V indicated by the double-dashed line in the pre-merge section 41. The number of transporters V that can enter in the pre-merge section 41 is the value obtained by subtracting the number of transporters V waiting in the pre-merge section 41 from the upper limit value of the number of transporters V that can standby in the pre-merge section 41.

[0049] The length of the pre-merge section 41 can be either the actual length of the pre-merge section 41 or the upper limit value of the number of transporters V that can standby in the pre-merge section 41. In the illustrated example, the upper limit value of the pre-merge section 41a is 3, and the upper limit value of the pre-merge section 41b is 4.

[0050] When the value of the entry permission number X exceeds the pre-set entry upper limit value Xa, the control system 100 replaces the value of the entry permission number X with the entry upper limit value Xa and performs the entry permission issuance process. Examples of the entry upper limit value Xa include values set for each pre-merge section 41, values set for each post-merge section 45, values set for each merging section 43, etc.

[0051] When the value of the entry permission number X is less than the pre-set entry lower limit value Xb, the control system 100 replaces the value of the entry permission number X with the entry lower limit value Xb and performs the entry permission issuance process. Examples of the entry lower limit value Xb include values set for each pre-merge section 41, values set for each post-merge section 45, values set for each merging section 43, etc.

[0052] The control system 100 obtains information on the number of transporters V that can enter the post-merge section 45, i.e., the number of enterable units Xc. When the entry permission number X exceeds the number of enterable units Xc, the control system 100 replaces the value of the entry permission number X with a value equal to or less than the number of enterable units Xc and performs the entry permission issuance process. In this embodiment, the control system 100 replaces the value of the entry permission number X with the value of the number of enterable units Xc and performs the entry permission issuance process. The control system 100 periodically obtains information on the number of enterable units Xc.

[0053] As an example of the number Xc of vehicles that can enter, the value obtained by subtracting the number of vehicles V that are actually waiting in the post-merger section 45 from the upper limit value of the number of vehicles V that can wait in the post-merger section 45, the value set for each post-merger section 45, etc. can be cited. The number Xc of vehicles that can enter can be obtained by means of a camera device (not shown) that images the post-merger section 45 and image recognition, or can be calculated based on values obtained by various sensors, set values, etc. In the illustrated example, the number Xc of vehicles that can enter is represented by the number of vehicles V indicated by the dashed double-dashed line in the post-merger section 45. For example, in Figure 3 In the example shown, since the upper limit value of the number of vehicles V that can wait in the post-merger section 45 is 4 and the number of vehicles V that are waiting in the post-merger section 45 is 1, the number Xc of vehicles that can enter is 3.

[0054] In the present embodiment, the control system 100 is configured such that, when a waiting vehicle Va to enter that has exceeded a preset stop time appears in the second pre-merger section, an entry permission is issued to the waiting vehicle Va in the second pre-merger section with higher priority than the waiting vehicle Va in the first pre-merger section. If this is the case, it is possible to prevent the time during which the waiting vehicle Va in the second pre-merger section cannot enter the merger section 43 from becoming too long.

[0055] Figure 6 An example of a state in which the number N of waiting vehicles Va to enter in the pre-merger section 41b is larger than that in the pre-merger section 41a is shown. In the present embodiment, Figure 6 in this state, the pre-merger section 41a is the second pre-merger section and the pre-merger section 41b is the first pre-merger section. The difference between the number N of waiting vehicles Va to enter in the first pre-merger section, i.e., the first number N1, and the number N of waiting vehicles Va to enter in the second pre-merger section, i.e., the second number N2, is 1. Here, when the adjustment number M is an integer of 1 or more, the entry permission number X is 2. In this way, by configuring the control system 100 to issue an entry permission to at least 2 waiting vehicles Va, it is possible to improve the conveyance efficiency of articles.

[0056] Hereinafter, with reference to Figure 5 and Figure 6 the article conveyance device 10 according to the second embodiment will be described.

[0057] In the present embodiment, it is different from the first embodiment in that the corrected number Nk of waiting vehicles to enter is used. Hereinafter, the description will focus on the differences from the above-described first embodiment. In addition, for points not particularly described, it is assumed to be the same as the above-described first embodiment.

[0058] In this embodiment, the control system 100 corrects the value of the number N of units waiting to enter the transporter Va in the pre-merge section 41 according to the respective lengths of the two pre-merge sections 41, so that the shorter the length of the pre-merge section 41, the larger the value, and uses the corrected number Nk of units waiting to enter the transporter to perform the entry permission issuance process.

