Article conveying facility

Abstract

The invention provides an article transport facility. In an article transport facility, each of a plurality of transport vehicles is provided with a speed detection unit for detecting the current speed (V), and a distance detection unit for detecting an inter-vehicle distance index (D), which is an index corresponding to the distance from another transport vehicle present ahead in the traveling direction. The control system executes a first target speed determination process for determining a control target speed (V2) on the basis of a distance-corresponding target speed (V1) set so as to increase as the inter-vehicle distance index increases, the current speed, and the inter-vehicle distance index. The first target speed determination process includes an acceleration determination process for determining whether or not to execute an acceleration process for setting the control target speed to a distance-corresponding target speed higher than the current speed. In the acceleration determination process, the control system executes the acceleration process when the state is in which the relationship between the current speed and the distance-corresponding target speed satisfies the acceleration condition and the state continues for a determination time (T) or more.

Description

Technical Field

[0001] The present invention relates to an article conveying device comprising a plurality of conveyor vehicles that travel along a driving path to convey articles and a control system for controlling the plurality of conveyor vehicles. Background Technology

[0002] Japanese Patent Application Publication No. 3-6603 (hereinafter referred to as "Patent Document 1") discloses an example of such a goods conveying device. In the goods conveying device of Patent Document 1, each of multiple conveyor vehicles is equipped with a distance detection unit that detects the distance (inter-vehicle distance) to other conveyor vehicles located ahead in the direction of travel. Based on the inter-vehicle distance detected by the distance detection unit, the control system calculates the change in inter-vehicle distance per unit time (distance change) and calculates the difference (distance difference) between a pre-set appropriate distance and the inter-vehicle distance. Then, the control system increases or decreases the acceleration of the conveyor vehicle according to the distance change and the distance difference.

[0003] Thus, in the article conveying equipment of Patent Document 1, the conveyor is driven while the acceleration is changed in order to maintain an appropriate workshop distance. Summary of the Invention

[0004] However, in the article conveying device of Patent Document 1, even when the acceleration increases due to factors such as increased workshop distance and the conveyor is controlled to accelerate, depending on the condition of the conveyor's travel path, such as congestion ahead in the direction of travel, the acceleration of the conveyor may become ineffective and the energy consumption of the conveyor may increase. In order to reduce the energy consumption of the conveyor, it is possible to consider reducing the frequency of the conveyor's acceleration, but this may lead to a decrease in the conveying efficiency of the conveyor.

[0005] Therefore, the goal is to create a conveying device that can minimize the decrease in the efficiency of the conveyor vehicle in transporting goods while also minimizing the energy consumption of the conveyor vehicle.

[0006] Given the aforementioned features of the goods conveying equipment, it comprises multiple conveyor vehicles that transport goods along a travel path and a control system that controls the multiple conveyor vehicles; each of the multiple conveyor vehicles has a speed detection unit that detects its own current travel speed (i.e., current speed) and a distance detection unit that detects an index corresponding to the distance to other conveyor vehicles ahead in the travel direction (i.e., inter-vehicle distance index); the control system is configured to execute a first target speed determination process based on a target value of the travel speed (i.e., distance-corresponding target speed) that is preset to increase as the inter-vehicle distance index increases, the current speed, and the inter-vehicle distance index, which determines the control target speed (i.e., control target speed); the first target speed determination process includes an acceleration determination process that determines whether to execute an acceleration process that sets the control target speed to the distance-corresponding target speed, which is higher than the current speed; in the acceleration determination process, the control system determines to execute the acceleration process when the relationship between the current speed and the distance-corresponding target speed satisfies a preset acceleration condition and the acceleration suitable state continues for a preset determination time or more.

[0007] Based on this feature structure, in the acceleration determination process, even if the relationship between the current speed and the target speed corresponding to the distance satisfies the preset acceleration conditions in an acceleration suitable state, acceleration processing will not be performed if this acceleration suitable state does not continue for a preset determination time. Therefore, unnecessary acceleration of the transport vehicle can be reduced, allowing the transport vehicle to operate efficiently. Consequently, it is easier to minimize the decrease in the transport vehicle's efficiency in transporting goods while also minimizing the transport vehicle's energy consumption. Attached Figure Description

[0008] Figure 1 This is a schematic diagram showing the overall structure of the article conveying equipment according to the relevant implementation method.

[0009] Figure 2 This is a side view of the transport vehicle included in the article transport equipment according to the embodiments.

[0010] Figure 3 This is a block diagram showing the structure of the article conveying equipment according to the relevant implementation method.

