Conveying device

Abstract

In a conveyance apparatus, a control system performs the following passage control: in a case where passage of a conveyance vehicle located at an object stop point or an upstream side of the object stop point than a merging area is permitted, a control system sets a permission state in which the conveyance vehicle is permitted to occupy an occupied point, in the permission state, passage of a conveyance vehicle other than the conveyance vehicle permitted to occupy the occupied point is prohibited at least from the object stop point to the occupied point, and after the conveyance vehicle permitted to occupy passes through the occupied point, the permission state is released. In the passage control, in a case where a plurality of same-path conveyance vehicles exist among a plurality of conveyance vehicles that want to pass through the merging area, a continuous passage permission process of continuously permitting passage of the plurality of same-path conveyance vehicles to the merging area is executed, the same-path conveyance vehicles being conveyance vehicles in which a combination of a stop point where the conveyance vehicles want to pass through and the occupied point is the same.

Description

Technical Field

[0001] This invention relates to a conveying device comprising multiple conveyor vehicles, the travel paths of the multiple conveyor vehicles, and a control system for controlling the multiple conveyor vehicles. Background Technology

[0002] An example of such a conveying device is disclosed in Japanese Patent Application Publication No. 2006-313463 (hereinafter referred to as "Patent Document 1"). In the conveying device of Patent Document 1, to prevent interference between conveyor vehicles, while one conveyor vehicle is traveling through a merging area including the merging points of the travel paths, exclusive control is implemented to prevent other conveyor vehicles from entering the merging area (see Patent Document 1). Figure 3 (b)). Summary of the Invention

[0003] In the conveying device of Patent Document 1, through the aforementioned exclusive control, multiple conveying vehicles cannot simultaneously travel in the merging area. Therefore, the passage efficiency of the conveying vehicles in the merging area is low, resulting in low conveying efficiency in the conveying device.

[0004] Therefore, it is desirable to develop a technology that can easily improve the traffic efficiency of transport vehicles in the convergence area and improve the transport efficiency of the transport equipment.

[0005] The aforementioned conveying equipment is characterized by the following aspects.

[0006] A conveying device comprising the following: Multiple transport vehicles; The routes traveled by the aforementioned transport vehicles; and A control system that controls multiple of the aforementioned transport vehicles. The aforementioned travel path includes a merging area where multiple paths converge, multiple entry sections for the aforementioned transport vehicle to enter the aforementioned merging area, and exit sections for the aforementioned transport vehicle to exit the aforementioned merging area. Each of the aforementioned entry zones has a designated stop point. The aforementioned exit zone has designated locations for occupation. The aforementioned control system is configured to perform traffic control as follows: when a transport vehicle located at one of the aforementioned stopping points or upstream of the aforementioned stopping point is permitted to pass through the aforementioned merging area, it is assumed that the permitting transport vehicle, which is the permitting transport vehicle, occupies the aforementioned occupying point. In the aforementioned occupying point, passage of the aforementioned transport vehicles other than the aforementioned permitting transport vehicle from the aforementioned stopping point to the aforementioned occupying point occupied by the aforementioned permitting transport vehicle is prohibited. After the aforementioned permitting transport vehicle passes the aforementioned occupying point, the aforementioned occupying point is released. In the aforementioned passage control, when there are multiple transport vehicles with the same route among the multiple transport vehicles that want to pass through the aforementioned merging area, the aforementioned control system performs continuous passage permission processing to continuously permit the multiple transport vehicles with the same route to pass through the aforementioned merging area. The aforementioned transport vehicles with the same route are those transport vehicles that have the same combination of the aforementioned stop location and the aforementioned occupied location.

[0007] Based on this feature, continuous passage permission processing can shorten the interval between multiple transport vehicles traveling on the same route when passing through a convergence area. This makes it easier to increase the number of transport vehicles passing through the convergence area per unit time. Therefore, it easily improves the passage efficiency of transport vehicles in the convergence area and the conveying efficiency of the transport equipment. Attached Figure Description

[0008] Figure 1 This is a diagram illustrating the conveying equipment involved in the embodiment.

[0009] Figure 2 This is a control block diagram of the conveying equipment involved in the implementation method.

[0010] Figure 3 This is a diagram illustrating the first example of traffic control using a control system.

[0011] Figure 4 This is a diagram illustrating the first example of traffic control using a control system.

[0012] Figure 5 This is a diagram illustrating the first example of traffic control using a control system.

