Article transport apparatus

Abstract

In a transport device that divides the entire movable path into multiple zones (E), if there is a high-density zone (F) in the multiple zones (E) where the density of moving bodies (1) is higher than in other zones (E), the control device performs distributed control to change the destination (P) of at least one moving body (1) to a retreat destination (Q) to reduce the density of moving bodies (1) in the high-density zone (F). In the distributed control, if the object moving body (1T) in the high-density zone (F) is a transport moving body (1D) that is transporting an item (W) to a transfer destination (D) for transferring the item (W) and the transfer destination (D) is set outside the high-density zone (F), the control device sets the retreat destination (Q) of the object moving body (1T) in another zone (E) that is closer to the transfer destination (D) than the high-density zone (F).

Description

Technical Field

[0001] This invention relates to a conveying equipment for goods. Background Technology

[0002] Japanese Patent No. 7439789 discloses a goods conveying device comprising multiple mobile bodies that transport goods along a predetermined movable path. Since the mobile bodies move along the predetermined path, their movement in the direction of travel may be restricted, such as by slowing down or pausing, if other mobile bodies are present. In particular, if many mobile bodies are present in a specific area of ​​the path, a so-called congestion occurs, affecting many mobile bodies passing through that area. Japanese Patent No. 7439789 reduces the possibility of congestion caused by the concentration of standby mobile bodies in specific areas by dispersing mobile bodies not intended for receiving or transferring goods—i.e., standby mobile bodies—across the entire movable path. Summary of the Invention

[0003] The density of mobile bodies in areas where the density of mobile bodies increases is not limited to standby mobile bodies. Sometimes, the density of mobile bodies in a specific area increases due to mobile bodies transporting items to a transfer point or mobile bodies traveling to receive items. Therefore, the mobile bodies for dispersing objects preferably also include mobile bodies other than standby mobile bodies. However, if the result of dispersal is that mobile bodies move to a location farther from their destination, even if the decrease in the travel speed of mobile bodies in the mixed area can be reduced, the travel distance of each mobile body will be longer, and consequently, the overall conveying time of the equipment may increase. That is, by mitigating localized mixing, the conveying efficiency may actually decrease or its improvement may be limited.

[0004] In view of the above background, it is desirable to provide a technology that improves the travel efficiency that is reduced due to the concentration of mobile bodies by appropriately dispersing the mobile bodies, and improves the overall transport efficiency of the equipment.

[0005] Given that the aforementioned article conveying equipment includes: multiple mobile bodies that move along a movable path to convey articles; and a control device that sets a destination-assigned task for each of the aforementioned mobile bodies and controls the aforementioned mobile bodies; in the article conveying equipment, the movable path is divided into multiple zones; when the aforementioned control device is in a high-density zone where the density of the aforementioned mobile bodies is higher than that of other zones, it performs dispersion control to change the destination of at least one of the aforementioned mobile bodies to a retreat destination, thereby reducing the density of the aforementioned mobile bodies in the high-density zone; in the aforementioned dispersion control, if the aforementioned mobile body in the high-density zone is a mobile body that is conveying the aforementioned articles toward a transfer destination, and the transfer destination is set outside the aforementioned high-density zone, it sets the retreat destination of the aforementioned mobile body in another of the aforementioned zones that is closer to the transfer destination than the aforementioned high-density zone.

[0006] According to this structure, by implementing decentralized control, the density of moving bodies in high-density areas can be reduced, mitigating congestion and other obstacles to the movement of moving bodies. In this case, for moving bodies whose transfer destination has been determined, the avoidance destination is set in other areas closer to the transfer destination than the high-density area. Therefore, even with decentralized control, the overall decrease in the conveying efficiency of the equipment is suppressed. Thus, according to this structure, moving bodies can be appropriately dispersed, improving the reduced travel efficiency caused by the concentration of moving bodies, and increasing the overall conveying efficiency of the equipment.

[0007] Further features and advantages of the conveying equipment will become clear from the following description of exemplary and non-limiting embodiments with reference to the accompanying drawings. Attached Figure Description

[0008] Figure 1 It is a diagram schematically representing the movable path of a goods conveying device; Figure 2 This is a side view of the canopy conveyor truck; Figure 3 This is a schematic control block diagram of a goods conveying device; Figure 4 This is a diagram illustrating an example of a backoff destination in decentralized control; Figure 5 This is an illustration of the priority of moving entities in distributed control. Figure 6 This is a schematic block diagram illustrating the system structure of a non-contact power supply device for a goods conveying system; Figure 7 This is a flowchart illustrating an example of distributed control. Detailed Implementation

[0009] The following describes an implementation of the article conveying equipment with reference to the accompanying drawings. Figure 1 This schematically illustrates the function of transporting items W along a movable path 11 (see reference). Figure 4 The movable path 11 of the article conveying device 10 for multiple moving bodies 1. The moving bodies 1 travel in a predetermined direction. Figure 1 As shown, in the item conveying device 10, the movable path 11 is divided into multiple zones E.

[0010] In this embodiment, the transport vehicle that transports item W is the mobile body 1, such as... Figure 2 As shown, an example is an overhead conveyor 5 that uses a travel track 12 suspended from the ceiling 100 of a building as a movable path 11 to transport items W. The overhead conveyor 5 includes: a travel unit 59 guided by a pair of travel tracks 12 suspended from the ceiling 100 and moving along the movable path 11; a conveyor body 50 located below the travel tracks 12 and suspended by the travel unit 59; and a power receiving device 40 that receives drive power non-contactly from a power supply line 3 arranged along the movable path 11. The conveyor body 50 includes an item support (not shown) that is flexibly mounted on the conveyor body 50 to support the items W in a suspended state. Items transported by the overhead conveyor 50 may include, for example, FOUPs (Front Opening Unified Pods) containing semiconductor substrates, glass substrates used as display materials, etc.

