Conveying system

Abstract

The invention provides a conveying system with a conveying vehicle for conveying articles along a grid-shaped track. The conveying system can improve the conveying efficiency between a storage part and a processing device. This transport system is provided with: a plurality of transport vehicles (4) that travel along a lattice-shaped track (2) and transport articles (100); a control device (5) that controls the travel of the plurality of transport vehicles (4); and a storage unit (3) capable of temporarily storing the articles to be conveyed to the processing device (200), in which a predetermined region (400) including a travel region for the conveyance vehicles (4) to convey the articles (100) between the processing device (200) and the storage unit (3) is set, and the control device (5) controls the storage unit (3) to store the articles (100) from among the plurality of conveyance vehicles (4). The one or more transport vehicles (4) are set as designated transport vehicles that travel only within the predetermined area (400) and are responsible for transporting the articles (100) from the storage unit (3) to the processing device (200).

Description

Technical Field

[0001] This invention relates to a conveying system. Background Technology

[0002] A known conveying system includes multiple transport vehicles that transport and store items such as semiconductor wafers and marking sheets (e.g., FOUP, marking sheet Pod), and a control device that controls the movement of the multiple transport vehicles (see Patent Document 1). In this conveying system, multiple transport vehicles transport items while traveling along a grid-like track laid on the ceiling.

[0003] In the aforementioned conveying system, multiple conveyor vehicles transport items to storage and processing units via driving commands from a control device. Storage units are located near each processing unit to temporarily store items in situations such as when the loading port of a processing unit is blocked.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-11322

[0005] In the aforementioned conveying system, when items are to be transported from the storage section to the processing unit, there are sometimes no transport vehicles nearby. Therefore, the transport of items from the storage section to the processing unit often takes time, and there is room for improvement from the perspective of increasing the transport efficiency between the storage section and the processing unit. Summary of the Invention

[0006] The purpose of this invention is to provide a conveying system, which is a conveying system for a conveyor vehicle that transports items along a grid-like track, and can improve the conveying efficiency between the storage section and the processing device.

[0007] The conveying system according to an embodiment of the present invention includes: a plurality of conveyor vehicles that travel along a grid-like track and convey articles; a control device that controls the travel of the plurality of conveyor vehicles; and a storage unit that can store articles conveyed to a processing device, wherein a predetermined area is set, the predetermined area including the travel area of ​​the conveyor vehicles for conveying articles between the processing device and the storage unit, and the control device designates one or more of the plurality of conveyor vehicles as designated conveyor vehicles that only travel within the predetermined area and are responsible for conveying articles between the storage unit and the processing device.

[0008] In the conveying system of the present invention, a conveyor vehicle is set up to transport items between a storage section and a processing device within a specified area, thereby improving the conveying efficiency between the storage section and the processing device.

[0009] According to the conveying system of the above embodiment, the control device can also designate one or more conveying vehicles from among multiple conveying vehicles as ordinary conveying vehicles, which are different from designated conveying vehicles. These ordinary conveying vehicles can travel both inside and outside the designated area, conveying items from outside the designated area to within the designated area. With this structure, the ordinary conveying vehicles can convey items from outside the designated area to within the designated area, thereby improving conveying efficiency.

[0010] According to the conveying system of the above embodiment, the control device can also designate one or more conveying vehicles from among multiple conveying vehicles as ordinary conveying vehicles, which are different from the designated conveying vehicles. These ordinary conveying vehicles can travel both within and outside the designated area, entering the designated area and conveying items from within the designated area to outside. With this structure, the ordinary conveying vehicles can convey items from within the designated area to outside, thereby improving conveying efficiency.

[0011] According to the conveying system of the above embodiment, when viewed from above, the processing device and storage unit can be located within the designated area. The control device can also, when a designated conveyor is transporting an item within the designated area, cause the designated conveyor to transport the item outside the designated area if the item's destination is changed to outside the designated area. With this structure, when the item's destination is changed, the designated conveyor does not transfer the item to a regular conveyor but transports it outside the designated area, thus making it highly efficient.

[0012] According to the conveying system of the above embodiment, the control device can also, when a conveyor designated as a designated conveyor leaves a designated area, change a conveyor designated as a regular conveyor to be a designated conveyor and bring it into the designated area, and change a conveyor leaving the designated area from a designated conveyor to a regular conveyor. With this structure, by balancing the number of designated and regular conveyors, items can be transported efficiently.

