Carrier system and control method thereof

Abstract

The invention discloses a carrier system and a control method thereof. The carrier control method is suitable for being executed by a central control device of the carrier system. And when receiving inquiry information sent by any idle carrier, the central control device executes the carrier control method. The carrier control method comprises the following steps: an inquiry step: judging whether a work station on a traveling path of a first idle carrier sends carrying demand information or not; if it is judged that the work station sends the carrying demand information, whether a second idle carrying vehicle exists at a preset distance behind the first idle carrying vehicle or not is judged; if it is judged that the second idle carrier exists, the idle carrier is controlled to directly pass through the work station, and the second idle carrier is controlled to go to the work station for carrying. And if it is judged that the second idle carrier does not exist, the first idle carrier is controlled to go to the workstation for carrying operation.

Description

Technical Field

[0001] The present invention relates to a carrier vehicle system and a control method thereof, and particularly to a carrier vehicle system and a carrier vehicle control method for an automated guided vehicle (AGV). Background Art

[0002] In the existing common carrier vehicle systems and carrier vehicle control methods applied in semiconductor factories, the problem of carrier vehicle congestion often occurs. For example, when a carrier vehicle travels to a specific workstation according to a control instruction, it may be blocked by another carrier vehicle because multiple carrier vehicles plan to pass through the same path or narrow passage at the same time, and the carrier vehicle is forced to stop and wait. Or, during the execution of a task, the carrier vehicle may temporarily change its path due to unexpected events (such as equipment failure, personnel interference), resulting in a conflict with other carrier vehicles. Summary of the Invention

[0003] The present invention discloses a carrier vehicle system and a control method thereof, mainly used to improve the problem that the existing common carrier vehicle systems or carrier vehicle control methods are prone to carrier vehicle congestion in practical applications.

[0004] One embodiment of the present invention discloses a carrier vehicle control method, which is suitable for being executed by a central control device of a carrier vehicle system. The carrier vehicle system includes a plurality of tracks and a plurality of carrier vehicles. The central control device can receive an inquiry message transmitted by any idle carrier vehicle. An idle carrier vehicle is a carrier vehicle without a load and does not receive any handling instruction from the central control device at present. The idle carrier vehicle that sends the inquiry message is defined as a first idle carrier vehicle. When the central control device receives the inquiry message, it will execute the carrier vehicle control method. The carrier vehicle control method includes the following steps: A query step: According to the location of the first idle carrier vehicle, judge whether a workstation located on the travel path of the first idle carrier vehicle sends a handling requirement message; If the central control device determines that the workstation sends a handling requirement message, the following steps are executed: A judgment step: Judge whether there is a second idle carrier vehicle at a predetermined distance behind the first idle carrier vehicle; The second idle carrier vehicle is another idle carrier vehicle different from the first idle carrier vehicle; If the central control device determines that there is a second idle carrier vehicle, control the first idle carrier vehicle to directly pass through the workstation, control the second idle carrier vehicle to go to the workstation, and make the second idle carrier vehicle execute a handling operation according to the handling requirement message; If the central control device determines that there is no second idle carrier vehicle, control the first idle carrier vehicle to go to the workstation, and make the first idle carrier vehicle execute the handling operation according to the handling requirement message.

[0005] Optionally, a plurality of workstations arranged adjacent to each other are jointly combined into a workstation group; in the query step, the central control device determines, based on the location of the first idle carrier vehicle, whether a workstation group or a workstation located on the travel route of the first idle carrier vehicle issues a handling requirement message; in the query step, if the central control device determines that the workstation group issues multiple handling requirement messages, and in the judgment step, the central control device determines that there is no second idle carrier vehicle behind the first idle carrier vehicle, then the central control device will control the first idle carrier vehicle to go to the workstation with the highest priority according to a priority data among the multiple handling requirement messages to perform a handling operation.

[0006] Optionally, a plurality of workstations arranged adjacent to each other are jointly combined into a workstation group; in the query step, the central control device determines, based on the location of the first idle carrier vehicle, whether a workstation group or a workstation located on the travel route of the first idle carrier vehicle issues a handling requirement message; a workstation that issues a handling requirement message is defined as a to-be-handled workstation; in the query step, if the central control device determines that the workstation group issues multiple handling requirement messages, and in the judgment step, the central control device determines that there is a second idle carrier vehicle behind the first idle carrier vehicle, then the central control device controls the first idle carrier vehicle to go to the to-be-handled workstation farthest from the first idle carrier vehicle for a handling operation, and controls the second idle carrier vehicle to go to the to-be-handled workstation that is farthest from the second idle carrier vehicle and not the one that the first idle carrier vehicle goes to for a handling operation.

[0007] Optionally, the two to-be-handled workstations that the first idle carrier vehicle and the second idle carrier vehicle go to respectively are defined as a first to-be-handled workstation and a second to-be-handled workstation, and the second to-be-handled workstation is located between the first to-be-handled workstation and the location where the first idle carrier vehicle issues an inquiry message.

[0008] Optionally, in the judgment step, if the central control device determines that there is no second idle carrier vehicle, then the central control device will perform the following steps: a task vehicle judgment step: determine whether there is a task carrier vehicle at a predetermined distance behind the first idle carrier vehicle; the task carrier vehicle is carrying a to-be-loaded object, or the task carrier vehicle is going to a workstation according to a handling instruction; if the central control device determines that there is a task carrier vehicle, then control the first idle carrier vehicle to directly pass through the workstation; if the central control device determines that there is no task carrier vehicle, then control the first idle carrier vehicle to go to the workstation and make the first idle carrier vehicle perform a handling operation according to the handling requirement message.