[0011] The driving section 59 includes a pair of driving wheels 55 that are driven to rotate by a drive motor 54 (actuator 53). The driving wheels 55 rotate on a driving surface formed by the upper surface of each of the driving tracks 12. Furthermore, the driving section 59 is configured to include a driving motor 54 for driving and its drive circuit 52 (see reference 53). Figure 3 The overhead conveyor 5 travels along the travel track 12. The main body 50 of the conveyor 50 includes an actuator 53 for driving the lifting part to raise and lower the support part of the item, an actuator 53 for driving the holding part to hold the item, and their drive circuits 52.

[0012] The power supplied to the aforementioned drive motor 54, various actuators 53, drive circuits 52 that drive them, control circuits 51, etc., is non-contactly supplied from the power supply line 3 to the power receiving device 40. In this embodiment, the power receiving device 40 uses wireless power supply technology to receive power from the power supply line 3 and supply drive power to the overhead conveyor 5. A high-frequency current flows in the power supply line 3, which serves as an induction line, generating a magnetic field around the power supply line 3. The power receiving device 40 is configured to include a pickup coil and a magnetic core, and the pickup coil induces electricity through electromagnetic induction from the magnetic field. The induced alternating current is converted into direct current by a power receiving circuit (not shown) including a rectifier circuit such as a full-wave rectifier circuit and a smoothing capacitor, and is supplied to the actuators 53 and the drive circuit.

[0013] Figure 3 A schematic control block diagram of the goods conveying device 10 is shown. The goods conveying device 10 includes a control device 2, which sets and designates a destination P (see reference 10) for each overhead conveyor 5 (moving body 1). Figure 4 The device 13 is the core of the control device 2. Each roof conveyor 5 has a control circuit 51 for controlling itself, a drive circuit 52 for driving actuators 53 based on the control by the control circuit 51, and actuators 53 for driving mechanism parts (driving wheels 55, handles, lifting parts, etc.). The control circuit 51 has a communication unit that can communicate with the device control device 13 at least. The communication unit can also communicate with other roof conveyor 5.

[0014] Furthermore, each canopy conveyor 5 is equipped with a reader (not shown) that reads information from location information (one-dimensional or two-dimensional barcode tags, RFID (Radio Frequency Identification) chips, etc.) configured on the travel track 12; the control circuit 51 acquires the location information read by the reader. Thus, each canopy conveyor 5 obtains its own location information on the movable path 11. In addition, each canopy conveyor 5 sends its own location information to the equipment control device 13. Thus, the equipment control device 13 obtains the identification information and location information of each canopy conveyor 5 in association. That is, the equipment control device 13 knows the location of all canopy conveyors 5 in the movable path 11 and sets a task for each canopy conveyor 5 with a designated destination P.

[0015] Here, destination P is a receiving destination R for an empty overhead conveyor 5 to receive item W, a transfer destination D for an overhead conveyor 5 carrying item W to transfer the item W, and a standby destination S set in a standby position to put the overhead conveyor 5 into standby mode. The equipment control device 13 also considers the position of the overhead conveyor 5 and sends tasks such as receiving tasks to receive item W, transporting received item W, and standby tasks to put the overhead conveyor 5 into standby mode to each overhead conveyor 5. Other tasks may include a "removal" task, which involves moving the overhead conveyor 5 from its planned travel path (removing it from its current position) to avoid obstructing the travel of the other overhead conveyor 5. The removal task may also be executed as a standby task.

[0016] Alternatively, the overhead conveyor 5 receiving item W may be simultaneously instructed to perform a receiving task and a conveying task in order to transport item W, and the instructed overhead conveyor 5 may perform the receiving task and the conveying task sequentially. It is also possible that not just one task is given simultaneously, but multiple tasks that are to be performed sequentially may be given simultaneously or at intervals. For example, an overhead conveyor 5 currently performing a transfer task may be given a receiving task to be performed after the transfer of item W, and multiple tasks that are to be performed sequentially may be given at intervals.

[0017] In the receiving task, the roof conveyor 5 is given information about the receiving destination R and the travel path from its current position. The roof conveyor 5 (moving body 1) given the receiving task is a receiving moving body 1R. In the handover task, the roof conveyor 5 is given information about the handover destination D and the travel path from its current position. The roof conveyor 5 (moving body 1) given the handover task is a transporting moving body 1D. In the standby task, the roof conveyor 5 is given information about the standby destination S, indicating the standby position, and the travel path from its current position. The roof conveyor 5 (moving body 1) given the standby task is a standby moving body 1S. The roof conveyor 5 that has reached the standby destination S and stopped is a standby moving body.

[0018] In this embodiment, the equipment control device 13 functions as a main controller or master controller, and the control circuits 51 of each canopy conveyor 5 function as slave controllers or auxiliary controllers. That is, the embodiment demonstrates that the equipment control device 13 essentially functions as a control device 2. However, it is also possible for the equipment control device 13 and the control circuits 51 of each canopy conveyor 5 to cooperate in forming a single control device 2 (control system) using grid computing. Furthermore, it is also possible for the equipment control device 1 to be absent, but for the control circuits 51 of each canopy conveyor 5 to cooperate in forming a single control device 2 (control system) using grid computing.