[0013] According to the conveying system of the above embodiment, the storage section can also be located above the processing device. With this structure, the space above the processing device can be utilized effectively.

[0014] According to the conveying system described above, the direction of travel for the conveyor vehicle is more restricted outside the designated area compared to within the designated area. Furthermore, within the designated area, it can travel in all four directions extending along the edges of the grid in the grid-like track; outside the designated area, it can only travel in two of the four directions. With this structure, the conveyor vehicle can efficiently transport goods within the designated area. Additionally, outside the designated area, interference between conveyor vehicles traveling in different directions is suppressed, thus reducing the likelihood of traffic congestion. Attached Figure Description

[0015] Figure 1 This is a diagram showing a simplified structure of the conveying system according to this embodiment.

[0016] Figure 2 This is a schematic diagram of a portion of the conveying system as viewed from a top view of this embodiment.

[0017] Figure 3 This is a diagram showing the track in this embodiment.

[0018] Figure 4 This is a diagram illustrating an example of the hardware structure of the control device in this embodiment.

[0019] Figure 5 This diagram illustrates the first mode of goods transportation.

[0020] Figure 6 This diagram illustrates the second mode of goods transportation.

[0021] Figure 7 This is a diagram illustrating the third mode of goods transportation.

[0022] Figure 8 This is a diagram illustrating the fourth mode of goods transportation. Detailed Implementation

[0023] The present invention will now be described through embodiments, but these embodiments do not limit the scope of the invention. Furthermore, combinations of all features described in the embodiments are not necessarily necessary for the solution of the invention. Additionally, in the accompanying drawings, the same or similar parts are sometimes labeled with the same reference numerals, omitting repeated descriptions. Furthermore, the shapes and sizes of components in the drawings are sometimes exaggerated for clarity.

[0024] Sometimes, the XYZ coordinate system is used to indicate directions in a diagram. In this XYZ coordinate system, the plane parallel to the horizontal plane is designated as the XY plane. The direction perpendicular to the XY plane is designated as the Z direction. The X, Y, and Z directions are defined as follows: the direction indicated by the arrow in the diagram is the positive direction, and the direction opposite to the arrow is the negative direction.

[0025] Figure 1 This is a diagram showing a simplified structure of the conveying system 1 according to this embodiment. Figure 1 This is a simplified structural diagram of the conveying system 1 in this embodiment. Figure 2 This is a schematic diagram of a portion of the conveyor system 1 as viewed from above. Figure 1 As shown, the conveying system 1 includes a track 2, a storage unit 3, multiple conveying vehicles 4, and a control device 5.

[0026] Track 2 is the path that the transport vehicle 4 can travel on. Figure 3 This diagram shows track 2 in this embodiment. Track 2 is a grid-like track. That is, track 2 is a track arranged in a grid-like manner in the top view. Track 2 is laid, for example, on the ceiling (not shown) or near the ceiling of a building such as a clean room.

[0027] like Figure 3 As shown, track 2 includes, for example, a first track R1, a second track R2, and a portion of track R3. The first track R1 is arranged along the X direction (first direction). The second track R2 is arranged along the Y direction (second direction). In this embodiment, although the multiple first tracks R1 and the multiple second tracks R2 are arranged along mutually orthogonal directions, they are configured not to directly intersect each other. The portion of track R3 is disposed at the intersection of the first track R1 and the second track R2.

[0028] Track 2 is arranged in a direction orthogonal to the first track R1 and the second track R2. In the top view, track 2 has a grid-like structure (hereinafter referred to as "grid cell") G with adjacent cells in the X and Y directions. The transport vehicle 4 is sized to be housed within one grid cell G in the top view. According to this structure, transport vehicles 4 traveling on adjacent tracks 2 can travel in a staggered manner, and when multiple transport vehicles 4 are arranged on track 2, the range within which each transport vehicle 4 can travel without interfering with the travel of other transport vehicles 4 can be expanded. Figure 2 For example, in the top view, the transport vehicle 4 travels through grid cells G and along the X or Y direction.

[0029] The first track R1, the second track R2, and a portion of the track R3 are suspended from the ceiling via a suspension component (not shown). The first track R1, the second track R2, and a portion of the track R3 are arranged along the same or approximately the same horizontal plane (XY plane).