[0013] Figure 6 This is a diagram illustrating the first example of traffic control using a control system.

[0014] Figure 7 This is a diagram illustrating the first example of traffic control using a control system.

[0015] Figure 8 This is a diagram illustrating the first example of traffic control using a control system.

[0016] Figure 9 This is a diagram illustrating a second example of traffic control using a control system.

[0017] Figure 10 This is a diagram illustrating a second example of traffic control using a control system.

[0018] Figure 11 This is a diagram illustrating a second example of traffic control using a control system.

[0019] Figure 12 This is a diagram illustrating a second example of traffic control using a control system.

[0020] Figure 13 This is a diagram illustrating a second example of traffic control using a control system.

[0021] Figure 14 This is a diagram illustrating a second example of traffic control using a control system.

[0022] Figure 15 This is a diagram illustrating the third example of traffic control using a control system.

[0023] Figure 16 This is a diagram illustrating the third example of traffic control using a control system.

[0024] Figure 17 This is a diagram illustrating the third example of traffic control using a control system.

[0025] Figure 18 This is a diagram illustrating the third example of traffic control using a control system.

[0026] Figure 19 This is a diagram illustrating the third example of traffic control using a control system.

[0027] Figure 20 This is a diagram illustrating the third example of traffic control using a control system.

[0028] Figure 21 This is a diagram illustrating the fourth example of traffic control using a control system.

[0029] Figure 22 This is a diagram illustrating the fourth example of traffic control using a control system.

[0030] Figure 23 This is a diagram illustrating the fourth example of traffic control using a control system.

[0031] Figure 24 This is a diagram illustrating the fourth example of traffic control using a control system. Detailed Implementation

[0032] Hereinafter, the conveying device 100 according to the embodiment will be described with reference to the accompanying drawings.

[0033] like Figure 1 As shown, the conveying equipment 100 has multiple conveying vehicles 1 and multiple travel paths 2 for the conveying vehicles 1.

[0034] In this embodiment, the travel path 2 is constituted by a track suspended from the ceiling. That is, in this embodiment, the transport vehicle 1 is a ceiling transport vehicle. The transport vehicle 1 transports, for example, FOUPs (Front Opening Unified Pods) containing semiconductor substrates as items.

[0035] like Figure 2 As shown, the conveying equipment 100 includes a control system 9 for controlling multiple conveyor vehicles 1. In this embodiment, the control system 9 includes a storage unit 91 for storing various types of information. Furthermore, the configuration of the control system 9 can be modified as appropriate.

[0036] In this embodiment, each of the plurality of transport vehicles 1 includes a driving unit 11, a transfer unit 12, and a communication unit 13.

[0037] The traveling unit 11 has multiple wheels that roll on a track that constitutes the traveling path 2. Moreover, the traveling unit 11 travels along the traveling path 2 by rotating at least one of the multiple wheels using a traveling motor.

[0038] The transfer unit 12 transfers articles between designated transfer target locations. Although detailed descriptions are omitted, the transfer unit 12 includes, for example: a holding part that holds the articles; a lifting part that moves the holding part up and down relative to the traveling part 11; a horizontal moving part that moves the holding part horizontally relative to the traveling part 11; and a rotating part that rotates the holding part relative to the traveling part 11 about a rotation axis in the vertical direction. Furthermore, the transfer unit 12 is not limited to the configuration described above, as long as it has the necessary structure for transferring articles between the aforementioned transfer target locations.

[0039] The communication unit 13 is configured to communicate with the control system 9. The communication unit 13 receives instructions from the control system 9 regarding the driving unit 11 and the transfer unit 12. In addition, the communication unit 13 sends various notifications to the control system 9.

[0040] like Figure 3As shown, the travel path 2 includes: a merging area 3, which includes a merging point P1 where multiple paths converge; multiple entry sections 4 for the transport vehicle 1 to enter the merging area 3; and at least one exit section 5 for the transport vehicle 1 to exit from the merging area 3. Each of the multiple entry sections 4 has a stopping point S. Each of the at least one exit section 5 has an occupation point R. In this embodiment, the stopping point S is provided at the connection point between the entry section 4 and the merging area 3. Furthermore, the occupation point R is provided at the connection point between the exit section 5 and the merging area 3.