[0019] Incidentally, since the moving body 1 moves along the movable path 11, which is a predetermined path, its movement in the direction of travel may be restricted, such as by slowing down or stopping, if other moving bodies 1 are present in the direction of travel. In particular, if there are many moving bodies 1 in a specific area E, a so-called congestion occurs, affecting many moving bodies 1 passing through that area E. Therefore, when there are many moving bodies 1 in a specific area E, that is, when the density of moving bodies 1 in that specific area E is high, it is preferable to disperse the moving bodies 1 to other areas E to reduce the density of moving bodies 1 in that area E.

[0020] In this embodiment, among the aforementioned regions E, there exists a region E where the density of the moving body 1 is higher than that of other regions E, namely a high-density region F (refer to...). Figure 1 In the case of a change in destination P of at least one mobile body 1 to retreat destination Q, the control device 2 performs dispersion control to reduce the density of mobile body 1 in the high-density area F.

[0021] However, if the result of dispersion is that the moving body 1 moves to a position farther from the destination P, then even if the decrease in the travel speed of the moving body 1 in the specific mixed area E can be reduced, the travel distance of each moving body 1 towards the destination P will be longer, and the overall transport time of the equipment may increase accordingly. That is, it is possible that the transport efficiency will decrease or the improvement of transport efficiency will be limited due to the mitigation of local mixedness.

[0022] Therefore, in the article conveying device 10 of this embodiment, the control device 2 sets different retreat destinations for each mobile body 1, based on the attributes of the mobile body 1 (e.g., the task set for the mobile body 1) as the target location set in the distributed control. See details [link to relevant documentation]. Figure 4 As will be described later, in distributed control, the moving body 1, i.e. the object moving body 1T, in the high-density zone F is the moving body 1, i.e. the moving body 1D, which is transporting the item W towards the transfer destination D of the item W. And when the transfer destination D is set outside the high-density zone F, the retreat destination Q of the object moving body 1T is set in a location in another zone E that is closer to the transfer destination D than the high-density zone F.

[0023] The target moving body 1T includes the following types of moving bodies 1: First, a moving body 1 that exists within a high-density zone F and whose destination P for a certain task is set within the high-density zone F. Second, a moving body 1 that exists within a high-density zone F and whose destination P for a certain task is set outside the high-density zone F. Third, a moving body 1 that exists within a high-density zone F but is not set with a destination P for movement. For example, a moving body 1 in the third category is one whose standby destination S is within the high-density zone F, and whose standby task has been completed upon reaching that destination S, thus clearing the standby destination S. Of course, some of the moving bodies 1 in the first, second, and third categories may be designated as target moving bodies 1T. For example, a moving body 1 in the first category (a moving body 1 that exists within the high-density zone F and whose destination P is set within the high-density zone F) may sometimes have a higher probability of reduced transport efficiency if, for example, a moving body 1D or the like retreats from the high-density zone F according to a task, so it may not be a target moving body 1T.

[0024] Figure 4 Nine mobile bodies 1 are shown moving from a mobile body 1 (object mobile body 1T) existing in a high-density area F to an area E outside the high-density area F. "P1" to "P9" shown for each mobile body 1 indicate the destination P based on the task set for each mobile body 1. The five locations "P1" to "P5" are handover destinations D, the three locations "P6" to "P8" are receiving destinations R, and "P9" is a standby destination S. The five mobile bodies 1 set as destination P to handover destination D are transport mobile bodies 1D. The three mobile bodies 1 set as destination P to receiving destination R are receiving mobile bodies 1R. The one mobile body 1 set as standby destination S is a standby mobile body 1S.

[0025] Regarding the five transport vehicles 1D among the nine moving objects 1T, each designated as a retreat destination Q, a location within another zone E that is closer to the transfer destination D than the high-density zone F is selected. Specifically, the locations closer to "P1" are designated as "Q1", closer to "P2" as "Q2", closer to "P3" as "Q3", closer to "P4" as "Q4", and closer to "P5" as "Q5". Here, "closer" does not refer to a straight-line distance, but rather the travel distance of the movable path 11 between the retreat destination Q and the transfer destination D. Furthermore, the zone E where the retreat destination Q exists can be the same as the zone E where the corresponding transfer destination D exists. Additionally, the retreat destination Q can also be the same location as the corresponding transfer destination D.

[0026] For the four mobile bodies 1 among the nine object mobile bodies 1T, including the three receiving mobile bodies 1R and the standby mobile bodies 1S, a backoff destination Q is set regardless of the destination P (receiving destination R, standby destination S) set for these mobile bodies 1, so that they are dispersed with the entire area of ​​the movable path 11 as the object.

[0027] However, after decentralized control, when the receiving mobile body 1R and the standby mobile body 1S are heading towards their respective original destinations P, the travel distance of each mobile body 1 becomes longer, and the travel time may also increase accordingly. Since the receiving mobile body 1R and the standby mobile body 1S are not carrying any item W, any mobile body 1 can simply head towards the receiving destination R. Therefore, regarding the receiving mobile body 1R and the standby mobile body 1S, the receiving destination R and the standby destination S set for each mobile body 1 can also be cancelled. If the destination P is cancelled, the task assigned to the mobile body 1 cannot be fulfilled, so it can be said to be equivalent to cancelling the task.

[0028] In distributed control, the control device 2 can cancel tasks set for mobile bodies 1 other than transport mobile bodies 1D in the object mobile body 1T. At least the control device 2 preferably cancels receiving tasks in distributed control, which are tasks set for mobile bodies 1 moving toward receiving destination R for receiving articles W, i.e., receiving mobile bodies 1R in transit.