[0030] like Figure 1 as well as Figure 2As shown, the storage unit 3 can temporarily store the items 100 transported to the processing device 200. Items 100 may include, for example, semiconductor wafers or marking plates used in the manufacture of semiconductor components. Items 100 may also be, for example, FOUP (Front Opening Unified Pod), SMIF Pod, or marking plate Pod capable of internal purification.

[0031] Storage unit 3 can transfer items 100 via conveyor 4. Storage unit 3 is, for example, a suspended shelf capable of holding multiple items 100. Storage unit 3 is sometimes referred to as an overhead buffer (OHB). Storage unit 3 is located below track 2. In this embodiment, storage unit 3 is described as a single unit, i.e., a storage unit. Storage unit 3 is located near processing device 200. Storage unit 3 is, for example, located above processing device 200.

[0032] The storage section 3, for example, is formed to surround at least one grid cell G in a top view taken from the vertical direction (hereinafter referred to as the "top view"). The shape of the outer periphery of the storage section 3 is set to be approximately consistent with the shape of the outer periphery of the plurality of grid cells G on the track 2 in the top view. According to this structure, the storage section 3 can be provided without obstructing the movement of the transport vehicle 4. The shape and size of the storage section 3 are arbitrary and not limited to the above-described structural example.

[0033] like Figure 1 As shown, the storage section 3 has multiple storage areas 31 capable of holding an item 100. The item 100 is placed in each storage area 31 by a conveyor 4. Each storage area 31 is equipped with a positioning mechanism (not shown), such as a movable pin, capable of positioning the item 100. The positioning mechanism is provided on a per-storage-area basis. Each storage area 31 can position and hold the item 100 via the positioning mechanism. For example, in the top view, a storage area 31 is set to have the same size as the outer perimeter of the item 100.

[0034] like Figure 1 As shown, the processing device 200 includes multiple loading ports 210 and a processing unit 220.

[0035] Loading port 210 is connected to processing unit 220 and holds the article 100 transported by conveyor 4. Processing unit 220 is, for example, a semiconductor manufacturing apparatus such as a film deposition apparatus, coating / developing machine, exposure apparatus, or etching apparatus. Processing unit 220 performs various processes during the manufacturing process (e.g., semiconductor equipment). For example, the article 100 transported by conveyor 4 is placed in loading port 210. Then, for example, a robotic arm or the like transports the semiconductor wafer within article 100 into processing unit 220, where it is processed. Figure 2In the example shown, the processing device 200 is provided with three loading ports 210, which are sometimes referred to as loading ports 210a, 210b, and 210c.

[0036] The transport vehicle 4 travels along track 2. For example, the transport vehicle 4 is an overhead transport vehicle for transporting items. As an example, the transport vehicle 4 transports items 100 in a cleanroom of a semiconductor manufacturing plant. The transport vehicle 4 transports items 100 in a suspended state. The transport vehicle 4, for example, transports items 100 between loading port 210 and storage section 3. In addition, the transport vehicle 4, for example, transports items 100 between storage section 3 and other storage sections 3. In addition, the transport vehicle 4, for example, transports items 100 between loading port 210 and other loading ports 210.

[0037] The conveyor 4 holds the item 100 and performs the transfer of the item 100. For example, the conveyor 4 transfers the item 100 between the loading port 210 or the storage section 3. The conveyor 4 can change direction by switching the orientation of its driving wheels. The conveyor 4 includes, for example, a lifting mechanism for raising and lowering the item 100, and a lateral movement mechanism for moving the item 100 laterally (e.g., in the Y direction).

[0038] Each transport vehicle 4 is connected to the control device 5 via a communication network, and exchanges information with the control device 5. The communication network can be a wireless communication transmission path, or a combination of a wireless communication transmission path and a wired communication transmission path. For example, the communication network can also be a mobile communication network such as a mobile phone line network, a wireless data packet communication network, a short-range wireless communication standard such as ZigBee (registered trademark), Wi-Fi (registered trademark), BLE, or a combination thereof.

[0039] The control device 5 controls the movement of multiple transport vehicles 4. When a transport vehicle 4 reaches its destination, the control device 5 sends a driving instruction containing information about the driving path to that destination to the transport vehicle 4. The driving instruction may also be an instruction to transport the item 100 placed in the loading area 31 or loading port 210 corresponding to the first grid unit to the loading area 31 or loading port 210 corresponding to the second grid unit. Figure 4 This diagram illustrates an example of the hardware structure of the control device 5 in this embodiment. (See diagram for example.) Figure 4 As shown, the control device 5 includes a communication device 20, an input device 21, a storage device 22, and a processor 23.