[0009] Optionally, in the judgment step, if the central control device determines that there is no second idle transport vehicle, the central control device will perform the following steps: a forthcoming idle vehicle judgment step: determining whether there is a forthcoming idle transport vehicle at a predetermined distance behind the first idle transport vehicle; a forthcoming idle transport vehicle is a transport vehicle that will become an idle transport vehicle within a preset time; if the central control device determines that there is a forthcoming idle transport vehicle, it will control the first idle transport vehicle to directly pass through the workstation; if the central control device determines that there is no forthcoming idle transport vehicle, it will control the first idle transport vehicle to go to the workstation and make the first idle transport vehicle perform a transport operation according to the transport demand information.

[0010] Optionally, in the judgment step, if the central control device determines that there is no second idle transport vehicle, the central control device will perform the following steps: an intermediate transport vehicle judgment step: determining whether there is a forthcoming idle transport vehicle between the workstation and the first idle transport vehicle; a forthcoming idle transport vehicle is a transport vehicle that will become an idle transport vehicle within a preset time; if the central control device determines that there is a forthcoming idle transport vehicle, it will perform a time judgment step: determining whether a first time is greater than a second time; the first time is the time required for the first idle transport vehicle to move to the workstation; the second time is the sum of the time required for the forthcoming idle transport vehicle to move to the workstation after becoming an idle transport vehicle and the preset time; if the central control device determines that the first time is greater than the second time, the central control device will control the forthcoming idle transport vehicle to go to the workstation and make the forthcoming idle transport vehicle perform a transport operation according to the transport demand information, and the central control device will control the first idle transport vehicle to directly pass through the workstation; if the central control device determines that the first time is less than the second time, or if the central control device determines that there is no forthcoming idle transport vehicle between the workstation and the first idle transport vehicle, the central control device will control the first idle transport vehicle to go to the workstation and make the first idle transport vehicle perform a transport operation according to the transport demand information.

[0011] Optionally, in the determination step, if the central control device determines that there is a second idle carrier vehicle, the central control device controls the first idle carrier vehicle to directly pass through the workstation. Before the central control device controls the second idle carrier vehicle, the following steps are performed: An intermediate carrier vehicle determination step: Determine whether there is an upcoming idle carrier vehicle between the workstation and the second idle carrier vehicle; the upcoming idle carrier vehicle is a carrier vehicle that will become an idle carrier vehicle within a preset time; if the central control device determines that there is an upcoming idle carrier vehicle, a time determination step is performed: Determine whether a first time is greater than a second time; the first time is the time required for the second idle carrier vehicle to move to the workstation; the second time is the sum of the time required for the upcoming idle carrier vehicle to move to the workstation after becoming an idle carrier vehicle and the preset time; if the central control device determines that the first time is greater than the second time, the central control device controls the upcoming idle carrier vehicle to go to the workstation, and enables the upcoming idle carrier vehicle to perform a carrying operation according to the carrying demand information, and the central control device will control the second idle carrier vehicle to directly pass through the workstation; if the central control device determines that the first time is less than the second time, or if the central control device determines that there is no upcoming idle carrier vehicle between the workstation and the second idle carrier vehicle, the central control device controls the second idle carrier vehicle to go to the workstation, and enables the second idle carrier vehicle to perform a carrying operation according to the carrying demand information.

[0012] One embodiment of the present invention discloses a carrier vehicle system, which includes: a plurality of tracks, at least a part of the plurality of tracks jointly form a closed path; a plurality of carrier vehicles, each carrier vehicle can move on the tracks; a central control device, which can receive an inquiry message transmitted by any idle carrier vehicle; the idle carrier vehicle is an unloaded carrier vehicle, and the idle carrier vehicle does not receive any carrying instruction from the central control device at present; the idle carrier vehicle that sends the inquiry message is defined as a first idle carrier vehicle; wherein, when the central control device receives the inquiry message, it will execute the carrier vehicle control method.

[0013] Optionally, the central control device will perform the following steps at intervals of a predetermined time: An energy-saving determination step: Determine whether there is any carrying demand information that has not been processed at present; if there is no carrying demand information that has not been processed at present, control all idle carrier vehicles to stop moving without affecting the travel paths of other non-idle carrier vehicles.

[0014] In summary, the carrier vehicle control method and the carrier vehicle system of the present invention can effectively solve the problem that carrier vehicles are prone to traffic jams in the prior art.

[0015] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, these descriptions and drawings are only used to illustrate the present invention and do not impose any limitation on the protection scope of the present invention. Brief Description of the Drawings

[0016] Figure 1 It is a flowchart of the first embodiment of the handling vehicle control method of the present invention.

[0017] Figure 2 and Figure 3 They are respectively schematic diagrams of another usage scenario of the first embodiment of the handling vehicle system of the present invention.

[0018] Figure 4 It is a flowchart of the second embodiment of the handling vehicle control method of the present invention.

[0019] Figure 5 It is a schematic diagram of the second embodiment of the handling vehicle system of the present invention.

[0020] Figure 6 It is a schematic diagram of the third embodiment of the handling vehicle system of the present invention.

[0021] Figure 7 It is a schematic diagram of the fourth embodiment of the handling vehicle system of the present invention.

[0022] Figure 8 It is a schematic diagram of the fifth embodiment of the handling vehicle system of the present invention.

[0023] Figure 9 It is a flowchart of the sixth embodiment of the handling vehicle control method of the present invention.

[0024] Figure 10 It is a schematic diagram of the sixth embodiment of the handling vehicle system of the present invention.

[0025] Figure 11 It is a flowchart of the seventh embodiment of the handling vehicle control method of the present invention.

[0026] Figure 12 It is a schematic diagram of the seventh embodiment of the handling vehicle system of the present invention.

[0027] Figure 13 It is a flowchart of the eighth embodiment of the handling vehicle control method of the present invention.

[0028] Figure 14 It is a schematic diagram of the eighth embodiment of the handling vehicle system of the present invention.

[0029] Figure 15 It is a flowchart of the ninth embodiment of the handling vehicle control method of the present invention.