[0029] If distributed control ends, control device 2 causes each mobile body 1 to perform its normal task. Control device 2 restarts the tasks set for each mobile body 1 before the start of distributed control. Since the retreat destination Q of the transport mobile body 1D is set near the handover destination D, the handover task can be completed quickly. For mobile bodies 1 other than transport mobile body 1D, the retreat destination Q may be set at a position far from their respective destinations P. However, if the task of mobile bodies 1 other than transport mobile body 1D is canceled as described above, if the task is reset according to their current position (retreat destination Q), their respective tasks can be completed quickly.

[0030] That is, after the distributed control ends, the preferred control device 2 enables the transporting mobile body 1D to continue its task (transfer task) and move toward the transfer destination D, and resets the task (receive task, etc.) for the mobile bodies 1 other than the transporting mobile body 1D.

[0031] For reference Figure 4As described above, the moving body 1 moving from the high-density area F includes moving bodies 1 with various attributes such as transporting moving bodies 1D, receiving moving bodies 1R, and standby moving bodies 1S. The moving body 1 (retreating moving body) of the dispersed object moving from the high-density area F can be selected based on attributes, but is not limited to attributes; it can also be selected based on the ease of movement.

[0032] The following also refers to Figure 5 To illustrate, for example, in distributed control, control device 2 can preferentially designate the object moving body 1T located farther from the center K of the high-density zone F as the distributed object moving body 1 (retreat moving body) among multiple object moving bodies 1T, and cause it to start moving. Figure 5 The diagram shows a high-density area F, and adjacent areas E1 and E2. Areas E1 and E2 are not high-density areas F. In this example, within the high-density area F, the side furthest from the center K is arguably the side closer to the exit of area E1 adjacent to high-density area F, and the side closer to the exit of area E2 adjacent to high-density area F. The distance between the moving body 1 and the exit is not a straight-line distance, but a travel distance along the movable path 11. In the target moving body 1T, the moving body 1 located closest to area E1 is the first moving body 1a. Furthermore, in the target moving body 1T, the moving body 1 located closest to area E2 is the second moving body 1b.

[0033] Of the first moving body 1a and the second moving body 1b, the first moving body 1a is closer to the adjacent other zones E. That is, the first moving body 1a is located in a position where it is easier to exit from the high-density zone F. Therefore, the control device 2 moves the first moving body 1a with the first priority. When the distance between the first moving body 1a and the first zone E1 and the distance between the second moving body 1b and the second zone E2 are equal (in the same degree), that is, when the distance to the adjacent other zones E is equal, the moving body 1 belonging to the queue (group) with more moving bodies (moving bodies 1 moving in the same direction) is given priority. Figure 5 In the example, the number of queues containing the first mover 1a is "6". If we consider the number of queues containing the second mover 1b to be "3", then the first mover 1a takes priority. Alternatively, we can consider the number of queues containing the second mover 1b to be "6". In this case, it is preferable to prioritize the mover 1 in the queue whose distance (queue length, group length) between the first and last mover 1 in the queue is shorter. This is because, when the number of queues is the same, the shorter queue can be considered to have higher density.

[0034] This priority order is determined in this way until the number of units moved from the high-density area F (the first maximum number of units to move, described later) is reached. Then, the retreating movement of the dispersed object begins, and the movement toward the retreat destination Q begins (equivalent to referencing...). Figure 7 Then, steps #5, #6, and #7 are described below. Figure 5 In the example, the control device 2 initiates the movement of the first moving body 1a, the second moving body 1b, and the third moving body 1c in that order.

[0035] Here, if the first moving body 1a and the second moving body 1b are equidistant from other adjacent areas E, and the moving body 1D is a transporting moving body 1D, and its transfer destination D is the high-density area F where the transporting moving body 1D exists, then the transporting moving body 1D may not exit from the high-density area F. However, other moving bodies 1 may be blocked from exiting from the high-density area F by the transporting moving body 1D (the first moving body 1a). Therefore, in such a case, it is preferable to also set a retreat destination Q for the transporting moving body 1D, and control the transporting moving body 1D so that it temporarily passes through an area E different from the high-density area F, and returns to the area E that was once the high-density area F after the distributed control ends.

[0036] Furthermore, even if a moving body 1 (object moving body 1T) is not located in the high-density zone F, there are cases where moving bodies 1 in other zones E need to be moved or stopped (paused) due to the movement of object moving body 1T. This movement also includes movements such as temporarily avoiding a path to a standby line. Furthermore, pauses include interruptions of the tasks assigned to each moving body 1. Therefore, it is not limited to direct movements used to reduce the density of moving bodies in the high-density zone F; in distributed control, not only moving bodies 1 (object moving body 1T) within the high-density zone F, but all moving bodies 1 can be designated as control objects.

[0037] Incidentally, the area E for determining the density of the moving body 1 can also be shared with other areas in the article conveying device 10 used to separate functions different from the movable path 11. For example, area E can also be shared with areas in the power supply system via the aforementioned power supply line 3 (hereinafter referred to as "power supply area Z").