[0040] Communication device 20 is a communication interface for communicating with conveyor vehicles 4. Communication device 20 communicates with each conveyor vehicle 4 via a communication network. Communication device 20 may also have multiple communication devices for communicating with multiple conveyor vehicles 4. Communication device 20 transmits and receives information from conveyor vehicles 4, and sends information received from conveyor vehicles 4 to storage device 22 or processor 23.

[0041] Input device 21 accepts input operations from the user. For example, if input device 21 accepts input operations from the user, it sends information corresponding to the accepted input operations to processor 23 or storage device 22. For example, input device 21 is a pointing device such as a touch panel, touchpad, mouse, button, switch, motion sensor controller, keyboard, mouse, gesture input device, or voice input device (e.g., microphone).

[0042] Storage device 22 stores status information of each transport vehicle 4, location information of each processing device 200, location information of each storage unit 3, location information of each item 100, and designated area information, etc. The status information of the transport vehicle 4 includes, for example, information about its current location, information indicating its current speed, information about whether it is transporting item 100, and information related to the execution status (in execution, execution completed, execution failed) of various instructions related to the driving command. The status information of the transport vehicle 4 can also be information obtained from the transport vehicle 4 via communication device 20 or information generated by processor 23 using information from the transport vehicle 4.

[0043] The status information of conveyor 4 includes information indicating whether it is set as a designated conveyor or a normal conveyor (hereinafter referred to as "mode setting information"). The designated conveyor is only... Figure 2 The vehicle travels within the designated area 400 and transports the items 100 between the storage section 3 and the loading port 210. Typically, the transport vehicle is capable of... Figure 2 The vehicle travels both within and outside the designated area of ​​400 as illustrated. Typically, the transport vehicle primarily handles transport from... Figure 2 The transport of articles 100 from outside the designated area 400 to within the designated area 400, and from... Figure 2 The conveying of articles 100 within the designated area 400 shown. For example, when the first and second designated areas are set as two designated areas 400, the conveyor can normally convey articles 100 between the loading port 210 of the first designated area and the loading port 210 or storage section 3 of the second designated area. In addition, the conveyor can normally convey articles 100 between the storage section 3 of the first designated area and the loading port 210 or storage section 3 of the second designated area.

[0044] The conveyor 4 is switched between designated conveyor and normal conveyor modes via the control device 5. In other words, the conveyor 4 has two modes: a designated conveyor mode and a normal conveyor mode, which can be switched between via the control device 5. The designated conveyor mode is a mode in which the vehicle travels only within the designated area 400 and transports the items 100 between the storage section 3 and the loading port 210; it operates as a designated conveyor. The normal conveyor mode is a mode in which the vehicle can travel both within and outside the designated area 400 and operates as a normal conveyor. Figure 2 In the example shown, a conveyor 4a, designated as a specific conveyor, is configured within the designated area 400, and two conveyors 4b and 4c, designated as ordinary conveyors, are configured outside the designated area 400.

[0045] The designated area 400 includes the travel area for the transport vehicle 4 to transport the items 100 between the processing unit 200 and the storage unit 3. When viewing the designated area 400 from above, as... Figure 2 As shown, the processing device 200 and the storage unit 3 are disposed within a designated area 400. In other words, in the top view, the designated area 400 is configured to include the processing device 200 and the storage unit 3 located above the processing device 200.

[0046] Furthermore, when the processing device 200 and the storage unit 3 located above the processing device 200 are grouped together, designated areas 400 are set up on a group basis. Thus, when multiple designated areas 400 are set up, designated transport vehicles are set up on a unit of designated area 400, and information about which designated transport vehicle is responsible for which designated area 400 (hereinafter referred to as "responsible area information") is stored in the storage device 22. Furthermore, this responsible area information may also include the status information of the transport vehicle 4. The aforementioned designated area information indicates which areas are set within the designated areas 400, and is stored in the storage device 22 on a unit basis of designated areas 400. Furthermore, a group may include multiple processing devices 200, multiple storage units 3, or both.

[0047] Here, the direction of travel (hereinafter referred to as "direction of travel") that the transport vehicle 4 can travel can also differ depending on whether it is within or outside the designated area 400. For example, the direction of travel of the transport vehicle 4 is more restricted outside the designated area 400 than it is within the designated area 400. For example, the direction of travel of a transport vehicle is usually more restricted than that of a designated transport vehicle when it travels along track 2.