[0041] The control system 9 is configured to control the passage of a transport vehicle 1 that wants to pass through the merging area 3. The passage control is as follows: when a transport vehicle 1 located at a target stop point St, which is one of a plurality of stop points S, or upstream of the target stop point St, is permitted to pass through the merging area 3, the permitted transport vehicle 1p, which is the permitted transport vehicle 1, is said to occupy the occupation point R. In the occupation state, the passage of transport vehicles 1 other than the permitted transport vehicle 1p from the target stop point St to the occupation point R occupied by the permitted transport vehicle 1p is prohibited. After the permitted transport vehicle 1p passes through the occupation point R, the occupation state is released.

[0042] exist Figures 3 to 8 The image shows a first example of the layout of the confluence area 3, the entry interval 4, and the exit interval 5. In this example, there is one confluence area 3, two entry intervals 4, and one exit interval 5.

[0043] exist Figures 3 to 8 In the example shown, the travel path 2 includes a first straight section 2a, a second straight section 2b, and a first connecting section 2c. Each of the first straight sections 2a and 2b is formed to extend in a straight line. The first straight sections 2a and 2b are arranged parallel to each other. The first connecting section 2c is formed such that it extends from the downstream end of the first straight section 2a toward the second straight section 2b, and merges with the second straight section 2b at a confluence point P1 located in the middle of the second straight section 2b.

[0044] exist Figures 3 to 8In the example shown, a first stopping point S1, serving as a stopping point S, is provided in the first straight section 2a. Furthermore, a second stopping point S2, also serving as a stopping point S, is provided upstream of the connection point (merging point P1) with the first connecting section 2c in the second straight section 2b, and a first occupying point R1, serving as an occupying point R, is provided downstream. Thus, in this example, the travel path 2 forms a path in which the transport vehicle 1 travels from the first stopping point S1 sequentially through the first straight section 2a, the first connecting section 2c, and the second straight section 2b towards the first occupying point R1; and a path in which the transport vehicle 1 travels straight from the second stopping point S2 towards the first occupying point R1 in the second straight section 2b.

[0045] In addition, Figures 3 to 8 In the example shown, the portions of the first stopping point S1 and the first straight section 2a that are upstream of the first stopping point S1, and the portions of the second stopping point S2 and the second straight section 2b that are upstream of the second stopping point S2, correspond to entering section 4. Furthermore, the portions of the first occupying point R1 and the second straight section 2b that are downstream of the first occupying point R1 correspond to exiting section 5. Additionally, the portion of the first straight section 2a that is downstream of the first stopping point S1, the portion of the second straight section 2b from the second stopping point S2 to the first occupying point R1, and the first connecting section 2c correspond to merging region 3.

[0046] The following is for reference Figures 3 to 8 The first example of traffic control using the control system 9 will be described. In this example, it is assumed that three transport vehicles 1 are traveling on the travel path 2, and these three transport vehicles 1 are designated as transport vehicle A, transport vehicle B, and transport vehicle C in the order of arriving at the meeting area 3. In this example, transport vehicle A and transport vehicle B travel on the travel path 2 in a straight line from the second stopping point S2 towards the first occupying point R1 via the second straight section 2b. Furthermore, transport vehicle C travels on the travel path 2 from the first stopping point S1, sequentially passing through the first straight section 2a, the first connecting section 2c, and the second straight section 2b towards the first occupying point R1.

[0047] like Figure 3 As shown, firstly, the first transport vehicle A travels on the second straight section 2b in a manner approaching the second stop point S2. Moreover, at the second stop point S2 or on the upstream side, the first transport vehicle A sends a permission request notification N1 from the communication unit 13 to the control system 9, requesting permission to pass through the merging area 3.

[0048] like Figure 4As shown, the control system 9, in response to the permission request notification N1 from the first transport vehicle A, designates the first transport vehicle A as the permitted transport vehicle 1p, permitting the passage of the first transport vehicle A from the second stop point S2 to the first occupied point R1 (see reference). Figure 4 The dashed arrow (indicated by the first transport vehicle A) signifies that the first transport vehicle A occupies the first occupation location R1. Furthermore, the control system 9 prohibits the passage of transport vehicles 1, other than the first transport vehicle A, from the second stop location S2 to the first occupation location R1. In this example, the control system 9 also prohibits the passage of transport vehicles 1 from the first stop location S1 to the first occupation location R1. Additionally, in... Figure 3 In the following diagrams, the blacked-out corners indicate occupied locations R, while the white-out corners indicate occupied locations R that are not in a state of possession.