[0038] like Figure 6As shown, the power supply line 3 is equipped with a power supply device 30 that supplies alternating current to the power supply line 3. The power supply device 30 causes a high-frequency current to flow through the power supply line 3, which serves as an induction wire, thereby generating a magnetic field around the power supply line 3. When the conveying equipment 10 has a long movable path 11, the length of the power supply line 3 arranged along the movable path 11 also increases. If the power supply line 3 becomes longer, the resistance of the wires also increases, and the power transmission efficiency decreases. Furthermore, if the power supply line 3 becomes longer, the number of overhead conveyor vehicles 5 that are powered also increases, so the power supply device 30 (refer to...) that supplies power to the power supply line 3... Figure 6 The load on the conveying equipment 10 also increases. Furthermore, in the event of an abnormality such as a broken or short-circuited power supply line 3, or a malfunction in the power supply unit 30, the entire power supply system shuts down, and the entire conveying equipment 10 stops. Therefore, in the conveying equipment 10, such as... Figure 6 As shown, the power supply system, including power supply line 3 and power supply device 30, is not a single system, but rather consists of multiple systems. Power supply line 3 is arranged along travel track 12 (movable path 11). The area along movable path 11 where each power supply system is arranged is "power supply zone Z".

[0039] The canopy conveyor 5 continuously receives power while switching between multiple power supply systems, and travels within the material conveying equipment 10. To ensure smooth operation of the canopy conveyor 5, the phases of the alternating currents of the multiple power supply systems are adjusted to be consistent, so that the continuation section of the power supply zone Z (power supply system), i.e., the continuation section of the power supply line 3, is also stably powered.

[0040] If the number of mobile bodies 1 existing in a single power supply zone Z increases, the demand for electricity increases, and the burden on the power supply unit 30 also increases. If the demand exceeds the supply capacity of the power supply unit 30, adverse conditions such as voltage drop may occur. Therefore, it is preferable to limit the number of mobile bodies 1 existing in a single power supply zone Z. Thus, it is preferable to set zone E and power supply zone Z to be the same, and to manage the number of mobile bodies 1 in zone E and the number of mobile bodies 1 in power supply zone Z. In this case, it is preferable to set the smaller of the limit number in zone E corresponding to mobile body density and the limit number in power supply zone Z corresponding to power supply capacity as the limit number.

[0041] Here, the method for determining whether a region is a high-density zone F is explained. For each zone E, control device 2 sets an upper limit, or limit number of units "Nlim," for the number of mobile bodies 1 that can exist in each zone E. Control device 2 calculates a ratio "Nt / Nlim" relative to the limit number of units "Nlim" in each zone E, representing the number of objects "Nt." This ratio can be considered the density of mobile bodies 1 in zone E. If the density of mobile bodies 1 in zone E is higher than or equal to a predetermined high-density determination value "TH," control device 2 determines that zone E is a high-density zone F.

[0042] Here, the number of objects "Nt" in each zone E is the sum of the number of mobile bodies 1 that exist within zone E and whose destination P is set within zone E, and the number of mobile bodies 1 that exist outside zone E and whose destination P is set within zone E. That is, the total number of mobile bodies 1 that will be stopped in zone E in the present and near future is considered as the number of mobile bodies 1 that exist within zone E. Alternatively, the number of objects "Nt" can also be the sum of the number of mobile bodies 1 that exist in zone E regardless of their destination P, and the number of mobile bodies 1 that exist outside zone E and whose destination P is set within zone E.

[0043] The following also refers to Figure 7 The flowchart illustrates an example of decentralized control. In this embodiment, decentralized control is performed according to the instructions of the manager of the goods conveying equipment 10. For example... Figure 3 As shown, a human-machine interface (HMI) 14 is connected to the device control unit 13. The HMI 14 may include a display, input devices (keyboard, mouse, etc.), and a portable terminal carried by the administrator. For example, the display shows... Figure 1 The mobile body 1 is positioned on the movable path 11 as shown. The manager can detect congestion by referring to the display. If the manager determines that the position of the mobile body 1 needs to be adjusted, that is, the mobile body 1 needs to be dispersed from the congested area E, the manager will instruct the start of the dispersion control by operating the input device or portable terminal. The control device 2 starts the dispersion control based on the instruction given by the manager.

[0044] In decentralized control, firstly, control device 2 calculates the movement density (Nt / Nlim) of all zones E within the item conveying equipment 10 (#1). Next, control device 2 sorts all zones E based on their movement density. Specifically, it creates a list (#2) arranging zones E in order of higher movement density. When movement densities are the same, the order is determined according to conditions corresponding to the zone E's limit number of units "Nlim". For example, based on the idea of ​​prioritizing avoiding mixing in zones E that are prone to exceeding the limit number, zones E with smaller limit numbers are prioritized. Alternatively, zones E with larger limit numbers may be prioritized based on the idea of ​​prioritizing the number of movement units 1 that could be avoided. This is because, when movement densities (Nt / Nlim) are the same, the larger the limit number of units "Nlim" in the denominator, the more movement units 1 need to be moved to reduce the movement density by the same amount. When the number of units is limited, the order can also be determined based on indicators unrelated to the density of moving bodies, such as the location of Zone E (whether it is a location that is prone to mixing, etc.) and the identification number.

[0045] These steps #1 and #2 can be referred to as "pre-processing" in distributed control. In contrast to "pre-processing," the processing from step #3 onwards can be referred to as "formal processing" in distributed control.

[0046] Furthermore, "pre-processing" is not limited to the presence or absence of distributed control instructions and can be performed periodically. When distributed control is indicated to begin, formal processing can commence quickly. Additionally, based on the calculation results of step #1 in pre-processing, zone E can be color-coded according to the density of moving objects, and the movable path 11 can be displayed on the screen. This allows managers to more objectively determine the necessity of distributed control.