[0059] In this embodiment, the control system 100 uses the corrected number Nk of units waiting to enter the transporter to perform at least one of the determination of which pre-merge section 41 is set as the first pre-merge section and the calculation of the entry permission number X. In this embodiment, the control system 100 uses the corrected number Nk of units waiting to enter the transporter to perform both the above determination and calculation.

[0060] In this embodiment, as an example of the corrected number Nk of units waiting to enter the transporter, examples include the value obtained by adding the correction value K1, which becomes a larger value as the length of the pre-merge section 41 becomes shorter, to the number N of units waiting to enter the transporter, the value obtained by multiplying the number N of units waiting to enter the transporter Va by the correction value K1, which becomes a larger value as the length of the pre-merge section 41 becomes shorter, and the like. As an example of the correction value K1, examples include a number of 0 or more, an integer of 1 or more, etc. The correction value K1 may be proportional to the length of the pre-merge section 41 or may not be proportional.

[0061] In this embodiment, when the number N of units waiting to enter the transporter Va in the two pre-merge sections 41 is the same, the control system 100 uses the corrected number Nk of units waiting to enter the transporter to perform the entry permission issuance process. In this embodiment, when the number N of units waiting to enter the transporter Va in the two pre-merge sections 41 is different, the control system 100 uses the corrected number Nk of units waiting to enter the transporter to perform the entry permission issuance process.

[0062] In this embodiment, in the two pre-merge sections 41, the pre-merge section with the larger corrected number Nk of units waiting to enter the transporter is set as the first pre-merge section, and the other is set as the second pre-merge section. For example, in Figure 5 In the state shown, the number N of units waiting to enter the transporter Va in the two pre-merge sections 41 is the same, but the corrected number Nk of units waiting to enter the transporter becomes a larger value as the length of the pre-merge section 41 becomes shorter. Therefore, the pre-merge section 41 with the shorter length (the pre-merge section 41a in the illustrated example) becomes the first pre-merge section.

[0063] In Figure 6In the state shown, the number N of units waiting to enter the transporter Va in the longer pre-merging section 41 (pre-merging section 41b in the illustrated example) is 2 units. The number N of units waiting to enter the transporter Va in the shorter pre-merging section 41 (pre-merging section 41a in the illustrated example) is 1 unit. However, for example, if the correction value K1 for the longer pre-merging section 41 (pre-merging section 41b in the illustrated example) is 0.5 unit and the correction value K1 for the shorter pre-merging section 41 (pre-merging section 41a in the illustrated example) is 2 units, when the correction value K1 is added to the number N of units waiting to enter the transporter, the corrected number Nk of units waiting to enter the transporter for the former is 2.5 units, and the corrected number Nk of units waiting to enter the transporter for the latter is 3 units. Therefore, the shorter pre-merging section 41 (pre-merging section 41a in the illustrated example) is the first pre-merging section.

[0064] In the present embodiment, the corrected number Nk1 of units waiting to enter the transporter in the first pre-merging section is used as the first number N1, and the corrected number Nk2 of units waiting to enter the transporter in the second pre-merging section is used as the second number N2 to calculate the entry permission number X.

[0065] When the value of the entry permission number X exceeds a preset entry upper limit value Xa, the control system 100 replaces the value of the entry permission number X with the entry upper limit value Xa and executes the entry permission issuance process. As an example of the entry upper limit value Xa, values set for each pre-merging section 41, values set for each post-merging section 45, values set for each merging section 43, etc. can be cited.

[0066] When the value of the entry permission number X is less than a preset entry lower limit value Xb, the control system 100 replaces the value of the entry permission number X with the entry lower limit value Xb and executes the entry permission issuance process. As an example of the entry lower limit value Xb, values set for each pre-merging section 41, values set for each post-merging section 45, values set for each merging section 43, etc. can be cited.

[0067] Next, other embodiments of the article conveying device 10 will be described.

[0068] (1) In the first and second embodiments, the pre-merging section 41 is exemplified as a section preset for each merging section 43 and a section that does not include other pre-merging sections 41. However, it is not limited to such an example. For example, the pre-merging section 41 may also include a pre-merging section 41, a merging section 43, a post-merging section 45, a station, a curved section, etc. on the upstream side W2 of the pre-merging section 41.

[0069] (2) In the first and second embodiments, an example has been described in which the post-merging section 45 is a section preset for each merging section 43 and is a section that does not include other post-merging sections 45. However, it is not limited to such an example. For example, the post-merging section 45 may include a pre-merging section 41, a merging section 43, a post-merging section 45, a station, a curved section, etc. on the downstream side W1 of the post-merging section 45.