[0048] As an example, within a designated area 400, the transport vehicle 4 can travel in four directions along the edges of the grid in the grid-like track 2. Figure 2 In the example shown, for instance, the travel direction of a designated transport vehicle within a specified area 400 is one of the four directions in each grid cell G: ±X and ±Y.

[0049] On the other hand, outside the designated area 400, the transport vehicle 4 can only travel in two of the four directions: ±X and ±Y. Figure 2 In the example shown, for instance, the travel direction of a typical transport vehicle outside the designated area 400 is one direction in the ±X direction and one direction in the ±Y direction in each grid cell G. Figure 2 The hollow arrows shown indicate the direction of travel for each grid cell G.

[0050] For example, the direction in which movement is possible in the ±X direction is set in units of a horizontal single-column grid cell G. Figure 2 In this configuration, alternating rows of transverse grid cells G, set to the +X direction for the X-direction travel direction, and rows of transverse grid cells G, set to the -X direction for the X-direction travel direction, are used. Furthermore, the direction in which movement is possible, for example, in the ±Y direction, is set in units of longitudinal single-row grid cells G. Figure 2 In this configuration, alternatingly arranged vertical single-column grid cells G, set as the Y-direction travel direction (-Y direction), and vertical single-column grid cells G, set as the +Y-direction travel direction (Y direction), are used. Here, a horizontal single-column grid cell G represents multiple grid cells G arranged along the X-direction. A vertical single-column grid cell G represents multiple grid cells G arranged along the Y-direction. However, the restriction on the X-direction travel direction does not need to be alternated and can be arbitrarily set. Similarly, the restriction on the Y-direction travel direction does not need to be alternated and can be arbitrarily set.

[0051] Figure 2 The illustrated typical transport vehicle 4b travels in both the +X and -Y directions. Additionally, Figure 2 The illustrated transport vehicle 4c travels in two directions: +X and +Y. Here, the transport vehicle can travel within a designated area 400. In this case, the travel direction can be restricted or not. For example, a transport vehicle traveling within the designated area 400 can have its travel direction restricted to two directions, or the restriction can be lifted, allowing it to travel in four directions.

[0052] The processor 23 controls the movement of the transport vehicle 4 by sending driving commands to the transport vehicle 4 via the communication device 20. Additionally, the processor 23 can switch each transport vehicle 4 between a specified transport mode and a normal transport mode. As an example, the processor 23 includes at least one of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and a GPU (Graphics Processing Unit).

[0053] The processor 23 executes the program stored in the storage device 22 and is able to perform actions to execute the actions described by the program, namely, the process of controlling the movement of the transport vehicle 4 and the process of switching between the specified transport mode and the normal transport mode.

[0054] The program described above can also be provided via a computer-readable storage medium. The program is read from the computer-readable storage medium, installed into storage device 22, and executed by processor 23. Alternatively, the program can be configured to be downloaded from an external device via a communication network.

[0055] Examples of computer-readable storage media may also include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include: floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), read-only optical disc storage (CD-ROM), digital versatile optical disc (DVD), Blu-ray (RTM) optical discs, memory sticks, integrated circuit cards, etc.

[0056] The following describes four modes (first mode, second mode, third mode, and fourth mode) of the article transport vehicle 4 in this embodiment. First, the first mode will be described. The first mode is the case where the article 100 stored in the storage section 3 is transported to the loading port 210b within the same designated area 400. Figure 5 This diagram illustrates the first mode of goods transportation.

[0057] like Figure 5 As shown, a conveyor 4a, designated as a specific conveyor, is arranged within the designated area 400, while two conveyors 4b and 4c, designated as general conveyors, are arranged outside the designated area 400. Here, in the storage unit 3, when the conveyor is placed... Figure 5When the item 100 at the location indicated by the attached reference numeral P is being transported to the loading port 210b, the item 100 is being transported by a transport vehicle 4a, which is designated as a specific transport vehicle, rather than a normal transport vehicle.

[0058] For example, the transport vehicle 4a, designated as a specific transport vehicle, moves the shortest distance based on a driving command from the control device 5, and carries the load... Figure 5 The item 100, located at the position indicated by reference numeral P in the attached drawing, is conveyed to the loading port 210b. Figure 5 In the example shown, the conveyor 4a moves the shortest distance and advances toward the loading position (steps S101 and S102), performing the loading operation of the item 100 with reference numeral P1 stored in the storage unit 3. Then, the conveyor 4a advances toward the loading port 210 (step S103), and loads the item by unloading it into the loading port 210b.