[0030] Figure 16 It is a schematic diagram of the ninth embodiment of the handling vehicle system of the present invention. Detailed Description of the Invention

[0031] In the following description, if a specific drawing is referred to or as shown in a specific drawing, it is only used to emphasize that in the subsequent description, most of the relevant content involved appears in that specific drawing, but it does not limit that only the said specific drawing can be referred to in the subsequent description.

[0032] Please refer to Figures 1 to 3 , Figure 1 which is a flowchart of the first embodiment of the handling vehicle control method of the present invention, Figure 2 and Figure 3 are respectively schematic diagrams of another usage scenario of the first embodiment of the handling vehicle system of the present invention.

[0033] The handling vehicle system 100 of the present invention includes a central control device 1, a plurality of tracks 2 and a plurality of handling vehicles. At least a part of the plurality of tracks 2 jointly form a closed path. The central control device 1 can control any handling vehicle to move on any track 2.

[0034] The central control device 1 can receive an inquiry message 311 transmitted by any idle handling vehicle. An idle handling vehicle refers to a handling vehicle without a load, and the idle handling vehicle does not receive any handling instruction 11 from the central control device 1 at present. That is to say, the idle handling vehicle does not perform any handling operation, and the idle handling vehicle is not ready to perform a handling operation. Among them, the central control device 1 can send a handling instruction 11 to any handling vehicle. After the processing module of the handling vehicle receives the handling instruction 11, it can move to a specific workstation along a specific track 2 according to the handling instruction 11 to perform a handling operation.

[0035] The handling vehicle control method of the present invention is suitable for being executed by the central control device 1 of the handling vehicle system 100. The idle handling vehicle that issues the inquiry message 311 is defined as a first idle handling vehicle 31. When the central control device 1 receives the inquiry message, it will execute the handling vehicle control method. The handling vehicle control method includes the following steps:

[0036] An inquiry step S1: According to the location of the first idle handling vehicle 31, judge whether a workstation 4 on the travelable path of the first idle handling vehicle 31 issues a handling requirement message 41;

[0037] If the central control device 1 determines that none of the workstations 4 on the travelable path of the first idle handling vehicle 31 issue a handling requirement message 41, the handling vehicle control method ends, and the first idle handling vehicle 31 can send an inquiry message 311 to the central control device 1 again every other predetermined time, so that the central control device 1 executes the handling vehicle control method again.

[0038] In one embodiment, if the central control device 1 determines that none of the workstations 4 on the travelable path of the first idle carrier 31 send a handling requirement message 41, the central control device 1 may control the first idle carrier 31 to switch to a cyclic mode. When the processing module of the first idle carrier 31 switches to the cyclic mode, the processing module will control the first idle carrier 31 to continuously travel along the track at a predetermined speed, and the processing module will send an inquiry message 311 to the central control device 1 at intervals of a predetermined time.

[0039] If the central control device 1 determines that a workstation 4 on the travelable path of the first idle carrier 31 sends a handling requirement message 41, the following steps are executed:

[0040] A judgment step S2: Determine whether there is a second idle carrier 32 at a predetermined distance behind the first idle carrier 31; the second idle carrier 32 is another idle carrier different from the first idle carrier 31;

[0041] If the central control device 1 determines that there is a second idle carrier 32, a first passing step S3 is executed: Control the first idle carrier 31 to directly pass through the workstation 4, control the second idle carrier 32 to go to the workstation 4, and enable the second idle carrier 32 to perform a handling operation according to the handling requirement message 41.

[0042] If the central control device 1 determines that there is no second idle carrier 32, a going step S4 is executed: Control the first idle carrier 31 to go to the workstation 4, and enable the first idle carrier 31 to perform a handling operation according to the handling requirement message 41.

[0043] Among them, in the query step S1, the travelable path of the first idle carrier 31 refers to the track 2 that the first idle carrier 31 can continuously travel along while maintaining the current travel direction. For example, as Figure 2 shown, in the travel direction of the first idle carrier 31, there is a bifurcation position. After the first idle carrier 31 passes through this bifurcation position, in the situation where it can travel along the straight track 21 or the curved track 22 and travel along the first path P01 or the second path P02 respectively, both the first path P01 and the second path P02 belong to the travelable path of the first idle carrier 31.

[0044] In Figure 2In the scenario shown, it is assumed that in query step S1, the central control device 1 determines that the workstation 4 has sent a handling requirement message 41, and in judgment step S2, the central control device 1 determines that there is no second idle handling vehicle 32 at a predetermined distance behind the first idle handling vehicle 31. Then, the central control device 1 will send a handling instruction 11 to the first idle handling vehicle 31, so that the first idle handling vehicle 31 can go to the workstation 4 to perform a handling operation. That is to say, in Figure 2 In this scenario, the first idle handling vehicle 31 will move along path P21 to the workstation 4 to perform a handling operation.

[0045] On the contrary, as Figure 3 shown, it is assumed that in query step S1, the central control device 1 determines that the workstation 4 has sent a handling requirement message 41, and in judgment step S2, the central control device 1 determines that there is a second idle handling vehicle 32 at a predetermined distance behind the first idle handling vehicle 31. Then, the central control device 1 will cause the first idle handling vehicle 31 to directly pass through the workstation 4 along path P31, and the central control device 1 will send a handling instruction 11 to the second idle handling vehicle 32, so that the second idle handling vehicle 32 can go to the workstation 4 along path P32 to perform a handling operation.

[0046] In one variant embodiment, in the above first passing step S3, the central control device 1 can also control the first idle handling vehicle 31 and the second idle handling vehicle 32 to travel at a first vehicle speed and a second vehicle speed respectively, and the first vehicle speed is greater than the second vehicle speed. Thus, the first idle handling vehicle 31 can quickly pass through the workstation 4 relative to the second idle handling vehicle 32, and the second idle handling vehicle 32 will not be blocked by the first idle handling vehicle 31 during the traveling process.