[0070] (3) In the first and second embodiments, an example has been described in which the control system 100 executes the next entry permission issuance process after the waiting entry carrier Va that has received the entry permission through the entry permission issuance process has exited all the first pre-merging sections after executing the entry permission issuance process. However, it is not limited to such an example. For example, the next entry permission issuance process may also be executed before the waiting entry carrier Va that has received the entry permission through the entry permission issuance process has exited all the first pre-merging sections.

[0071] (4) In the first embodiment, an example has been described in which, when the control system 100 executes the entry permission issuance process and the number of waiting entry carriers Va in the two pre-merging sections 41 is the same, an entry permission is issued to the carrier V with the number of carriers after adding at least one to the adjusted number M of carriers Va in the pre-merging section 41 that meets one of the preset conditions.

[0072] However, it is not limited to such an example. For example, when the number of waiting entry carriers Va in the two pre-merging sections 41 is the same, an entry permission may also be issued to multiple waiting entry carriers Va in one of the two pre-merging sections 41 without discrimination. For example, it may also be configured to issue an entry permission to the waiting entry carrier Va with the number of carriers after adding at least two to the adjusted number M of carriers.

[0073] (5) In the first and second embodiments, an example has been described in which the control system 100 replaces the value of the entry permission number X with the entry upper limit value Xa and executes the entry permission issuance process when the value of the entry permission number X exceeds the preset entry upper limit value Xa. However, it is not limited to such an example. For example, the entry upper limit value Xa may not be preset. For example, the value of the entry permission number X may also be replaced with a value less than the entry upper limit value Xa and the entry permission issuance process may be executed.

[0074] (6) In the first and second embodiments, an example has been described in which the control system 100 periodically acquires information on the number of carrier vehicles V that can enter the post-merger section 45, i.e., the number of enterable vehicles Xc, and when the number of permitted entry vehicles X exceeds the number of enterable vehicles Xc, the value of the number of permitted entry vehicles X is replaced with a value equal to or less than the number of enterable vehicles Xc and the entry permission issuance process is executed. However, it is not limited to such an example. For example, the control system 100 may be configured to acquire information on the number of enterable vehicles Xc not periodically but in the entry permission issuance process. For example, the control system 100 may be configured not to acquire information on the number of enterable vehicles Xc.

[0075] (7) In the second embodiment, an example has been described in which the control system 100 executes the entry permission issuance process using the corrected number of waiting carrier vehicles Nk when the number of waiting carrier vehicles Va in the two pre-merger sections 41 is the same and when it is different. However, it is not limited to such an example. For example, the control system 100 may be configured to execute the entry permission issuance process using the corrected number of waiting carrier vehicles Nk when the number of waiting carrier vehicles Va in the two pre-merger sections 41 is the same or in only one of the cases where it is different. For example, after determining the first pre-merger section and the second pre-merger section using the corrected number of waiting carrier vehicles, the corrected number of waiting carrier vehicles Nk may not be used in the calculation of the number of permitted entry vehicles X. For example, the corrected number of waiting carrier vehicles may not be used, and after determining the first pre-merger section and the second pre-merger section, the corrected number of waiting carrier vehicles Nk may be used in the calculation of the number of permitted entry vehicles X.

[0076] (8) In the first and second embodiments, an example has been described in which the path of the merging section 43 merges from only two pre-merger sections 41 into only one post-merger section 45. However, it is not limited to such an example. For example, a branch section 47 that branches to a path different from the post-merger section 45 may be located between the pre-merger section 41 and the merging section 43 or between the merging section 43 and the post-merger section 45, and the carrier vehicle V waiting to enter the branch section 47 also stands by in the pre-merger section 41. In such a structure where the carrier vehicle V waiting to enter the branch section 47 also stands by in the pre-merger section 41, it may be considered that the branch section is included in the merging section 43, and the number of carrier vehicles V waiting to enter the branch section 47 is included in the number of waiting carrier vehicles Va waiting to enter the merging section 43. It may also be a structure in which the path of the merging section 43 merges from three or more pre-merger sections 41 into one post-merger section 45, and the entry permission issuance process using the number of permitted entry vehicles X is executed in at least two of the three or more pre-merger sections 41.

[0077] (9) Additionally, as long as there is no contradiction, the structures disclosed in the above-described embodiments can also be combined with the structures disclosed in other embodiments and applied (including combinations of the embodiments described as other embodiments). Regarding other structures, the embodiments disclosed in this specification are merely simple illustrations in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0078] Hereinafter, an article conveying device related to the present disclosure will be described.