[0059] Next, the second mode will be explained. Figure 6 This diagram illustrates the second mode of goods transportation. The second mode is set up so that the transport vehicle 4, which is a normal transport vehicle, enters the designated area 400 and transfers goods 100. The transfer of goods 100 refers to either or both of unloading and loading goods 100.

[0060] like Figure 6 As shown, a transport vehicle 4b, configured as a normal transport vehicle, enters a designated area 400 and performs a loading operation on the item 100 placed in the loading port 210c within that designated area 400. Then, the transport vehicle 4b transports the item 100 to a loading port 210 or storage unit 3 outside the designated area 400. Furthermore, in Figure 2 In the example shown, the direction of travel of the transport vehicle is also restricted within the designated area of ​​400. Therefore, Figure 6 After loading the item 100 placed in the loading port 210c, the conveyor 4b shown is unable to move in the -Y and -X directions. Therefore, Figure 2 The conveyor 4b shown moves, for example, in the +Y direction and leaves the designated area 400 (step S201). Additionally, the conveyor 4, configured as a normal conveyor, can transport items 100 from outside the designated area 400 into the designated area 400. For example, as... Figure 6 As shown, the conveyor 4c, configured as a normal conveyor, holds the item 100 and enters the designated area 400 (step S202). Furthermore, the conveyor 4c places the item 100 in the placement area 31 (reference numeral P) within the designated area 400. Once the conveyor 4c has placed the item 100 in the placement area 31, it exits the designated area 40 (step S203).

[0061] In this way, the transport vehicle 4, which is set as a normal transport vehicle, can enter and exit the designated area 400, and can transport the item 100 from outside the designated area 400 to the loading port 210 and storage unit 3 inside the designated area 400, or can transport the item 100 placed in the loading port 210 and storage unit 3 inside the designated area 400 to outside the designated area 400.

[0062] Next, we will explain the third mode. Figure 7 This diagram illustrates the third mode of item transport. The third mode is when the transport vehicle 4, which is set as the designated transport vehicle, is transporting item 100, and the destination of item 100 is changed to a location outside the designated area 400.

[0063] For example, Figure 7 The setup shown is that a transport vehicle 4a, designated as a transport vehicle, transports item 100 toward a first transport destination. This first transport destination is within a designated area 400, such as loading port 210b. In this case, during the transport of item 100 to the first transport destination, the transport vehicle 4a receives a driving command from the control device 5 and changes the transport destination from the first transport destination to a second transport destination. The second transport destination is... Figure 6 Outside of the specified area 400 shown, for example, the storage section 3 and loading port 210 of other specified areas 400.

[0064] If the destination is changed to a second destination, the transport vehicle 4a leaves its designated area 400 and transports the item 100 to the second destination. Figure 7 The diagram shows a case where, when the transport vehicle 4a arrives at the grid cell G corresponding to the first transport destination, i.e., the loading port 210b, it changes the transport destination of the item 100 to a second transport destination. In this case, for example, the transport vehicle 4a leaves the designated area 400 of the vehicle and transports the item 100 to the second transport destination (step S301).

[0065] Thus, when the control device 5 is transporting the item 100 in a designated transport vehicle within the designated area 400, if the destination of the item 100 is changed to outside the designated area 400, the transport vehicle 4, which is set as the designated transport vehicle, will transport the item 100 to outside the designated area 400.

[0066] Here, when the transport vehicle 4a, which is designated as a transport vehicle, leaves the designated area 400, the transport vehicle 4b, which is designated as a normal transport vehicle, is guided into the designated area 400 as the designated transport vehicle (step S302). In addition, the transport vehicle 4a is changed from a designated transport vehicle to a normal transport vehicle.

[0067] That is, if the transport vehicle 4a, which is set as a designated transport vehicle within the designated area 400, leaves the designated area 400 (step S301), the control device 5 changes the setting of the transport vehicle 4b, which is set as a normal transport vehicle, to the designated transport vehicle. Furthermore, the control device 5 causes the transport vehicle 4b, which has been changed to the designated transport vehicle, to enter the designated area 400 (step S302). The control device 5 changes the setting of the transport vehicle 4a, which has left the designated area 400, from a designated transport vehicle to a normal transport vehicle. Furthermore, for example, the transport vehicle 4 that is changed to the designated transport vehicle of the designated area 400 by the control device 5 is the transport vehicle located closest to the designated area 400. However, it is not limited to this; the transport vehicle 4 that is changed to the designated transport vehicle can be selected according to preset conditions, or it can be any transport vehicle 4 that is not transporting items 100 and is traveling at the position closest to the designated area 400.