[0047] In practice, when a handling vehicle changes from a non-idle state to an idle state, the processing module of the handling vehicle can send an inquiry message 311 to the central control device 1. In this way, the situation where the handling vehicle remains in an idle state continuously can be reduced, and the usage efficiency of the handling vehicle can be improved.

[0048] In the prior art, when the central control device of a workstation sends a handling requirement message, the central control device will control the handling vehicle closest to the workstation to go to the workstation to perform a handling operation. In this control method, the handling vehicle controlled by the central control device to go to the workstation will reduce its vehicle speed when approaching the workstation. For this reason, another idle handling vehicle located behind it will be forced to reduce its vehicle speed and even be forced to stop, resulting in subsequent handling vehicles having to reduce their vehicle speeds, and further causing traffic jams. On the contrary, the control method of the present invention described above can effectively reduce traffic jams or conflicts through the design of judgment step S2.

[0049] Please refer toFigure 4 and Figure 5 , Figure 4 is a flowchart of a second embodiment of the control method of the carrier vehicle according to the present invention, Figure 5 is a schematic diagram of a second embodiment of the carrier vehicle system according to the present invention. The difference between this embodiment and the foregoing embodiment is that: in the determination step S2, if the central control device 1 determines that there is no second idle carrier vehicle 32, the central control device 1 will perform the following steps:

[0050] A task vehicle determination step S5: Determine whether there is a task carrier vehicle 33 at a predetermined distance behind the first idle carrier vehicle 31; wherein, the task carrier vehicle 33 is carrying a to-be-loaded object, or, the task carrier vehicle 33 is traveling to a workstation according to a handling instruction 11;

[0051] If the central control device 1 determines that there is no task carrier vehicle 33, then perform the foregoing traveling step S4: Control the first idle carrier vehicle 31 to travel to the workstation, and cause the first idle carrier vehicle 31 to perform a handling operation according to the handling requirement information.

[0052] If the central control device 1 determines that there is a task carrier vehicle 33, then perform a second passing step S6: Control the first idle carrier vehicle 31 to directly pass through the workstation. Thereby, it is possible to prevent the first idle carrier vehicle 31 from blocking the progress of the task carrier vehicle 33.

[0053] As Figure 5 shown, after the first idle carrier vehicle 31 sends an inquiry message 311 to the central control device 1, the central control device 1 determines that there is a handling requirement message 41 sent from the workstation 4 on the traveling route of the first idle carrier vehicle 31, but the central control device 1 determines that there is a task carrier vehicle 33 behind the first idle carrier vehicle 31, then the central control device 1 will control the first carrier vehicle 31 to directly pass through the workstation 4 along the path P51, and the central control device 1 will not control the first carrier vehicle 31 to travel to the workstation 4 for handling operations, because, if the central control device 1 controls the first carrier vehicle 31 to travel to the workstation 4 for handling operations, then during the process of the first carrier vehicle 31 traveling to the workstation 4 and performing handling operations at the workstation 4, it is possible that the task carrier vehicle 33 is blocked by the first idle carrier vehicle 31 and is forced to reduce speed or even stop, and for this reason, it may cause the task carrier vehicle 33 to not reach the destination in real time.

[0054] Please also refer to Figures 6 to 8 , which are respectively schematic diagrams of the third embodiment, the fourth embodiment and the fifth embodiment of the carrier vehicle system according to the present invention. In the carrier vehicle system 100 of the present invention, a plurality of workstations arranged adjacent to each other are jointly combined into a workstation group; for example, Figures 6 to 8Among them, the first workstation 4A, the second workstation 4B, and the third workstation 4C together form a workstation group.

[0055] In the query step S1, the central control device 1 determines, according to the location of the first idle carrier 31, whether the workstation group or workstations located on the traveling route of the first idle carrier 31 send a handling requirement message 41.

[0056] As Figure 6 shown, in the third embodiment, in the query step S1, if the central control device 1 determines that the workstation group sends multiple handling requirement messages 41, and in the judgment step S2, the central control device 1 determines that there is no second idle carrier 32 behind the first idle carrier 31, then the central control device 1 will control the first idle carrier 31 to go to the workstation with the highest priority according to a priority data 411 in each handling requirement message 41 to perform a handling operation.

[0057] For example, before the first idle carrier 31 sends an inquiry message 311 to the central control device 1, the first workstation 4A and the second workstation 4B of the workstation group respectively send a handling requirement message 41 to the central control device 1, and the central control device 1 determines, according to the priority data 411 included in the two handling requirement messages 41, that the priority of the handling requirement of the first workstation 4A is higher than that of the handling requirement of the second workstation 4B, then the central control device 1 will control the first idle carrier 31 to go to the first workstation 4A along the path P61 to perform a handling operation.

[0058] As Figure 7 shown, in the fourth embodiment, the workstation that sends a handling requirement message is defined as a workstation to be handled. In the query step S1, if the central control device 1 determines that the workstation group sends multiple handling requirement messages, and in the judgment step S2, the central control device 1 determines that there is a second idle carrier 32 behind the first idle carrier 31, then the central control device 1 controls the first idle carrier 31 to go to the workstation to be handled that is the farthest from the first idle carrier 31 to perform a handling operation, and controls the second idle carrier 32 to go to the workstation to be handled that is the farthest from the second idle carrier 32 and is not the workstation that the first idle carrier 31 goes to perform a handling operation.

[0059] For example, before the first idle carrier 31 sends an inquiry message 311 to the central control device 1, the first workstation 4A and the second workstation 4B of the workstation group respectively send a handling requirement message 41 to the central control device 1, and there is a second idle carrier 32 behind the first idle carrier 31, then the central control device 1 will control the first idle carrier 31 to go to the second workstation 4B along the path P71, and control the second idle carrier 32 to go to the first workstation 4A along the path P72.