[0011] Figure 4 This is a flowchart illustrating an example of control processing performed by a control system.

[0012] Figure 5 This is a graph showing the workshop distance index for other implementation methods.

[0013] Figure 6 This is a graph showing the workshop distance index for other implementation methods. Detailed Implementation

[0014] Hereinafter, the article conveying device 100 of the relevant embodiments will be described with reference to the accompanying drawings.

[0015] like Figure 1 As shown, the goods conveying device 100 is equipped with a travel path P for conveying goods W (see reference). Figure 2 ) multiple transport vehicles 1.

[0016] In this embodiment, the travel path P includes a main path Pa formed in a loop, multiple secondary paths Pb formed in a loop that pass through multiple stations S, and multiple connecting paths Pc that connect the main path Pa with the multiple secondary paths Pb.

[0017] Station S is configured to facilitate the transfer of goods W between itself and a transport vehicle 1 that stops at a location corresponding to station S. The objects to which goods W are transferred at station S include, for example, the loading port of a processing device that handles goods W, the in / out port of a storage device that stores goods W, and a storage shelf that temporarily stores goods W.

[0018] like Figure 2 As shown, in this embodiment, the article conveying device 100 also includes a travel track 2 suspended from the ceiling. The travel track 2 is arranged along the travel path P. In this embodiment, the conveyor 1 is a ceiling-mounted conveyor 1 that is guided by the travel track 2 and travels along the travel path P. Furthermore, the article W is, for example, a FOUP (Front Opening Unified Pod) that houses a semiconductor substrate, a glass substrate that becomes a display material, etc.

[0019] In this embodiment, the transport vehicle 1 includes a traveling unit 11 and a transfer unit 12.

[0020] The traveling unit 11 has a plurality of traveling wheels 11a that roll on the traveling track 2. In this embodiment, at least one of the plurality of traveling wheels 11a rotates and rolls on the traveling track 2 by means of the driving force of a traveling motor (not shown), thereby the traveling unit 11 travels along the traveling path P.

[0021] The transfer unit 12 transfers the item W between the transfer unit and station S. Detailed descriptions are omitted, but the transfer unit 12 typically includes, for example, a holding part for holding the item W and a lifting part for moving the holding part up and down relative to the traveling unit 11. Furthermore, the transfer unit 12 may, as needed, include a horizontal moving part for moving the holding part horizontally relative to the traveling unit 11, and a rotating part for rotating the holding part relative to the traveling unit 11 about a rotation axis in the vertical direction. However, the transfer unit 12 is not limited to any structure necessary for transferring the item W between the transfer unit and station S.

[0022] Furthermore, in the following description, any transport vehicle 1 will be designated as "object vehicle 1A", and the direction of travel of object vehicle 1A will be defined as follows (refer to...). Figure 2 The other transport vehicle 1 in front of the one marked with a white arrow in the image is designated as "leader vehicle 1B".

[0023] like Figure 3 As shown, the goods conveying equipment 100 includes a control system 10 for controlling a plurality of conveyor vehicles 1. In this embodiment, the control system 10 includes a first control device 3 installed at a predetermined location in the goods conveying equipment 100, and a second control device 4 installed in each of the plurality of conveyor vehicles 1. The first control device 3 and the plurality of second control devices 4 are configured to communicate wirelessly with each other.

[0024] The first control device 3 outputs control commands to each of the multiple second control devices 4. The first control device 3 includes a processing unit 31 that performs prescribed processing and a storage unit 32 that stores various types of information.

[0025] The second control device 4 controls the operation of the driving unit 11 and the transfer unit 12 based on the control commands from the first control device 3.

[0026] Each of the multiple transport vehicles 1 has a speed detection unit 13 that detects its own (target vehicle 1A) current speed V, and a distance detection unit 14 that detects the inter-vehicle distance index D, which corresponds to the distance to another transport vehicle 1 (leading vehicle 1B) located ahead in the direction of travel. In this embodiment, the inter-vehicle distance index D is the inter-vehicle distance between the target vehicle 1A and the leading vehicle 1B.

[0027] In this embodiment, the second control device 4 sends the current speed V detected by the speed detection unit 13 and the workshop distance index D detected by the distance detection unit 14 to the first control device 3.

[0028] The control system 10 is configured to perform a first target speed determination process, which determines the target value of the control target speed V2, based on the current speed V, the inter-vehicle distance index D, and the target speed V1 corresponding to the distance. In this embodiment, the control system 10 is configured to also perform a second target speed determination process, which determines the control target speed V2. Furthermore, in this embodiment, the processing unit 31 of the first control device 3 performs control processing for the transport vehicle 1, including both the first and second target speed determination processes.