[0049] Here, the storage unit 91 of the control system 9 is configured to store access permission information for multiple authorized transport vehicles 1p. The access permission information includes information showing the stop location S (object stop location St) and the occupied location R that the authorized transport vehicle 1p wants to pass through. In this example, the access permission information includes the identification number of the authorized transport vehicle 1p, the addresses of the stop location S (object stop location St) and the occupied location R that the authorized transport vehicle 1p wants to pass through, and information on whether the authorized transport vehicle 1p has sent the entry notification N2 described later. Furthermore, the access permission information is stored for each occupied location R. Additionally, if multiple authorized transport vehicles 1p exist for one occupied location R, the access permission information for each of the multiple authorized transport vehicles 1p is stored. Furthermore, in Figure 3 In the following diagrams, “×” indicates that the authorized transport vehicle 1p has not sent the entry notification N2, and “○” indicates that the authorized transport vehicle 1p has sent the entry notification N2.

[0050] like Figure 4 As shown, after the control system 9 permits the first transport vehicle A to travel from the second stop point S2 to the first occupied point R1, it stores the identification number of the first transport vehicle A (which is the permitting transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the second stop point S2 (the stop point S that the first transport vehicle A wants to travel to, which is the object stop point St), and the address of the first occupied point R1 (the occupied point R that the first transport vehicle A wants to travel to) in the storage unit 91 as passage permission information about the first occupied point R1.

[0051] After that, as Figure 5As shown, given that the first transport vehicle A has advanced a predetermined distance d from the second stop point S2, the communication unit 13 of the first transport vehicle A sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the first transport vehicle A, stores the information indicating that the first transport vehicle A sent the entry notification N2 as passage permission information regarding the first occupied location R1 in the storage unit 91. Here, the predetermined distance d can be appropriately set according to the configuration of the path that the transport vehicle 1 wants to travel. Furthermore, the timing for permitting the transport vehicle 1p (here, the first transport vehicle A) to send the entry notification N2 can be either immediately after the permitted transport vehicle 1p has advanced the predetermined distance d from the target stop point St (here, the second stop point S2), or after other conditions are further met.

[0052] Furthermore, as the successor to the first transport vehicle A, the second transport vehicle B travels on the second straight section 2b in a manner approaching the second stop point S2, and the third transport vehicle C travels on the first straight section 2a in a manner approaching the first stop point S1. Moreover, the communication unit 13 of the second transport vehicle B sends a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also sends a permission request notification N1 to the control system 9.

[0053] At this time, the first transport vehicle A occupies the first occupation location R1, thus prohibiting the passage of transport vehicles 1 other than the first transport vehicle A (which is the permitted transport vehicle 1p) from the second stop location S2 (which is the target stop location St) to the first occupation location R1. However, in the passage control, when there are multiple transport vehicles 1s with the same path among the multiple transport vehicles 1 that want to pass through the merging area 3, the control system 9 performs continuous passage permission processing to continuously permit the passage of multiple transport vehicles 1s with the same path to the merging area 3. The aforementioned transport vehicles 1s with the same path are transport vehicles 1 that have the same combination of the stop location S and the occupation location R. In this embodiment, when the control system 9 performs continuous passage permission processing, it permits the passage of the merging area 3 of the subsequent transport vehicle 1 of the permitted transport vehicle 1p that sent the entry notification N2 among the multiple transport vehicles 1s with the same path.

[0054] In this example, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s along the same path. The control system 9 receives an entry notification N2 from the first transport vehicle A, and thus, in accordance with the permission request notification N1 from the second transport vehicle B, designates the second transport vehicle B, which is the successor to the first transport vehicle A, as a permitted transport vehicle 1p, permitting the passage of the second transport vehicle B from the second stop point S2 to the first occupied location R1. Furthermore, as passage permission information regarding the first occupied location R1, the control system 9 stores in the storage unit 91 the identification number of the second transport vehicle B as permitted transport vehicle 1p, the information that the second transport vehicle B did not send an entry notification N2, the address of the second stop point S2 (object stop point St) that the second transport vehicle B wants to pass through, and the address of the first occupied location R1 that the second transport vehicle B wants to pass through.

[0055] Furthermore, each of the multiple transport vehicles 1 is equipped with a collision avoidance sensor that monitors other transport vehicles 1 present in front of it. Therefore, the collision avoidance sensor can prevent a subsequent transport vehicle 1 (here, the second transport vehicle B) on the same path from colliding with other transport vehicles 1 (here, the first transport vehicle A) present in front of it.