[0060] Continuing from the above, assuming that the central control device 1 controls the first idle carrier vehicle 31 to go to the first workstation 4A for carrying operations, during the process of the first idle carrier vehicle 31 performing carrying operations at the first workstation 4A, there will be a problem that the second idle carrier vehicle 32 is blocked by the first idle carrier vehicle 31, and the second idle carrier vehicle 32 is forced to decelerate or even stop.

[0061] As Figure 8 shown, in the fifth embodiment, in the query step S1, if the central control device 1 determines that the workstation group issues multiple carrying requirement messages, and in the judgment step S2, the central control device 1 determines that there is a second idle carrier vehicle 32 behind the first idle carrier vehicle 31, then the central control device 1 will control the first idle carrier vehicle 31 and the second idle carrier vehicle 32 to go to two of the workstations to be carried respectively according to the priority data 411 included in the multiple carrying requirement messages 41 and the positions of the multiple workstations to be carried, so that the carrying requirement messages issued by the two workstations to be carried with the highest priority and the second highest priority are preferentially processed. Among them, the two workstations to be carried that the first idle carrier vehicle 31 and the second idle carrier vehicle 32 go to respectively are defined as a first workstation to be carried and a second workstation to be carried, and the second workstation to be carried is located between the first workstation to be carried and the position where the first idle carrier vehicle 31 issues the inquiry message.

[0062] For example, before the first idle carrier vehicle 31 sends an inquiry message 311 to the central control device 1, the first workstation 4A, the second workstation 4B and the third workstation 4C of the workstation group send three carrying requirement messages 41 to the central control device 1, and the central control device 1 determines that the priorities of the carrying requirements of the first workstation 4A and the third workstation 4C are higher than the priority of the carrying requirement of the second workstation 4B. Then, in the situation where there is a second idle carrier vehicle 32 behind the first idle carrier vehicle 31, the central control device 1 will control the first idle carrier vehicle 31 to go to the third workstation 4C (i.e., the first workstation to be carried) along the path P81, and control the second idle carrier vehicle 32 to go to the first workstation 4A (i.e., the second workstation to be carried) along the path P82.

[0063] Please also refer to Figure 9 and Figure 10 , Figure 9 which is a flowchart of the sixth embodiment of the carrier vehicle control method of the present invention, Figure 10 and

[0064] An upcoming idle vehicle determination step S7: Determine whether there is an upcoming idle carrier vehicle 34 at a predetermined distance behind the first idle carrier vehicle 31; the upcoming idle carrier vehicle 34 is a carrier vehicle that will become an idle carrier vehicle within a preset time.

[0065] If the central control device 1 determines that there is an upcoming idle carrier vehicle 34, then execute a third passing step S8: Control the first idle carrier vehicle 31 to directly pass through the workstation, and enable the upcoming idle carrier vehicle 34 to continue to go to the workstation to perform the handling operation. That is to say, after the upcoming idle carrier vehicle 34 is converted into an idle carrier vehicle, it will continue to go to the workstation to perform the handling operation.

[0066] If the central control device 1 determines that there is no upcoming idle carrier vehicle 34, then execute the going step S4 to control the first idle carrier vehicle 31 to go to the workstation 4 and enable the first idle carrier vehicle 31 to perform the handling operation according to the handling requirement information 41.

[0067] As Figure 10 shown, in the upcoming idle vehicle determination step S7, the central control device 1 determines that there is an upcoming idle carrier vehicle 34 behind the first idle carrier vehicle 31, and the central control device 1 will execute the third passing step S8 to enable the first idle carrier vehicle 31 to directly pass through the workstation 4 along the path P101, and after the upcoming idle carrier vehicle 34 is converted into an idle carrier vehicle, go to the workstation 4 along the path P102 to perform the handling operation. On the contrary, if the central control device 1 directly controls the first idle carrier vehicle 31 to go to the workstation 4 for handling operations, the following will occur: When the first idle carrier vehicle 31 is still performing handling operations at the workstation 4, the upcoming idle carrier vehicle 34 that has been converted into an idle carrier vehicle has already been located behind the first idle carrier vehicle 31 and is blocked by the first idle carrier vehicle 31 (that is, a traffic jam occurs).

[0068] Please also refer to Figure 11 and Figure 12 , Figure 11 which is a flowchart of the seventh embodiment of the carrier vehicle control method of the present invention, Figure 12 and which is a schematic diagram of the seventh embodiment of the carrier vehicle system of the present invention. The difference between this embodiment and the foregoing sixth embodiment is that: in the upcoming idle vehicle determination step S7, if the central control device 1 determines that there is an upcoming idle carrier vehicle 34, then execute a time determination step S71: Determine whether a first time is greater than a second time; wherein, the first time is the time required for the first idle carrier vehicle 31 to move to the workstation and complete the handling operation at the workstation; the second time is the sum of the time required for the upcoming idle carrier vehicle 34 to move to the workstation after becoming an idle carrier vehicle and the preset time.

[0069] If the central control device 1 determines that the first time is greater than the second time, it will execute the aforementioned third passing step S8, so that the first idle transport vehicle 31 directly passes through the workstation 4, and the upcoming idle transport vehicle 34, after being converted into an idle transport vehicle, will go to the workstation 4 for carrying out a carrying operation.

[0070] If the central control device 1 determines that the first time is less than the second time, it will execute the aforementioned going step S4, so that the first idle transport vehicle 31 goes to the workstation 4 for carrying out a carrying operation.