[0029] The distance-corresponding target speed V1 is a pre-set target value for the travel speed of the transport vehicle 1, which increases as the inter-vehicle distance index D increases. In this embodiment, the storage unit 32 of the first control device 3 stores a target speed table that registers the distance-corresponding target speed V1 corresponding to the inter-vehicle distance index D. Furthermore, the processing unit 31 of the first control device 3 refers to the target speed table stored in the storage unit 32 and obtains the distance-corresponding target speed V1 corresponding to the inter-vehicle distance index D detected by the distance detection unit 14.

[0030] The following is for reference Figure 4 The control processing performed by the control system 10 will be explained. Figure 4 This is a flowchart illustrating an example of control processing performed by control system 10.

[0031] The control system 10 performs the following control processes at specified intervals.

[0032] like Figure 4 As shown, the control system 10 first causes the speed detection unit 13 to detect the current speed V and obtains the detected current speed V (step #1). Next, the control system 10 causes the distance detection unit 14 to detect the workshop distance index D and obtains the detected workshop distance index D (step #2). Then, the control system 10 obtains the target speed V1 corresponding to the distance of the workshop distance index D (step #3).

[0033] Alternatively, the process of obtaining the current speed V (step #1) may not precede the process of detecting the workshop distance index D (step #2) or the process of obtaining the target speed V1 corresponding to the distance (step #3), but may be performed in parallel with these processes (step #2 and step #3), or it may be performed after these processes (step #2 and step #3).

[0034] Next, the control system 10 determines whether the increase in the workshop distance index D over a predetermined period of time (D(n) - D(n-1)) is less than or equal to a preset reference value R (step #4). Here, D(n) is the workshop distance index D at the current point in time, and D(n-1) is the previously detected workshop distance index D. Furthermore, if D(n) is less than D(n-1), the increase in the workshop distance index D over a predetermined period of time becomes negative. Moreover, as described above, in this embodiment, the workshop distance index D is the distance between the transport vehicle 1 and other transport vehicles 1 located ahead of it in the direction of travel of the transport vehicle 1. Therefore, in this embodiment, the reference value R is a value representing distance (e.g., 200 [mm]). Additionally, the reference value R can be used as a correction value, or it can be set to zero or a negative value instead of a positive value.

[0035] If the increase in the inter-vehicle distance index D (D(n) - D(n-1)) over a specified period of time is less than or equal to the baseline value R (step #4: Yes), the control system 10 performs the first target speed determination process. For example, if the inter-vehicle distance between the target vehicle 1A and the preceding vehicle 1B is approximately the same or decreases within the specified time, it is determined as "Yes" in step #4; if the inter-vehicle distance between the target vehicle 1A and the preceding vehicle 1B increases to some extent within the specified time, it is determined as "No" in step #4.

[0036] In the first target speed determination process, the control system 10 first determines whether the current speed V is less than the distance to the target speed V1 (step #5).

[0037] If the current speed V is less than the target speed V1 at the distance (step #5: Yes), the control system 10 determines whether the difference between the current speed V and the target speed V1 at the distance is below a preset judgment threshold TH (step #6).

[0038] Here, "the difference between the current speed V and the target speed V1 at a distance" is, for example, simply the value obtained by subtracting the current speed V from the target speed V1 at a distance. In this case, the determination threshold TH becomes the value representing the speed (e.g., 10 [m / min]). Alternatively, multiple speed domains can be defined using values ​​corresponding to the travel speed of the transport vehicle 1, and the value obtained by subtracting the speed domain to which the current speed V belongs from the speed domain to which the target speed V1 belongs (the value representing the difference in the levels of the speed domains) is set as "the difference between the current speed V and the target speed V1 at a distance". In this case, the determination threshold TH becomes the value representing the speed domain (a value representing the level of the speed domain, for example, 1).

[0039] If the difference between the current speed V and the target speed V1 corresponding to the distance is below the judgment threshold TH (step #6: Yes), the control system 10 performs a constant speed process to set the target speed V2 to the current speed V (step #7).

[0040] On the other hand, if the difference between the current speed V and the target speed V1 corresponding to the distance is greater than the judgment threshold TH (step #6: no), the control system 10 determines whether the acceleration suitable state has continued for more than the preset judgment time T (step #8).