[0068] Next, we will explain the fourth mode. Figure 8 This diagram illustrates the fourth mode of goods transportation. The fourth mode refers to the situation where the destination of goods 100 stored within the designated area 400 is outside the designated area 400.

[0069] If the item 100 stored in designated area 400 is destined for another designated area 400, it will not be transported by a designated transport vehicle, but by a regular transport vehicle entering designated area 400 to transport the item 100. While the regular transport vehicle responsible for transporting the item 100 is not specifically limited, it is preferable that there is no regular transport vehicle currently transporting items and that is closest to designated area 400.

[0070] For example, in Figure 8 If the destination of the item 100 stored by reference numeral P in the designated area 400 is not the loading port 210 in the designated area 400, but the loading port 210 or storage section 3 of another designated area 400, then the transport vehicle 4b of the normal transport vehicle located closest to the designated area 400 is brought into the designated area 400 instead of the designated transport vehicle in the designated area 400 (step S401). Furthermore, the control device 5 causes the transport vehicle 4b to perform the loading operation of the item 100 stored by reference numeral P and transport it to the new destination (step S402).

[0071] As described above, in this embodiment, the control device 5 selects one or more of the multiple transport vehicles 4 as designated transport vehicles that only travel within a specified area 400 and are responsible for transporting the items 100 from the storage unit 3 to the processing device 200. Therefore, in the transport system 1 having transport vehicles 4 that transport items 100 along the track 2, the transport efficiency from the storage unit 3 to the processing device 200 can be improved.

[0072] In the above embodiment, although the example described is that a designated transport vehicle is set within the same designated area 400, it is not limited to this. For example, multiple designated transport vehicles may be set within the same designated area 400. In addition, multiple processing devices 200 and multiple storage units 3 may be provided within the same designated area 400.

[0073] The above embodiments disclose the following structure.

[0074] (Structure 1) A conveying system comprising:

[0075] Multiple transport vehicles 4 travel along a grid-like track 2 and transport items 100;

[0076] Control device 5, which controls the movement of multiple transport vehicles 4; and

[0077] Storage unit 3 is capable of storing items transported to processing unit 200.

[0078] A designated area 400 is provided, which includes the travel area for the transport vehicle 4 to transport the items 100 between the processing unit 200 and the storage unit 3.

[0079] The control device 5 selects one or more of the multiple transport vehicles 4 as designated transport vehicles that only travel within the designated area 400 and are responsible for transporting the items 100 between the storage unit 3 and the processing device 200.

[0080] (Structure 2) The conveying system according to Structure 1, wherein,

[0081] Control device 5 selects one or more transport vehicles 4 from among multiple transport vehicles 4 to be a normal transport vehicle that is different from the designated transport vehicle.

[0082] Typically, the transport vehicle can travel both inside and outside the designated area 400, and transport item 100 from outside the designated area 400 to inside the designated area 400.

[0083] (Structure 3) The conveying system according to Structure 1 or 2, wherein,

[0084] Control device 5 selects one or more transport vehicles 4 from among multiple transport vehicles 4 to be a normal transport vehicle that is different from the designated transport vehicle.

[0085] Typically, the transport vehicle can travel both inside and outside the designated area 400, and can enter the designated area 400 to transport the items 100 inside the designated area 400 to the outside of the designated area 400.

[0086] (Structure 4) The conveying system according to any one of Structures 1 to 3, wherein,

[0087] When viewed from above, the designated area 400 is positioned within the designated area 400.

[0088] When the control device 5 is transporting the item 100 in a designated transport vehicle within the designated area 400, if the destination of the item 100 is changed to outside the designated area 400, the transport vehicle 4, which is set as the designated transport vehicle, will transport the item 100 outside the designated area 400.

[0089] (Structure 5) The conveying system according to any one of Structures 1 to 4, wherein,

[0090] If a transport vehicle 4, which is set as a designated transport vehicle within a specified area 400, exits the specified area, the control device 5 will change the setting of the transport vehicle 4, which is set as a normal transport vehicle, to a designated transport vehicle and bring it into the specified area. The transport vehicle 4 that has exited the specified area will be changed from a designated transport vehicle to a normal transport vehicle.