[0047] During formal processing, control device 2 sets the control target area (#3) for distributed control. Specifically, based on the sorting results in step #2, the area E with the highest density of moving bodies is set as the control target area. Furthermore, control device 2 suspends (interrupts) the execution of tasks (particularly transfer and reception tasks) performed by all moving bodies 1 in the item transport device 10. Additionally, if the control target area for item transport can be divided within the item transport device 10, the execution of tasks performed by all moving bodies 1 within each control target area, i.e., the range of the movable path 11 affected by distributed control, is suspended (interrupted). Control device 2 executes the instruction to suspend (interrupt) this task before the start of distributed control, at least before the start of formal processing.

[0048] Next, the control device 2 determines whether the density of the moving body in the controlled object area is above the high density judgment value TH (#4). If the control device 2 determines in step #4 that the density of the moving body is less than the high density judgment value TH, then it does not need to move the moving body 1 from the controlled object area, and thus ends the distributed control.

[0049] If control device 2 determines in step #4 that the density of the moving body is above the high-density determination value TH, then, for example, refer to... Figure 5 As described above, the moving body 1 (retreating moving body) (#5) of the dispersed object (retreating object) is set. Then, the control device 2 is as described above. Figure 4 As described above, a retreat destination Q (#6) is set for the retreating mobile body. The mobile body 1, with its destination P set, begins to travel toward that destination P. That is, the setting of the destination P and the instruction to start travel, performed by the control device 2, are given to the mobile body 1 in a group. In the case where the mobile body densities of all zones E are ordered in density order as in this embodiment, the retreat destination Q can be set in the zone E with the lower mobile body density. Of course, the retreat destination Q can also be set in any zone E other than the high-density zone F, regardless of density.

[0050] Repeatedly execute the setting of the retreating movement and the setting of the retreat destination Q for that retreating movement until the number of retreating movements reaches the first maximum movement limit (#5, #6, #7). If it is determined in step #7 that the number of retreating movements is less than the first maximum movement limit, return to step #5, set movement 1, which is different from movement 1 with a set retreat destination Q, as a new retreating movement (#5), and set the retreat destination Q for that retreating movement (#6).

[0051] Here, the first maximum number of mobile units can be set based on the difference between the limit number "Nlim" used when calculating the mobile body density "Nt / Nlim" to determine whether distributed control is needed and the target number "Nt". For example, the first maximum number of mobile units can be set by "Nt - Nlim + A" with "A" as a constant. Here, "A" is an offset value (constant) and is a positive integer greater than or equal to zero. Setting the offset value "A" as a natural number allows the mobile body density in the high-density zone F to decrease with a relatively large margin, rather than approaching the limit. Furthermore, the value of "Nt - Nlim" is positive when the high-density determination value TH in step #4 exceeds "1" and negative when the high-density determination value TH is less than "1". Therefore, the offset value "A" is preferably a value such that the first maximum number of mobile units becomes positive when the high-density determination value TH is less than "1". In this embodiment, since "Nlim" and "Nt" can take different values ​​according to zone E, the first maximum number of mobile units is a variable value. However, if "Nlim" and "Nt" are the same value in all zones E, the first maximum number of moves can also be a fixed value.

[0052] If, in step #7, it is determined that the number of retreating mobile units has reached the first maximum number of mobile units, then the formal processing of distributed control in that control area is completed. Control device 2 then determines whether the total number of retreating mobile units is less than the second maximum number of mobile units (#8). The second maximum number of mobile units is a value greater than the first maximum number of mobile units. If control device 2 determines in step #8 that the total number of retreating mobile units is less than the second maximum number of mobile units, it returns to step #3 and sets the control area. If control device 2 determines in step #8 that the total number of retreating mobile units is greater than or equal to the second maximum number of mobile units, then distributed control ends. Alternatively, if the administrator instructs the start of distributed control as described above, distributed control can also end based on the administrator's instruction via HMI14, regardless of the determination made in step #8.

[0053] The total number of retreating mobile entities is the total number of mobile entities 1 that were designated as retreating mobile entities and withdrew from the controlled object area during the ongoing distributed control (formal processing). If distributed control (formal processing) was performed on only one controlled object area before reaching step #8, the number of retreating mobile entities in that controlled object area is the same as the total number of retreating mobile entities. If distributed control (formal processing) was performed on multiple controlled object areas before reaching step #8, the total number of retreating mobile entities is the sum of the number of retreating mobile entities in the multiple controlled object areas.

[0054] As described above, during the execution of decentralized control, the control device 2 suspends the execution of tasks (especially handover and receiving tasks) performed by all moving bodies 1 within the transport equipment 10 (within the movable path 11 affected by decentralized control). That is, the transport operation of the item W is interrupted during the execution of decentralized control. If this interruption time is prolonged, even if the impact of the high-density area F is mitigated, the overall transport efficiency of the transport equipment 10 may decrease. Therefore, one cycle of decentralized control ( Figure 7 The processing time (one cycle from start to finish) is limited. A second maximum number of units can be moved, which is set as a means of further limiting decentralized control, based on the allowable time for interruptions in the transport of item W. The second maximum number of units can be moved is set to a predetermined value.

[0055] If the control device 2 determines that the total number of retreating moving bodies is less than the second maximum number of moving bodies, it returns to step #4 and sets the area E where the moving body 1 was recently retreated, and other areas E with higher density of moving bodies next to it as the control target area, and performs the processing of steps #4, #5, #6 and #7 as described above.