[0041] Here, "acceleration suitability state" is a state in which the relationship between the current speed V and the target speed V1 corresponding to the distance meets a preset acceleration condition. In this embodiment, when the increase in the workshop distance index D (D(n) - D(n-1)) over a specified period of time is less than the baseline value R (step #4: Yes), the "acceleration condition" is that the current speed V is less than the target speed V1 corresponding to the distance (step #5: Yes) and the difference between the current speed V and the target speed V1 corresponding to the distance is greater than the judgment threshold TH (step #6: No).

[0042] Furthermore, in this embodiment, the "determination time T" is a value corresponding to the number of times the control process performed by the control system 10 is executed (for example, the time equivalent to 10 control processes performed by the control system 10). For example, the number of times the shop distance index D is detected by the distance detection unit 14 can be set as the number of times the control process is executed here. In this case, the time of one cycle in the detection cycle of the shop distance index D performed by the distance detection unit 14 becomes the time equivalent to one control process.

[0043] If the acceleration is in a suitable state for a continuous determination time T or more (step #8: Yes), the control system 10 sets the control target speed V2 to the distance-corresponding target speed V1 (step #9). At this time, since the distance-corresponding target speed V1 is higher than the current speed V (step #5: Yes), acceleration processing is performed.

[0044] Furthermore, in step #5 above, if the current speed V is greater than or equal to the target speed V1 (step #5: No), the control system 10 also sets the target speed V2 to the target speed V1 (step #9). At this time, if the target speed V1 is lower than the current speed V, deceleration is performed; if the target speed V1 is equal to the current speed V, constant speed is performed.

[0045] On the other hand, if the duration of the acceleration suitable state is less than the determination time T (step #8: No), the control system 10 performs a constant speed process to set the control target speed V2 to the current speed V (step #7).

[0046] In step #4 above, if the increase in the workshop distance index D at each specified time (D(n) - D(n-1)) is greater than the reference value R (step #4: no), the control system 10 performs the second target speed determination process.

[0047] In the second target speed determination process, the control system 10 first determines whether the target speed V2 was set to the distance-corresponding target speed V1 in the previous control process, that is, whether deceleration or acceleration was performed in the previous control process (step #10).

[0048] If a deceleration or acceleration process was performed in the previous control process (step #10: Yes), the control system 10 performs a deceleration or acceleration process, that is, continues to set the control target speed V2 to the state of being at a distance from the corresponding target speed V1 (step #9).

[0049] On the other hand, if no deceleration or acceleration was performed in the previous control process, that is, if constant speed was performed in the previous control process (step #10: No), the control system 10 determines whether the current speed V is less than the distance to the target speed V1 (step #11).

[0050] If the current speed V is less than the target speed V1 at the distance (step #11: Yes), the control system 10 determines whether the acceleration suitable state that meets the acceleration condition has been continuously determined for more than the judgment time T (step #8). In this embodiment, the "acceleration condition" is that the increase in the workshop distance index D (D(n) - D(n-1)) at each specified time is greater than the reference value R (step #4: No) when the current speed V is less than the target speed V1 at the distance (step #11: Yes).

[0051] If the acceleration is in a suitable state for a continuous determination time T or more (step #8: Yes), the control system 10 sets the control target speed V2 to the distance-corresponding target speed V1 (step #9). At this time, since the distance-corresponding target speed V1 is higher than the current speed V (step #11: Yes), acceleration processing is performed.

[0052] On the other hand, if the duration of the acceleration suitable state is less than the determination time T (step #8: No), the control system 10 performs a constant speed process to set the control target speed V2 to the current speed V (step #7).

[0053] In step #11 above, if the current speed V is greater than or equal to the target speed V1 (step #11: No), the control system 10 sets the target speed V2 to the target speed V1 (step #9). At this time, if the target speed V1 is lower than the current speed V, deceleration is performed; if the target speed V1 is equal to the current speed V, constant speed is performed.

[0054] As described above, the first target speed determination process includes determining whether to execute the acceleration determination process (corresponding to steps #5, #6, and #8) to set the control target speed V2 to a distance-corresponding target speed V1 that is higher than the current speed V.

[0055] Furthermore, in the acceleration determination process (corresponding to steps #5, #6, and #8), the control system 10 determines to execute the acceleration process (corresponding to step #9) when the relationship between the current speed V and the target speed V1 corresponding to the distance satisfies the preset acceleration conditions (corresponding to steps #5 and #6) and the acceleration suitable state continues for a preset determination time T or more (corresponding to step #8: Yes).