[0079] As a technical solution, it is an article conveying device including a plurality of conveying vehicles that move along a preset movable path to convey articles and a control system that controls the plurality of aforementioned conveying vehicles; in the aforementioned movable path, there is a confluence section where a path confluences from two pre-confluence sections into one post-confluence section; in the two aforementioned pre-confluence sections, the pre-confluence section with a larger number of the aforementioned conveying vehicles waiting to enter the aforementioned confluence section, i.e., the waiting-to-enter conveying vehicles, is set as the first pre-confluence section, and the other is set as the second pre-confluence section; the aforementioned control system is configured such that, when performing an entry permission issuance process of issuing an entry permission for the plurality of aforementioned waiting-to-enter conveying vehicles to enter the aforementioned confluence section, for the aforementioned waiting-to-enter conveying vehicles in the aforementioned first pre-confluence section with an entry permission quantity of X vehicles, the aforementioned entry permission is issued. If the number of the aforementioned waiting-to-enter conveying vehicles in the aforementioned first pre-confluence section, i.e., the first quantity, is set as N1, the number of the aforementioned waiting-to-enter conveying vehicles in the aforementioned second pre-confluence section, i.e., the second quantity, is set as N2, and the adjustment quantity, which is a number of 0 or more, is set as M, then X = N1 - N2 + M.

[0080] According to this structure, since a larger number of conveying vehicles are preferentially given entry permission to the confluence section starting from the pre-confluence section with a larger number of waiting-to-enter conveying vehicles, the inequality in the number of waiting-to-enter conveying vehicles in the two pre-confluence sections can be alleviated. Therefore, it is easy to reduce the possibility of a situation where the number of waiting-to-enter conveying vehicles in a certain pre-confluence section becomes extremely large and affects the movement of other conveying vehicles in the section upstream of this pre-confluence section. Thus, it is easy to suppress the occurrence of congestion in the section upstream of the pre-confluence section.

[0081] As a technical solution, the aforementioned control system is configured such that, when performing the aforementioned entry permission issuance process, when the number of the aforementioned waiting-to-enter conveying vehicles in the two aforementioned pre-confluence sections is the same, for the aforementioned waiting-to-enter conveying vehicles in the pre-confluence section that meets a preset condition, the aforementioned entry permission is issued for the aforementioned waiting-to-enter conveying vehicles with a quantity equal to the aforementioned adjustment quantity M plus at least 1 vehicle.

[0082] According to this structure, in the case of performing the entry permission issuance process, even when the number of carrier vehicles waiting to enter in the two pre-merging sections is the same, it is possible to appropriately issue an entry permission to the carrier vehicle to allow it to pass through the merging section. Moreover, by issuing an entry permission to the carrier vehicle through this process, it is possible to increase the likelihood of a state where the number of carrier vehicles waiting to enter in the two pre-merging sections is different when performing the next entry permission issuance process. Therefore, it is possible to appropriately repeat the entry permission issuance process.

[0083] As a technical solution, the aforementioned control system corrects the value of the number of the aforementioned carrier vehicles waiting to enter in the pre-merging section according to the lengths of the two aforementioned pre-merging sections respectively, so that it becomes a larger value as the length of the pre-merging section becomes shorter, and uses the corrected number of carrier vehicles waiting to enter to perform at least one of the determination of which of the aforementioned pre-merging sections is set as the aforementioned first pre-merging section and the calculation of the aforementioned entry permission number X.

[0084] According to this structure, as the length of the pre-merging section becomes shorter, it is easier for the carrier vehicles waiting to enter in this pre-merging section to obtain an entry permission to the merging section. Therefore, it is easy to reduce the possibility that the shorter pre-merging section is filled with carrier vehicles waiting to enter and becomes a situation that affects the movement of other carrier vehicles in the section upstream of it.

[0085] As a technical solution, when the value of the aforementioned entry permission number X exceeds a preset entry upper limit value, the aforementioned control system replaces the value of the aforementioned entry permission number X with the aforementioned entry upper limit value and performs the aforementioned entry permission issuance process.

[0086] According to this structure, since it is possible to prevent the value of the entry permission number X from becoming extremely large, it is possible to prevent the time when the carrier vehicles waiting to enter in the second pre-merging section cannot enter the merging section from becoming too long.

[0087] As a technical solution, the aforementioned control system obtains information on the number of the aforementioned carrier vehicles that can enter the post-merging section, that is, the number of vehicles that can enter, and when the value of the aforementioned entry permission number X exceeds the number of vehicles that can enter, replaces the value of the aforementioned entry permission number X with a value not exceeding the number of vehicles that can enter and performs the aforementioned entry permission issuance process.