[0056] Step #8 is executed after the distributed control in the control object area is completed (after step #7). In step #7, the relationship with the first movement limit is determined each time the number of retreating mobile objects increases by one. Therefore, the number of retreating mobile objects will not exceed the first movement limit. However, the total number of retreating mobile objects becomes the determination object when the number of retreating mobile objects in the control object area increases at intervals set sequentially. Therefore, in step #8, the total number of retreating mobile objects that becomes the determination object may exceed the second movement limit. If the control device 2 determines that the total number of retreating mobile objects is greater than or equal to the second movement limit, it ends the distributed control. The duration of distributed control (formal processing) varies depending on the total number of retreating mobile objects. As described above, the administrator can end the distributed control as needed.

[0057] In addition, if the manager determines that the concentration of mobile body 1 in a portion of area E has not been sufficiently eliminated even through one cycle of decentralized control, then the decentralized control instruction can be issued again.

[0058] Other embodiments will be described below. Furthermore, the structures of the embodiments described below are not limited to individual application; they can be combined with the structures of other embodiments as long as no contradiction occurs.

[0059] (1) In the above description, the canopy conveyor 5 was exemplified as the mobile body 1. However, the mobile body 1 is not limited to the canopy conveyor 5, and may also be a ground-based transport vehicle (e.g., an AGV (Automatic Guided Vehicle)). In this case, the movable path 11 is not limited to a tracked path such as the travel track 12 where the wheels 55 are physically in contact, as in the example described above. For example, it also includes trackless paths such as paths defined by magnetic tape, paths divided by walls, and paths defined by coordinates. That is, the movable path can be any path that is predetermined. Furthermore, trackless paths may also include aerial paths. Therefore, flying bodies such as drones are not excluded as the mobile body 1.

[0060] (2) In the above, the form of the predefined area E was used as an example. However, the area E can also be variable. For example, more than one high-density area F can be set based on the density of the moving body 1 per unit length of the movable path 11, and the movable path 11 other than the high-density area F can be divided to set other areas E.

[0061] (3) The above describes a form in which distributed control, particularly the formal processing of distributed control (#3 to #8), is executed based on the manager's instructions. However, as described above, the pre-processing (#1, #2) of distributed control can also be performed periodically and automatically. In such a case, the control device 2 can determine the necessity of retracting the moving body 1 by performing the same processing as steps #3 and #4. For example, if the control device 2 determines that the moving body 1 needs to be retracted when area E becomes a high-density area F with a specified number or more, or when the density of moving bodies in high-density area F is higher than a predetermined value. Therefore, it is also possible to configure the control device 2 to determine whether distributed control, particularly the formal processing of distributed control, is necessary and execute distributed control (formal processing) without relying on the manager's instructions.

[0062] The following is a brief summary of the material conveying equipment described above.

[0063] As a technical solution, an article conveying device includes: a plurality of mobile bodies that move along a movable path to convey articles; and a control device that sets a destination for each of the aforementioned mobile bodies and controls the aforementioned mobile bodies; in the article conveying device, the movable path is divided into a plurality of zones; when there is a high-density zone (i.e., a zone where the density of the aforementioned mobile bodies is higher than that of other zones) in the plurality of zones, the aforementioned control device performs dispersion control to change the destination of at least one of the aforementioned mobile bodies to a retreat destination, thereby reducing the density of the aforementioned mobile bodies in the high-density zone; in the aforementioned dispersion control, if the aforementioned mobile body in the high-density zone is a target mobile body that is conveying the aforementioned articles toward a transfer destination (i.e., a conveying mobile body) and the transfer destination is set outside the aforementioned high-density zone, the aforementioned control device sets the retreat destination of the target mobile body in another of the aforementioned zones that is closer to the transfer destination than the aforementioned high-density zone.

[0064] According to this structure, by implementing decentralized control, the density of moving bodies in high-density areas can be reduced, mitigating congestion and other obstacles to the movement of moving bodies. In this case, for moving bodies whose transfer destination has been determined, since the avoidance destination is set in another area closer to the transfer destination than the high-density area, the decrease in the overall conveying efficiency of the equipment is suppressed even with decentralized control. Thus, according to this structure, moving bodies can be appropriately dispersed, improving the reduced travel efficiency caused by the concentration of moving bodies, and increasing the overall conveying efficiency of the equipment.

[0065] Furthermore, the article conveying equipment preferably uses the aforementioned control device to cancel the aforementioned task set for the aforementioned moving body, i.e., the moving body in the receiving movement, which moves to the receiving destination to receive the aforementioned articles in the aforementioned distributed control.

[0066] For moving bodies during transport, the retreat destination is set in an area closer to the transfer destination than the high-density area, which can easily lead to limitations in improving the efficiency of dispersing moving bodies. On the other hand, regarding travel to the receiving destination, after the dispersal control ends, it is sufficient for moving bodies that are not carrying items and are closer to the receiving destination to head towards it. During dispersal control, by canceling the task set for receiving moving bodies, moving bodies that were previously receiving moving bodies can be moved to any location regardless of the receiving destination. Therefore, it is easy to disperse moving bodies appropriately.

[0067] Furthermore, the article conveying equipment preferably enables the aforementioned control device to continue the aforementioned task and move towards the aforementioned transfer destination after the aforementioned decentralized control ends, and resets the aforementioned task for the aforementioned moving body other than the aforementioned moving body.