[0056] Thus, in the acceleration determination process (corresponding to steps #5, #6, and #8), even if the current speed V and the distance-corresponding target speed V1 meet the preset acceleration conditions in the acceleration suitable state (corresponding to steps #5 and #6), if this acceleration suitable state does not continuously exceed the preset determination time T (corresponding to step #8: No), then the acceleration process is not executed (corresponding to step #9). Therefore, useless acceleration of the transport vehicle 1 can be reduced, allowing the transport vehicle 1 to travel efficiently. Consequently, it is easy to minimize the decrease in the transport efficiency of the transport vehicle 1 for the item W while also minimizing the energy consumption of the transport vehicle 1.

[0057] Additionally, in the merging and intersecting sections of the travel path P (e.g., Figure 1 In the section connecting the main path Pa and the connecting path Pc, congestion can easily occur in the transport vehicle 1, which can lead to increased energy consumption of the transport vehicle 1. Therefore, when there are many merging and crossing sections in the travel path P, the energy consumption reduction effect brought about by the above-mentioned control process can be more effective.

[0058] In this embodiment, the acceleration determination process (corresponding to steps #5, #6, and #8) includes a determination (corresponding to step #8) of whether to perform a speed-fixing process (corresponding to step #7) that sets the target speed V2 to the current speed V. Furthermore, in the acceleration determination process (corresponding to steps #5, #6, and #8), if the duration of the acceleration suitability state is less than the determination time T (corresponding to step #8: No), the control system 10 determines that it will not perform the acceleration process (corresponding to step #9) and will instead perform the speed-fixing process (corresponding to step #7).

[0059] Furthermore, in this embodiment, when the increase in the workshop distance index D (D(n) - D(n-1)) over a specified period of time is less than the baseline value R (corresponding to step #4: Yes), the control system 10 takes the current speed V as less than the distance to the target speed V1 (corresponding to step #5: Yes) and the difference between the current speed V and the distance to the target speed V1 as greater than the determination threshold TH (corresponding to step #6: No) as acceleration conditions, and performs acceleration determination processing (corresponding to steps #5, #6, and #8).

[0060] Furthermore, in this embodiment, in the acceleration determination process (corresponding to steps #5, #6, and #8), the control system 10 determines that acceleration processing will not be performed (corresponding to step #9) and constant speed processing will be performed (corresponding to step #7) even if the current speed V is less than the distance to the target speed V1 (corresponding to step #5: Yes) and the difference between the current speed V and the distance to the target speed V1 is less than the determination threshold TH (corresponding to step #6: Yes).

[0061] Furthermore, in this embodiment, the first target speed determination process also includes a deceleration determination process (corresponding to step #5) that determines whether to perform a deceleration process (corresponding to step #9) to set the control target speed V2 to a target speed V1 that is lower than the current speed V by a distance.

[0062] Furthermore, in the deceleration determination process (corresponding to step #5), if the relationship between the current speed V and the target speed V1 corresponding to the distance satisfies the preset deceleration condition (corresponding to step #5: no), the control system 10 determines to execute the deceleration process (corresponding to step #9).

[0063] Furthermore, in this embodiment, the control system 10 is configured such that if the increase in the workshop distance index D (D(n) - D(n-1)) at each predetermined time is greater than the reference value R (corresponding to step #4: No), a second target speed determination process (corresponding to steps #10 and #11) is also executed to determine the control target speed V2.

[0064] In this embodiment, in the second target speed determination process (corresponding to steps #10 and #11), the control system 10 continues to set the control target speed V2 to the state of being at a distance from the corresponding target speed V1 when the control target speed V2 is set to a distance from the corresponding target speed V1 (corresponding to step #10: Yes).

[0065] Furthermore, if a constant speed process is performed (corresponding to step #7) (corresponding to step #10: No), and the current speed V is higher than the distance to the target speed V1 (corresponding to step #11: No), it is determined that a deceleration process will be performed (corresponding to step #9).

[0066] Furthermore, if the constant speed processing is performed (corresponding to step #7) (corresponding to step #10: No), and if the current speed V is less than the distance to the target speed V1 (corresponding to step #11: Yes), the current speed V being less than the distance to the target speed V1 (corresponding to step #11: Yes) is used as an acceleration condition, and acceleration determination processing is performed (corresponding to steps #8 and #11).