[0071] As Figure 12 shown, it is assumed that the workstation 4 issues a carrying requirement message 41, and the time required for the first idle transport vehicle 31 to go to the workstation 4 is 3 minutes, and after the first idle transport vehicle 31 arrives at the workstation 4, it takes 7 minutes to complete the carrying operation. The upcoming idle transport vehicle 34, which is at a predetermined distance behind the first idle transport vehicle 31, will become an idle transport vehicle after 3 minutes. After the upcoming idle transport vehicle 34 becomes an idle transport vehicle, it takes 6 minutes to move to the workstation 4. In the upcoming idle vehicle determination step S7, the central control device 1 will determine that the sum of the time (3 minutes) for the first idle transport vehicle 31 to move to the workstation 4 and the time (7 minutes) for the first idle transport vehicle 31 to complete the carrying operation at the workstation 4 is 10 minutes (i.e., the first time), and the sum of the preset time (3 minutes) and the time (6 minutes) for the upcoming idle transport vehicle 34 to move to the workstation 4 is 9 minutes (i.e., the second time), and the central control device 1 will, because 10 minutes is greater than 9 minutes (i.e., the first time is greater than the second time), control the first idle transport vehicle 31 to directly pass through the workstation 4 along the path P121, and control the upcoming idle transport vehicle 34, after being converted into an idle transport vehicle, to continue to go to the workstation 4 along the path P122 for carrying out a carrying operation.

[0072] In other words, if the first idle transport vehicle 31 goes to the workstation 4 to carry out a carrying operation, during the process of the first idle transport vehicle 31 going to the workstation 4 and carrying out a carrying operation, after the upcoming idle transport vehicle 34 is converted into an idle transport vehicle and moves to the workstation 4, it will be blocked by the first idle transport vehicle 31 and is forced to reduce its speed or even stop, and for this reason, it may cause problems such as traffic jams for subsequent other transport vehicles to depart.

[0073] Please also refer to Figure 13 and Figure 14 , Figure 13 is a flowchart of the eighth embodiment of the transport vehicle control method of the present invention, Figure 14 is a schematic diagram of the eighth embodiment of the transport vehicle system of the present invention. The difference between this embodiment and the aforementioned embodiment is that: in the determination step S2, if the central control device 1 determines that there is no second idle transport vehicle 32, the central control device 1 will execute the following steps:

[0074] An intermediate transporter judgment step S9: Determine whether there is an upcoming idle transporter 34 between the workstation and the first idle transporter 31; the upcoming idle transporter 34 is a transporter that will become an idle transporter within a preset time.

[0075] If the central control device 1 determines that there is an upcoming idle transporter 34 between the workstation and the first idle transporter 31, then execute a time judgment step S10: Determine whether a first time is greater than a second time; where the first time is the time required for the first idle transporter 31 to move to the workstation and complete the handling operation at the workstation; the second time is the sum of the time required for the upcoming idle transporter 34 to move to the workstation after becoming an idle transporter and the preset time.

[0076] If the central control device 1 determines that the first time is greater than the second time, then execute a fourth passing step S11: Control the first idle transporter 31 to directly pass through the workstation, control the upcoming idle transporter 34 to go to the workstation, and enable the upcoming idle transporter 34 to perform the handling operation according to the handling requirement information.

[0077] If the central control device 1 determines that the first time is less than the second time, or if the central control device 1 determines that there is no upcoming idle transporter 34 between the workstation and the first idle transporter 31, then the central control device 1 executes the going step S4 to control the first idle transporter 31 to go to the workstation and enable the first idle transporter 31 to perform the handling operation according to the handling requirement information.

[0078] As Figure 14 shown, assume that the time required for the first idle transporter 31 to go to the workstation 4 is 6 minutes. After the first idle transporter 31 arrives at the workstation 4, it takes 7 minutes to complete the handling operation. And the upcoming idle transporter 34 will become an idle transporter in 2 minutes. The upcoming idle transporter 34 that has been converted into an idle transporter takes 3 minutes to go to the workstation 4. Then in the above time judgment step S10, the central control device 1 will determine that the first time (13 minutes, that is, the sum of 6 minutes and 7 minutes) is greater than the second time (5 minutes, that is, the sum of 2 minutes and 3 minutes), and control the first idle transporter 31 to directly pass through the workstation 4 along the path P141, and control the upcoming idle transporter 34 to continue along the path P142 to the workstation 4 after becoming an idle transporter to perform the handling operation.

[0079] In the above example, if the central control device 1 controls the first idle carrier vehicle 31 to go to the workstation 4 for carrying operations, then during the process of the first idle carrier vehicle 31 going to the workstation 4 and performing carrying operations at the workstation 4, the following will occur: After the idle carrier vehicle 34 is converted into an idle carrier vehicle and moves to the workstation 4, it is blocked by the first idle carrier vehicle 31 and is forced to reduce its speed or even stop (i.e., a traffic jam occurs).

[0080] Please refer to Figure 15 and Figure 16 , Figure 15 , which is a flowchart of the ninth embodiment of the carrier vehicle control method of the present invention. Figure 16 , which is a schematic diagram of the ninth embodiment of the carrier vehicle system of the present invention. The biggest difference between this embodiment and the foregoing embodiments is that: in the judgment step S2, if the central control device 1 determines that there is a second idle carrier vehicle 32, the central control device 1 performs the following steps:

[0081] An intermediate carrier vehicle judgment step S12: Determine whether there is an about-to-be-idle carrier vehicle 34 between the workstation and the second idle carrier vehicle 32; the about-to-be-idle carrier vehicle 34 is a carrier vehicle that will become an idle carrier vehicle within a preset time.

[0082] If the central control device 1 determines that there is an about-to-be-idle carrier vehicle 34 between the workstation and the second idle carrier vehicle 32, then a time judgment step S13 is performed: Determine whether a first time is greater than a second time; wherein, the first time is: the time required for the second idle carrier vehicle 32 to move to the workstation and complete carrying operations at the workstation; the second time is: the sum of the time required for the about-to-be-idle carrier vehicle 34 to move to the workstation after becoming an idle carrier vehicle and the preset time.