[0091] (Structure 6) The conveying system according to any one of Structures 1 to 5, wherein,

[0092] Storage unit 3 is located above processing device 200.

[0093] (Structure 7) The conveying system according to any one of Structures 1 to 6, wherein,

[0094] The direction in which the transport vehicle 4 can travel is more restricted outside the designated area 400 compared to when it is within the designated area 400.

[0095] (Structure 8) The conveying system according to any one of Structures 1 to 7, wherein,

[0096] Within the designated area of ​​400, it can travel in four directions extending along the edges of the grid in track 2.

[0097] Outside the designated area of ​​400, travel is only permitted in one direction extending along one edge of the grid.

[0098] While the embodiments have been described above, the technical scope of the present invention is not limited to the embodiments described above. Furthermore, it is self-evident to those skilled in the art that various modifications or improvements can be made to the above embodiments. As can be seen from the descriptions of patent technical solutions, forms with such modifications or improvements can also be included within the technical scope of the present invention. Furthermore, one or more of the elements described in the above embodiments can be omitted. Furthermore, the elements described in the above embodiments can be appropriately combined. Furthermore, the execution order of each step shown in the embodiments can be implemented in any order as long as the results of the preceding steps are not used in the subsequent steps. Furthermore, regarding the actions in the above embodiments, even if terms such as "firstly," "secondly," and "next" are used for convenience, they are not necessarily performed in that order. Furthermore, to the extent permitted by law, the disclosures of all documents cited in Japanese Patent Application 2023-146790 and the above embodiments are incorporated herein by reference and are included as part of this description.

[0099] Explanation of reference numerals in the attached figures

[0100] HS… conveying system; DE… designated area; 2… track; 4… conveyor vehicle; 5… control device; 10… conveyor vehicle; 31… storage department; 200… processing device.

Claims

1. A conveying system comprising: Multiple transport vehicles travel along a grid of tracks, transporting items. A control device that controls the movement of the aforementioned multiple transport vehicles; and The storage department is capable of storing the aforementioned items transported to the processing device. The aforementioned conveying system has a designated area, which includes the travel area of ​​the conveyor vehicle for transporting the aforementioned items between the aforementioned processing unit and the aforementioned storage unit. The control device selects one or more of the aforementioned transport vehicles as designated transport vehicles that operate only within the specified area and are responsible for transporting the aforementioned items between the storage unit and the processing unit.

2. The conveying system according to claim 1, wherein, The aforementioned control device selects one or more of the aforementioned transport vehicles as ordinary transport vehicles that are different from the designated transport vehicle. The aforementioned transport vehicle is capable of traveling both within and outside the aforementioned designated area, and transports the aforementioned items from outside the aforementioned designated area to the aforementioned designated area.

3. The conveying system according to claim 1, wherein, The aforementioned control device selects one or more of the aforementioned transport vehicles as ordinary transport vehicles that are different from the designated transport vehicle. The aforementioned transport vehicle is capable of traveling both within and outside the aforementioned designated area, entering the aforementioned designated area and transporting the aforementioned items within the aforementioned designated area to the outside of the aforementioned designated area.

4. The conveying system according to claim 1, wherein, When viewed from above, the aforementioned processing device and storage unit are located within the aforementioned designated area. When the aforementioned control device transports the aforementioned item in the designated transport vehicle within the aforementioned defined area, if the destination of the item is changed to outside the defined area, the aforementioned transport vehicle, which is designated as the transport vehicle, will transport the item outside the defined area.

5. The conveying system according to claim 1, wherein, If the aforementioned control device changes the designated transport vehicle (set as the specified transport vehicle) out of the specified area, and the transport vehicle (set as the normal transport vehicle) is changed back to the specified transport vehicle and brought into the specified area, and the transport vehicle that has left the specified area is changed back to the normal transport vehicle.

6. The conveying system according to claim 1, wherein, The aforementioned storage unit is located above the aforementioned processing device.

7. The conveying system according to any one of claims 1 to 6, wherein, The directions in which the aforementioned transport vehicles can travel are more restricted outside of the aforementioned designated areas compared to when they are within those areas.

8. The conveying system according to claim 7, wherein, Within the aforementioned designated area, it can travel in four directions extending along each side of the grid in the aforementioned grid-like track. Outside the aforementioned designated area, travel is permitted in only two of the four directions mentioned above.

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