[0067] [Other Implementation Methods] (1) In the above embodiment, the structure in which the workshop distance index D is the workshop distance between the target vehicle 1A and the preceding vehicle 1B is described as an example. However, it is not limited to that structure, for example, Figure 5 and Figure 6 As shown, multiple distance regions can also be defined using values ​​corresponding to the inter-vehicle distance between target vehicle 1A and preceding vehicle 1B. The value representing the distance region where the inter-vehicle distance between target vehicle 1A and preceding vehicle 1B is located is set as the inter-vehicle distance index D. Figure 5 and Figure 6 In the example shown, the five distance regions, from region D1 to region D5, are set in ascending numerical order. Furthermore, the numerical values ​​representing regions D1 to D5 are defined as "1" to "5". Therefore, in this embodiment, the reference value R is a value representing the distance region (e.g., "0"). Additionally, in this example, regions D1 to D5 are set to be a range that widens as one moves from region D1 towards region D5.

[0068] exist Figure 5 In the example shown, after a specified time, the distance between target vehicle 1A and preceding vehicle 1B decreases from the state where the distance between them is in region 5 (D5), but the distance region in which this distance is located does not change from region 5 (D5). At this time, the increase in the distance index D over each specified time period (D(n) - D(n-1)) is "0". Furthermore, in... Figure 5 In the diagram, the shaded area represents the distance between the target vehicle 1A and the preceding vehicle 1B. Figure 6 The same applies to China.

[0069] On the other hand, Figure 6 In the example shown, after a specified time, the distance between the target vehicle 1A and the preceding vehicle 1B is in region D5. The distance between them decreases, and the distance region they are in changes from region D5 to region D4. At this time, the increase in the distance index D for each specified time (D(n) - D(n-1)) is -1.

[0070] (2) In the above embodiment, the structure of the conveyor 1 being a canopy conveyor 1 guided by a travel track 2 suspended from the ceiling and traveling along a travel path P is described as an example. However, it is not limited to such a structure. For example, the conveyor 1 can also be a tracked conveyor 1 that travels along a track set on the floor. In addition, the conveyor 1 can also be a trackless conveyor 1 such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). When the conveyor 1 is a trackless conveyor 1, the conveyor 1 does not travel along a travel path P that is physically formed using tracks or the like, but rather along an imaginary travel path P. In this case, the travel path P can be formed by multiple objects to be detected (e.g., QR codes, RF (Radio Frequency) tags, etc.) set on the floor. Alternatively, such objects to be detected can be omitted from the floor, and the travel path P can be formed imaginarily by a route calculated based on the recognition results of the surrounding environment.

[0071] (3) In the above embodiment, the control system 10 is described as having a first control device 3 and a second control device 4 respectively installed in a plurality of transport vehicles 1, and the first control device 3 gives commands to the plurality of second control devices 4. However, it is not limited to such a structure, for example, it can also be made into a structure in which the plurality of second control devices 4 operate independently or cooperate with each other.

[0072] (4) In the above embodiment, the structure in which the determination time T is a value corresponding to the number of times the control process performed by the control system 10 is executed (for example, the time equivalent to 10 times the control process performed by the control system 10) has been described as an example. However, it is not limited to such a structure, and the determination time T may be set as a time that is independent of the number of times the control process performed by the control system 10 is executed.

[0073] (5) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0074] [Summary of this implementation method] The following is a summary of the article conveying equipment described above.

[0075] The goods conveying equipment includes multiple conveyor vehicles that transport goods along a travel path and a control system that controls the multiple conveyor vehicles; each of the multiple conveyor vehicles has a speed detection unit that detects its own current travel speed, i.e., current speed, and a distance detection unit that detects an index corresponding to the distance to other conveyor vehicles existing ahead in the travel direction, i.e., a vehicle distance index; the control system is configured to execute a first target speed determination process based on a target value of the travel speed that is preset to increase as the vehicle distance index increases, i.e., a distance-corresponding target speed, the current speed, and the vehicle distance index to determine the target value of the control of the travel speed, i.e., a control target speed; the first target speed determination process includes an acceleration determination process that determines whether to execute an acceleration process that sets the control target speed to the distance-corresponding target speed, which is higher than the current speed; in the acceleration determination process, the control system determines to execute the acceleration process when the relationship between the current speed and the distance-corresponding target speed satisfies a preset acceleration condition and the acceleration suitable state continues for a preset determination time or more.

[0076] According to this structure, in the acceleration determination process, even if the relationship between the current speed and the target speed corresponding to the distance satisfies the preset acceleration conditions in an acceleration suitable state, acceleration processing will not be performed if this acceleration suitable state does not continue for a preset determination time. Therefore, unnecessary acceleration of the transport vehicle can be reduced, allowing the transport vehicle to operate efficiently. Consequently, it is easier to minimize the decrease in the transport vehicle's efficiency in transporting goods while also minimizing the transport vehicle's energy consumption.