[0083] If the central control device 1 determines that the first time is greater than the second time, then a fifth passing step S14 is performed: Control the central control device 1 to control the second idle carrier vehicle 32 to directly pass through the workstation, and control the about-to-be-idle carrier vehicle 34 to go to the workstation, and make the about-to-be-idle carrier vehicle 34 perform carrying operations according to the carrying demand information.

[0084] If the central control device 1 determines that the first time is less than the second time, or if the central control device 1 determines that there is no about-to-be-idle carrier vehicle 34 between the workstation and the second idle carrier vehicle 32, then a first passing step S3 is performed: Control the first idle carrier vehicle 31 to directly pass through the workstation 4, and control the second idle carrier vehicle 32 to go to the workstation 4, and make the second idle carrier vehicle 32 perform carrying operations according to the carrying demand information 41.

[0085] As Figure 16As shown, for example, assume that the time required for the second idle transporter 32 to travel to workstation 4 is 8 minutes. After the second idle transporter 32 arrives at workstation 4, it takes 7 minutes to complete the handling operation. And the upcoming idle transporter 34 will become an idle transporter in 2 minutes. The transporter that is to be converted into the upcoming idle transporter 34 takes 3 minutes to travel to workstation 4. Then, in the above-mentioned time determination step S13, the central control device 1 will determine that the first time (15 minutes) is greater than the second time (5 minutes), and control the first idle transporter 31 and the second idle transporter 32 to directly pass through workstation 4 along paths P161 and P162 respectively. After controlling the upcoming idle transporter 34 to be converted into an idle transporter, it continues to travel to workstation 4 along path P163 to perform the handling operation.

[0086] In the above example, if the central control device 1 controls the second idle transporter 32 to travel to workstation 4 for handling operations, during the process of the second idle transporter 32 traveling to workstation 4 and performing handling operations at workstation 4, when the upcoming idle transporter 34 is converted into an idle transporter and moves to workstation 4, it will be blocked by the second idle transporter 32 and forced to reduce its speed or even stop (i.e., a traffic jam occurs).

[0087] It should be noted that for any two or more of the above embodiments, as long as the process steps between them do not conflict with each other, they can be combined with each other to form a new embodiment.

[0088] In addition, in any of the above embodiments, the central control device 1 can also execute the following steps at every interval of a predetermined time:

[0089] An energy-saving judgment step: Judge whether there is any handling requirement information that has not been processed at present;

[0090] If there is no handling requirement information that has not been processed at present, control all idle transporters to stop moving without affecting the travel paths of other non-idle transporters.

[0091] In summary, the transporter control method and transporter system of the present invention can greatly reduce the occurrence of traffic jams in transporters. Thereby, the overall handling efficiency of transporters can be effectively improved.

[0092] The above are only the preferred and feasible embodiments of the present invention, and do not limit the patent scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention.

Claims

1. A method for controlling a transport vehicle, characterized in that: The transport vehicle control method is suitable for being executed by a central control device of a transport vehicle system, wherein the transport vehicle system comprises a plurality of tracks and a plurality of transport vehicles, wherein the central control device can receive an inquiry message transmitted by any idle transport vehicle, wherein the idle transport vehicle is the transport vehicle without any load. The idle transport vehicle does not currently receive any transport instruction from the central control device; the idle transport vehicle that issues the inquiry message is defined as a first idle transport vehicle; when the central control device receives the inquiry message, the transport vehicle control method is executed, and the transport vehicle control method includes the following steps: A query step: according to the location of the first idle transport vehicle, determining whether a workstation located on the travelable path of the first idle transport vehicle has issued a transport demand information; If the central control device determines that the workstation issues the transport requirement information, the following steps are performed: A determination step: determining whether there is a second idle transport vehicle at a predetermined distance behind the first idle transport vehicle; the second idle transport vehicle is another idle transport vehicle different from the first idle transport vehicle; If the central control device determines that the second idle transport vehicle exists, the first idle transport vehicle is controlled to directly pass through the workstation, and the second idle transport vehicle is controlled to go to the workstation, and the second idle transport vehicle is made to perform a transport operation according to the transport demand information; If the central control device determines that the second idle transport vehicle does not exist, the central control device controls the first idle transport vehicle to go to the workstation, and enables the first idle transport vehicle to perform the transport operation according to the transport demand information.

2. The method for controlling a transport vehicle according to claim 1, characterized in that: The multiple workstations arranged adjacent to each other are combined into a workstation group; in the query step, the central control device determines whether the workstation group or the workstation located on the travel route of the first idle transport vehicle has issued the transport demand information based on the location of the first idle transport vehicle; in the query step, if the central control device determines that the workstation group has issued multiple pieces of transport demand information, and in the judgment step, the central control device determines that the second idle transport vehicle does not exist behind the first idle transport vehicle, then the central control device will control the first idle transport vehicle to go to the workstation with the highest priority to perform the transport operation based on a priority data in the multiple pieces of transport demand information.

3. The method for controlling a transport vehicle according to claim 1, wherein: The multiple workstations arranged adjacent to each other are combined into a workstation group; in the query step, the central control device determines whether the workstation group or the workstation located on the travel route of the first idle transport vehicle has issued the transport demand information based on the location of the first idle transport vehicle; the workstation that issues the transport demand information is defined as a workstation to be transported; in the query step, if the central control device determines that the workstation group has issued multiple pieces of transport demand information, and in the judgment step, the central control device determines that the second idle transport vehicle exists behind the first idle transport vehicle, then the central control device controls the first idle transport vehicle to go to the workstation to be transported that is farthest from the first idle transport vehicle to perform transport operations, and controls the second idle transport vehicle to go to the workstation to be transported that is farthest from the second idle transport vehicle and is not the first idle transport vehicle to go to perform transport operations.