[0056] In this example, when the control system 9 sets the first occupied location R1 to an occupied state, it also prohibits the passage of the transport vehicle 1 from the first stop location S1 to the first occupied location R1, except for the permitted transport vehicle 1p. That is, the passage of the third transport vehicle C from the first stop location S1 to the first occupied location R1 is prohibited until the occupied state of the first occupied location R1 is released.

[0057] Here, the control system 9 is configured to store permission waiting information for a permission-waiting transport vehicle 1w, which is a transport vehicle 1 that has sent a permission request notification N1 and is not permitted to pass through the merging area 3. The permission waiting information includes information showing the occupied location R that the permission-waiting transport vehicle 1w wants to pass through and information showing the elapsed time (waiting time) since the permission request notification N1 was sent by the permission-waiting transport vehicle 1w. In this example, it includes the identification number of the first permission-waiting transport vehicle 1wf, the address of the occupied location R that the first permission-waiting transport vehicle 1wf wants to pass through, and the elapsed time since the permission request notification N1 was sent by the first permission-waiting transport vehicle 1wf. The first permission-waiting transport vehicle 1wf is the permission-waiting transport vehicle 1w with the same passing stop location S and the longest elapsed time since the permission request notification N1 was sent. Furthermore, permission waiting information is stored for each occupied location R.

[0058] In this example, the control system 9, in response to the permission request notification N1 from the third transport vehicle C, disallows the passage of the third transport vehicle C from the first stop location S1 to the first occupied location R1. As permission waiting information regarding the first occupied location R1, the identification number of the third transport vehicle C (which is the first permission waiting transport vehicle 1wf), the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the first occupied location R1 (which is the occupied location R that the third transport vehicle C wants to pass through) are stored in the storage unit 91.

[0059] After that, as Figure 6 As shown, given that the second transport vehicle B has advanced a predetermined distance d from the second stop point S2, the communication unit 13 of the second transport vehicle B sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the second transport vehicle B, stores the information regarding the purpose of the entry notification N2 as access permission information for the first occupied location R1 in the storage unit 91.

[0060] Furthermore, the third transport vehicle C, acting as the first permit-waiting transport vehicle 1wf, is prohibited from traveling from the first stop point S1 to the first occupied point R1, and thus stops at the first stop point S1. Moreover, the control system 9 updates the permit-waiting information for the third transport vehicle C stored in the storage unit 91 (here, the elapsed time since the third transport vehicle C sent the permit request notification N1). In this example, the permit-waiting transport vehicle 1w continues to send permit request notifications N1 to the control system 9 continuously or intermittently until the control system 9 permits passage through the merging area 3.

[0061] like Figure 7 As shown, after the first transport vehicle A and the second transport vehicle B, which are authorized transport vehicles 1p, pass through the first occupied location R1, the control system 9 releases the occupied state of the first occupied location R1. Furthermore, the control system 9 deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. Additionally, the control system 9 updates the permission waiting information for the third transport vehicle C stored in the storage unit 91 (here, the elapsed time since the third transport vehicle C sent the permission request notification N1).

[0062] Next, as Figure 8 As shown, the control system 9, in response to the permission request notification N1 from the third transport vehicle C, which is the first permitted waiting transport vehicle 1wf, sets the third transport vehicle C as the permitted transport vehicle 1p, permitting the passage of the third transport vehicle C from the first stop point S1 to the first occupied point R1 (see reference). Figure 8The dashed arrow (indicated by the third transport vehicle C) signifies that the third transport vehicle C has occupied the first occupied location R1. Furthermore, the control system 9 stores the identification number of the third transport vehicle C (as permitted transport vehicle 1p), the information that the third transport vehicle C did not send an entry notification N2, the address of the first stopping location S1 (object stopping location St) that the third transport vehicle C wants to pass through, and the address of the first occupied location R1 that the third transport vehicle C wants to pass through in the storage unit 91 as access permission information for the first occupied location R1. Further explanation regarding the subsequent operation of the control system 9 is omitted.

[0063] exist Figures 9 to 14 The image shows a second example of the layout of the confluence area 3, the entry interval 4, and the exit interval 5. In this example, there is one confluence area 3, two entry intervals 4, and two exit intervals 5.

[0064] exist Figures 9 to 14 In the example shown, the travel path 2 includes a third straight section 2d, a fourth straight section 2e, and a second connecting section 2f. Each of the third straight section 2d and the fourth straight section 2e is formed to extend in a straight line. The third straight section 2d and the fourth straight section 2e are arranged parallel to each other. The second connecting section 2f is formed such that it branches off from the third straight section 2d at a branch point P2 located in the middle of the third straight section 2d, and merges with the fourth straight section 2e at a confluence point P1 located in the middle of the fourth straight section 2e.