[0068] For moving objects in transit, their retreat destination is set in an area closer to the transfer destination than the high-density area. Therefore, by continuing previous tasks after the distributed control ends, items can be quickly transported to the transfer destination. On the other hand, for moving objects other than those in transit, sometimes arbitrary locations unrelated to the destinations set by previous tasks become retreat destinations. Therefore, by resetting tasks based on the positions of each moving object at the end of distributed control, moving objects closer to the destination corresponding to the task can perform that task. Thus, while improving the travel efficiency of moving objects with distributed control, the transport efficiency after the distributed control ends can also be easily improved.

[0069] Furthermore, the article conveying equipment preferably uses the aforementioned control device in the aforementioned decentralized control to prioritize the movement of the aforementioned object moving body located on the side farther from the center of the aforementioned high-density area.

[0070] According to this structure, during decentralized control, priority is given to moving bodies that can easily move out of the high-density area, thus facilitating decentralized control.

[0071] Furthermore, the article conveying device preferably includes, among the aforementioned moving objects: the aforementioned moving object existing within the aforementioned high-density area and whose destination is set within the aforementioned high-density area; the aforementioned moving object existing within the aforementioned high-density area and whose destination is set outside the aforementioned high-density area; and the aforementioned moving object existing within the aforementioned high-density area but without a destination set for movement.

[0072] According to this structure, a mobile body existing in a high-density region and whose density is related to increasing the density of the mobile body in the high-density region can be appropriately moved outside the high-density region.

[0073] Furthermore, the article conveying equipment preferably uses the aforementioned control device to set an upper limit, i.e., a limit number of the number of the aforementioned moving bodies that can exist in each of the aforementioned zones; and determines the aforementioned zones as high-density zones when the ratio of the number of the aforementioned moving bodies that are considered to exist in each of the aforementioned zones, i.e., the number of objects, to the aforementioned limit number in each of the aforementioned zones is a predetermined high-density determination value or higher; and the aforementioned number of objects in each of the aforementioned zones is the sum of the number of the aforementioned moving bodies that exist in the zone and whose destination is set in the zone and the number of the aforementioned moving bodies that exist outside the zone and whose destination is set in the zone.

[0074] Based on this structure, the density of mobile bodies in the region can be calculated by combining the mobile bodies already present in the region and the mobile bodies that are more likely to be present in the region in the near future, thus enabling the appropriate identification of high-density regions.

[0075] Explanation of reference numerals in the attached figures 1: Moving body 1D: Transporting moving bodies 1R: Receive moving body 1T: Object movement 2: Control device 10: Item conveying equipment 11: Movable Path D: Destination of handover E: District F: High-density area K: Central part P: Destination Q: Evacuation destination R: Receive destination TH: High-density threshold W: Item.

Claims

1. A material conveying device, comprising: Multiple mobile entities transport items by moving along movable paths; and The control device sets a task with a designated destination for each of the aforementioned mobile bodies and controls the aforementioned mobile bodies. Its features are, The aforementioned movable path is divided into multiple zones; In the case where there is a high-density zone among the multiple aforementioned zones where the density of the aforementioned mobile bodies is higher than that of other aforementioned zones, the aforementioned control device performs dispersion control to change the aforementioned destination of at least one of the aforementioned mobile bodies to a retreat destination, thereby reducing the density of the aforementioned mobile bodies in the aforementioned high-density zone. In the aforementioned distributed control, if the aforementioned moving body, i.e. the object moving body, in the aforementioned high-density area is the aforementioned moving body that is transporting the aforementioned item to the transfer destination, i.e. the transporting moving body, and the aforementioned transfer destination is set outside the aforementioned high-density area, the aforementioned retreat destination of the object moving body is set in another of the aforementioned areas that is closer to the aforementioned transfer destination than the aforementioned high-density area.

2. The article conveying device as described in claim 1, characterized in that, In the aforementioned distributed control, the aforementioned control device cancels the aforementioned task set for receiving the mobile body in motion, which is the aforementioned mobile body moving towards the receiving destination used to receive the aforementioned item.

3. The article conveying device as described in claim 1 or 2, characterized in that, After the aforementioned decentralized control ends, the aforementioned control device enables the aforementioned transporting mobile body to continue the aforementioned task and move towards the aforementioned handover destination, and resets the aforementioned task for the aforementioned mobile bodies other than the aforementioned transporting mobile body.

4. The article conveying device as described in claim 1 or 2, characterized in that, In the aforementioned distributed control, the aforementioned control device causes the aforementioned object moving body located further away from the center of the aforementioned high-density area to start moving first among the aforementioned moving objects.

5. The article conveying device as described in claim 1 or 2, characterized in that, The aforementioned moving object includes: The aforementioned mobile body that exists within the aforementioned high-density area and whose aforementioned destination is set within the aforementioned high-density area; The aforementioned mobile body existing within the aforementioned high-density area and whose destination is set outside the aforementioned high-density area; and The aforementioned mobile body that exists within the aforementioned high-density area and is not designated for the aforementioned destination.

6. The article conveying device as described in claim 1 or 2, characterized in that, The aforementioned control device is, For each of the aforementioned zones, an upper limit, or a limit number of units, is set for the number of the aforementioned mobile entities that can exist in each of the aforementioned zones. A region is defined as a high-density region if the ratio of the number of the aforementioned mobile entities (i.e., the number of objects) in each of the aforementioned regions to the aforementioned limit number of the aforementioned entities in each of the aforementioned regions is above a predetermined high-density determination value. The aforementioned number of objects in each of the aforementioned zones is the sum of the number of the aforementioned mobile entities that exist within that zone and whose destination is set within that zone, and the number of the aforementioned mobile entities that exist outside that zone and whose destination is set within that zone.

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