4. The method for controlling a transport vehicle according to claim 1, wherein: The plurality of workstations arranged adjacent to each other are combined into a workstation group; in the query step, the central control device determines whether the workstation group or the workstation located on the route of the first idle transport vehicle has issued the transport demand information based on the location of the first idle transport vehicle; the workstation that issues the transport demand information is defined as a workstation to be transported; in the query step, if the central control device determines that the workstation group has issued multiple pieces of transport demand information, and in the determination step, the central control device determines that the second idle transport vehicle exists behind the first idle transport vehicle, then the central control device According to priority data contained in the multiple pieces of transport demand information and the positions of the multiple workstations to be transported, the first idle transport vehicle and the second idle transport vehicle are controlled to go to two of the workstations to be transported respectively, so that the transport demand information issued by the two workstations to be transported with the highest priority and the second highest priority will be processed first, wherein the two workstations to be transported to which the first idle transport vehicle and the second idle transport vehicle respectively go are defined as a first workstation to be transported and a second workstation to be transported, respectively, and the second workstation to be transported is located between the first workstation to be transported and the position where the first idle transport vehicle sends the inquiry information.

5. The method for controlling a transport vehicle according to claim 1, wherein: In the determination step, if the central control device determines that the second idle transport vehicle does not exist, the central control device will perform the following steps: A task vehicle determination step: determining whether there is a task transport vehicle at the predetermined distance behind the first idle transport vehicle; the task transport vehicle is carrying an object to be transported, or the task transport vehicle is heading to a workstation according to the transport instruction; if the central control device determines that there is the task transport vehicle, the first idle transport vehicle is controlled to directly pass through the workstation; If the central control device determines that the task transport vehicle does not exist, the first idle transport vehicle is controlled to go to the workstation, and the first idle transport vehicle is made to perform the transport operation according to the transport demand information.

6. The method for controlling a transport vehicle according to claim 1, characterized in that: In the determination step, if the central control device determines that the second idle transport vehicle does not exist, the central control device will perform the following steps: A step of judging a vehicle that is about to be idle: judging whether there is a vehicle that is about to be idle at the predetermined distance behind the first idle transport vehicle; the vehicle that is about to be idle is a vehicle that is about to become the idle transport vehicle within a preset time; If the central control device determines that there is the soon-to-be-idle transport vehicle, the central control device controls the first idle transport vehicle to directly pass through the workstation; If the central control device determines that the soon-to-be-idle transport vehicle does not exist, the first idle transport vehicle is controlled to go to the workstation, and the first idle transport vehicle is made to perform the transport operation according to the transport demand information.

7. The method for controlling a transport vehicle according to claim 1, characterized in that: In the determination step, if the central control device determines that the second idle transport vehicle does not exist, the central control device will perform the following steps: An intermediate transport vehicle judging step: judging whether there is a transport vehicle that is about to become idle between the workstation and the first idle transport vehicle; the transport vehicle that is about to become idle is a transport vehicle that is about to become the idle transport vehicle within a preset time; If the central control device determines that there is the soon-to-be-idle transport vehicle, a time judgment step is performed: judging whether a first time is greater than a second time; the first time is the time required for the first idle transport vehicle to move to the workstation; the second time is the sum of the time required for the soon-to-be-idle transport vehicle to move to the workstation after becoming an idle transport vehicle and the preset time; If the central control device determines that the first time is greater than the second time, the central control device will control the idle transport vehicle to go to the workstation, and make the idle transport vehicle perform the transport operation according to the transport demand information, and the central control device will control the first idle transport vehicle to directly pass through the workstation; If the central control device determines that the first time is less than the second time, or if the central control device determines that there is no idle transport vehicle between the workstation and the first idle transport vehicle, the central control device controls the first idle transport vehicle to go to the workstation and enables the first idle transport vehicle to perform the transport operation according to the transport demand information.

8. The method for controlling a transport vehicle according to claim 1, characterized in that: In the determination step, if the central control device determines that the second idle transport vehicle exists, Then the central control device controls the first idle transport vehicle to directly pass through the workstation, and before the central control device controls the second idle transport vehicle, the following steps are performed: an intermediate transport vehicle judging step: judging whether there is a transport vehicle that is about to become idle between the workstation and the second idle transport vehicle; the transport vehicle that is about to become idle is a transport vehicle that is about to become the idle transport vehicle within a preset time; If the central control device determines that there is the idle transport vehicle, a time judgment step is performed: judging whether a first time is greater than a second time; the first time is the time required for the second idle transport vehicle to move to the workstation; the second time is the sum of the time required for the idle transport vehicle to move to the workstation after becoming an idle transport vehicle and the preset time; If the central control device determines that the first time is greater than the second time, The central control device controls the idle transport vehicle to go to the workstation and enables the idle transport vehicle to perform the transport operation according to the transport demand information, and the central control device controls the second idle transport vehicle to directly pass through the workstation; If the central control device determines that the first time is less than the second time, Alternatively, if the central control device determines that there is no idle transport vehicle between the workstation and the second idle transport vehicle, the central control device controls the second idle transport vehicle to go to the workstation and enables the second idle transport vehicle to perform the transport operation according to the transport demand information.

9. A transport vehicle system, characterized in that: The transport vehicle system comprises: A plurality of tracks, at least a portion of the plurality of tracks together forming a closed path; A plurality of transport vehicles, each of which can move on the track; a central control device, which can receive an inquiry message transmitted by any idle transport vehicle; the idle transport vehicle is the transport vehicle without any load, and the idle transport vehicle does not currently receive any transport instruction from the central control device; the idle transport vehicle that sends the inquiry message is defined as a first idle transport vehicle; When the central control device receives the inquiry information, it will execute the transport vehicle control method according to any one of claims 1 to 8.

10. The transport vehicle system according to claim 9, characterized in that: The central control device will perform the following steps at every predetermined time interval: An energy saving judgment step: judging whether any of the transport demand information is not processed at the moment; If there is no unprocessed transport demand information at present, all the idle transport vehicles are controlled to stop moving without affecting the travel paths of other transport vehicles that are not the idle transport vehicles.

Images