[0077] Here, preferably, the aforementioned acceleration determination process includes a determination of whether to perform a speed-fixing process that sets the aforementioned control target speed to the aforementioned current speed; in the aforementioned acceleration determination process, if the aforementioned control system determines that the aforementioned acceleration suitable state is not performed for a continuous period of less than the aforementioned determination time, the aforementioned speed-fixing process is performed instead of the aforementioned acceleration process.

[0078] According to this structure, even if the relationship between the current speed and the target speed corresponding to the distance satisfies the acceleration conditions, and the acceleration-suitable state is not continuously judged for more than a certain period, acceleration processing will not be performed, and constant speed processing will be performed instead. Therefore, it is easy to minimize the unnecessary acceleration of the transport vehicle. Consequently, it is easy to minimize the energy consumption of the transport vehicle.

[0079] In the above structure, preferably, when the increase in the aforementioned workshop distance index at each predetermined time is less than a preset benchmark value, the aforementioned control system takes the aforementioned current speed being less than the aforementioned distance-corresponding target speed and the difference between the aforementioned current speed and the aforementioned distance-corresponding target speed being greater than a preset judgment threshold as the aforementioned acceleration condition, and performs the aforementioned acceleration judgment process.

[0080] According to this structure, if the increase in the workshop distance index at each specified time is zero or negative, or even if the increase is positive but small, acceleration will not be performed as long as the difference between the current speed and the target speed is small, even if the current speed is less than the target speed corresponding to the distance. This effectively minimizes unnecessary acceleration of the transport vehicle, and consequently, minimizes its energy consumption.

[0081] In the above structure, preferably, in the aforementioned acceleration determination process, the aforementioned control system determines that it will not perform the aforementioned acceleration process and will perform the aforementioned constant speed process even if the aforementioned current speed is less than the aforementioned distance-corresponding target speed, and the difference between the aforementioned current speed and the aforementioned distance-corresponding target speed is less than the aforementioned determination threshold.

[0082] According to this structure, if the increase in the workshop distance index at each specified time is zero or negative, or even if the increase is positive but small, then even if the current speed is less than the target speed corresponding to the distance, as long as the difference between the current speed and the target speed corresponding to the distance is small, acceleration will not be performed and a constant speed will be executed instead. This makes it easier to minimize unnecessary acceleration of the transport vehicle. Consequently, it makes it easier to minimize the energy consumption of the transport vehicle.

[0083] Furthermore, preferably, the aforementioned first target speed determination process further includes a deceleration determination process for determining whether to perform a deceleration process that sets the aforementioned control target speed to a target speed corresponding to the aforementioned distance that is lower than the aforementioned current speed; in the aforementioned deceleration determination process, the aforementioned control system determines to perform the aforementioned deceleration process if the relationship between the aforementioned current speed and the aforementioned target speed corresponding to the aforementioned distance satisfies a preset deceleration condition.

[0084] Based on this structure, deceleration processing can be performed appropriately.

[0085] In the above structure, preferably, the control system is configured such that, when the increase in the workshop distance index at each predetermined time interval is greater than the aforementioned reference value, a second target speed determination process for determining the aforementioned control target speed is also executed; in the aforementioned second target speed determination process, the control system continues to set the aforementioned control target speed to the aforementioned distance-corresponding target speed after setting it to the aforementioned distance-corresponding target speed; when the aforementioned speed-fixing process is executed, if the aforementioned current speed is higher than the aforementioned distance-corresponding target speed, it is determined that the aforementioned deceleration process is executed; when the aforementioned speed-fixing process is executed, if the aforementioned current speed is less than the aforementioned distance-corresponding target speed, the aforementioned acceleration determination process is executed with the aforementioned current speed being less than the aforementioned distance-corresponding target speed as the aforementioned acceleration condition.

[0086] According to this structure, when the increase in the workshop distance index within each specified time period is relatively large, a second target speed determination process is performed. Furthermore, in the second target speed determination process, deceleration or acceleration is performed if deceleration or acceleration has already been performed. Additionally, in the second target speed determination process, if a constant speed process is performed and the current speed is higher than the target speed corresponding to the distance, deceleration is performed; if a constant speed process is performed and the current speed is lower than the target speed corresponding to the distance, acceleration determination is performed without including the difference between the current speed and the target speed corresponding to the distance being greater than a determination threshold in the acceleration condition. Thus, according to this structure, when the increase in the workshop distance index within each specified time period is relatively large, the transport vehicle can be driven efficiently without needing to reduce the frequency of acceleration as described above.