[0088] According to this structure, it is possible to avoid congestion in the post-merging section. In addition, when there is a branch between the carrier vehicles waiting to enter and the post-merging section, it is also possible to make a choice to bypass the post-merging section for the carrier vehicles waiting to enter. Thus, it is easy to improve the transportation efficiency of the carrier vehicles.

[0089] As a technical solution, after the foregoing control system executes the foregoing entering permission issuance process, after all of the foregoing waiting-for-entering transport vehicles that have received the foregoing entering permission through this entering permission issuance process have exited from the foregoing first pre-merging section, the next foregoing entering permission issuance process is executed.

[0090] According to this configuration, since the entering permission issuance process is repeatedly executed, it is possible to appropriately issue an entering permission to the transport vehicles that sequentially enter the pre-merging section so that they pass through the merging section. In addition, according to this configuration, since the next entering permission issuance process is executed after all of the transport vehicles that have received the entering permission through the previous entering permission issuance process have exited from the first pre-merging section, it is possible to also appropriately consider the number of transport vehicles that enter the pre-merging section after the previous entering permission issuance process and execute the next entering permission issuance process.

[0091] The article conveying equipment related to the present disclosure only needs to be able to achieve at least one of the above-described various effects. The technical features of the article conveying equipment related to the present disclosure can also be applied to an article conveying method and an article conveying program.

[0092] Explanation of reference numerals

[0093] 10: Article conveying equipment

[0094] 30: Movable path

[0095] 41: Pre-merging section

[0096] 43: Merging section

[0097] 45: Post-merging section

[0098] 100: Control system

[0099] U: Article

[0100] V: Transport vehicle

[0101] Va: Waiting-for-entering transport vehicle

[0102] N: Number of waiting-for-entering transport vehicles

[0103] N1: First number

[0104] N2: Second number

[0105] M: Adjustment number

[0106] X: Entering permission number

[0107] Xa: Entering upper limit value

[0108] Xc: Number of vehicles that can enter

Claims

1. An article conveying device, comprising a plurality of conveying vehicles that convey articles by moving along a predetermined movable path and a control system that controls the plurality of conveying vehicles, characterized in that: In the aforementioned movable path, there is a confluence portion where two pre-merging sections merge into one post-merging section; Of the two pre-merging sections, the one in which the number of the transport vehicles waiting to enter the merging portion is greater is defined as the first pre-merging section, and the other is defined as the second pre-merging section. The control system is configured such that, when executing the entry permission issuance process for issuing entry permission to the merging section to the plurality of the waiting-to-enter transport vehicles, the entry permission is issued to X number of the waiting-to-enter transport vehicles with entry permission among the waiting-to-enter transport vehicles in the first pre-merging section. If the number of the waiting-to-enter transport vehicles in the first pre-merging section, i.e., the first number, is N1, the number of the waiting-to-enter transport vehicles in the second pre-merging section, i.e., the second number, is N2, and the adjusted number that is a number greater than 0 is M, then X=N1-N2+M.

2. The article conveying device according to claim 1, characterized in that: The control system is configured such that, when executing the entry permission issuance process, if the number of the waiting-to-enter transport vehicles in the two pre-merger sections is the same, the entry permission is issued to the number of the waiting-to-enter transport vehicles in the pre-merger section that meets one of the pre-set conditions, which is the number obtained by adding at least one vehicle to the adjusted number M.

3. The article conveying device according to claim 1 or 2, characterized in that: The control system corrects the value of the number of transport vehicles waiting to enter in the pre-merging section according to the length of each of the two pre-merging sections so that it becomes a larger value as the length of the pre-merging section becomes shorter, and uses the corrected number of transport vehicles waiting to enter to perform at least one of determining which of the pre-merging sections is set as the first pre-merging section and calculating the number X of vehicles allowed to enter.

4. The article conveying device according to claim 1 or 2, characterized in that: When the value of the entry permission number X exceeds a preset entry upper limit value, the control system replaces the value of the entry permission number X with the entry upper limit value and executes the entry permission issuing process.

5. The article conveying device according to claim 1 or 2, characterized in that: The control system obtains information on the number of transport vehicles that can enter the post-merging section, i.e., the number of vehicles that can enter. When the value of the entry permission number X exceeds the number of vehicles that can enter, the control system replaces the value of the entry permission number X with a value less than the number of vehicles that can enter and executes the entry permission issuance process.

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