[0087] Industrial availability The technology disclosed herein can be used in a goods conveying device having multiple conveyor vehicles that travel along a driving path to transport goods and a control system that controls the multiple conveyor vehicles.

[0088] Explanation of reference numerals in the attached figures 100: Item conveying equipment 10: Control System 1: Conveyor vehicle 13: Speed ​​Detection Department 14: Distance Detection Department P: Driving route W: Item D: Workshop distance index V: Current speed V1: Distance to target speed V2: Control target speed R: Baseline value T: Decision time TH: Decision threshold.

Claims

1. A goods conveying device comprising a plurality of conveyor vehicles that travel along a travel path to convey goods and a control system for controlling the plurality of the aforementioned conveyor vehicles, characterized in that, Each of the aforementioned transport vehicles has a speed detection unit that detects its own current travel speed, i.e., the current speed, and a distance detection unit that detects an index corresponding to the distance to other aforementioned transport vehicles existing in front in the direction of travel, i.e., the inter-vehicle distance index. The aforementioned control system is configured to execute a first target speed determination process based on a target value for controlling the aforementioned driving speed, which is a target speed that increases as the aforementioned inter-vehicle distance index increases (i.e., the target speed corresponding to the distance), the aforementioned current speed, and the aforementioned inter-vehicle distance index. The aforementioned first target speed determination process includes an acceleration determination process that determines whether to execute the acceleration process of setting the aforementioned control target speed to a target speed corresponding to the aforementioned distance that is higher than the aforementioned current speed; In the aforementioned acceleration determination process, the aforementioned control system determines to execute the aforementioned acceleration process when the relationship between the aforementioned current speed and the target speed corresponding to the aforementioned distance satisfies the preset acceleration conditions and the aforementioned acceleration suitable state continues for a preset determination time or more.

2. The article conveying device as described in claim 1, characterized in that, The aforementioned acceleration determination process includes a determination of whether to perform a constant speed process that sets the aforementioned control target speed to the aforementioned current speed; In the aforementioned acceleration determination process, if the duration of the aforementioned suitable acceleration state is less than the aforementioned determination time, the aforementioned control system determines that the aforementioned acceleration process will not be executed and the aforementioned constant speed process will be executed instead.

3. The article conveying device as described in claim 2, characterized in that, If the increase in the aforementioned workshop distance index at each specified time is below a preset benchmark value, the aforementioned control system will take the aforementioned current speed being less than the target speed corresponding to the aforementioned distance and the difference between the aforementioned current speed and the target speed corresponding to the aforementioned distance being greater than a preset judgment threshold as the aforementioned acceleration condition, and perform the aforementioned acceleration judgment process.

4. The article conveying device as described in claim 3, characterized in that, In the aforementioned acceleration determination process, even if the current speed is less than the target speed corresponding to the aforementioned distance, and the difference between the current speed and the target speed corresponding to the aforementioned distance is below the aforementioned determination threshold, the aforementioned control system determines that the aforementioned acceleration process will not be executed and the aforementioned constant speed process will be executed instead.

5. The article conveying device as described in claim 3 or 4, characterized in that, The aforementioned first target speed determination process also includes a deceleration determination process that determines whether to perform a deceleration process that sets the aforementioned controlled target speed to a target speed corresponding to the aforementioned distance that is lower than the aforementioned current speed; In the aforementioned deceleration determination process, the aforementioned control system determines to execute the aforementioned deceleration process if the relationship between the aforementioned current speed and the target speed corresponding to the aforementioned distance meets the preset deceleration conditions.

6. The article conveying device as described in claim 5, characterized in that, The aforementioned control system is configured such that, if the increase in the aforementioned workshop distance index at each specified time is greater than the aforementioned reference value, a second target speed determination process is also executed to determine the aforementioned control target speed. In the aforementioned second target speed determination process, the aforementioned control system If the aforementioned target speed is set to the target speed corresponding to the aforementioned distance, then the aforementioned target speed is continued to be set to the target speed corresponding to the aforementioned distance. If the aforementioned constant speed processing is performed, and the current speed is higher than the target speed corresponding to the aforementioned distance, it is determined that the aforementioned deceleration processing will be performed. If the aforementioned constant speed processing is performed, and the current speed is less than the target speed corresponding to the aforementioned distance, then the aforementioned acceleration condition is used as the aforementioned acceleration determination processing.

Images