[0065] exist Figures 9 to 14 In the example shown, a third stopping point S3, serving as a stopping point S, is located upstream of the connection portion (branch portion P2) with the second connecting portion 2f in the third straight section 2d, and a third occupying point R3, serving as an occupying point R, is located downstream. Furthermore, a fourth stopping point S4, serving as a stopping point S, is located upstream of the connection portion (merging portion P1) with the second connecting portion 2f in the fourth straight section 2e, and a fourth occupying point R4, serving as an occupying point R, is located downstream. Thus, in this example, the travel path 2 forms: a path in which the transport vehicle 1 travels straight from the third stopping point S3 towards the third occupying point R3 in the third straight section 2d; a path in which the transport vehicle 1 travels from the third stopping point S3 sequentially through the third straight section 2d, the second connecting portion 2f, and the fourth straight section 2e towards the fourth occupying point R4; and a path in which the transport vehicle 1 travels straight from the fourth stopping point S4 towards the fourth occupying point R4 in the fourth straight section 2e.

[0066] In addition, Figures 9 to 14In the example shown, the portions of the third stopping point S3 and the third straight section 2d that are upstream of the third stopping point S3, and the portions of the fourth stopping point S4 and the fourth straight section 2e that are upstream of the fourth stopping point S4, correspond to entering section 4. Furthermore, the portions of the third occupying point R3 and the third straight section 2d that are downstream of the third occupying point R3, and the portions of the fourth occupying point R4 and the fourth straight section 2e that are downstream of the fourth occupying point R4, correspond to exiting section 5. Additionally, the portion of the third straight section 2d from the third stopping point S3 to the third occupying point R3, the portion of the fourth straight section 2e from the fourth stopping point S4 to the fourth occupying point R4, and the second connecting section 2f correspond to merging region 3.

[0067] The following is for reference Figures 9 to 14 A second example of traffic control using control system 9 will be described. In this example, it is assumed that four transport vehicles 1 travel on the travel path 2, and these four transport vehicles 1 are designated as transport vehicle A, transport vehicle B, transport vehicle C, and transport vehicle D in the order of arrival at the meeting area 3. In this example, transport vehicle A and transport vehicle B travel on the travel path 2 from the third stop point S3, sequentially passing through the third straight section 2d, the second connecting section 2f, and the fourth straight section 2e towards the fourth occupied location R4. Furthermore, transport vehicle C travels on the travel path 2 from the fourth stop point S4 towards the fourth occupied location R4, proceeding straight along the fourth straight section 2e, and transport vehicle D travels on the travel path 2 from the third stop point S3 towards the third occupied location R3, proceeding straight along the third straight section 2d.

[0068] like Figure 9 As shown, firstly, the first transport vehicle A travels along the third straight section 2d in a manner approaching the third stop point S3. Furthermore, the first transport vehicle A sends a permission request notification N1 from the communication unit 13 to the control system 9 at the third stop point S3 or at a location upstream of the third stop point S3.

[0069] like Figure 10 As shown, the control system 9, in response to the permission request notification N1 from the first transport vehicle A, designates the first transport vehicle A as the permitted transport vehicle 1p, permitting the passage of the first transport vehicle A from the third stop point S3 to the fourth occupied point R4 (see reference). Figure 10The dashed arrow in the diagram indicates that the first transport vehicle A occupies the fourth occupation point R4. Furthermore, the control system 9 prohibits the passage of transport vehicles 1 other than the first transport vehicle A from the third stop point S3 to the fourth occupation point R4. In this example, when the control system 9 permits transport vehicle 1p (here, the first transport vehicle A) to travel on the path branching off at branch point P2 (here, the second connecting part 2f and the fourth straight part 2e), in addition to the occupation point R (here, the fourth occupation point R4) located on that path, the occupation point R (here, the third occupation point R3) located on the straight path (here, the third straight part 2d) at branch point P2 is also set to an occupation state. That is, in this example, the control system 9 also prohibits the passage of transport vehicle 1 from the third stop point S3 to the third occupation point R3. Therefore, when the preceding transport vehicle 1 travels on the path branching off at branch point P2 and the subsequent transport vehicle 1 travels on the straight path at branch point P2, for example, it is possible to avoid interference between the subsequent transport vehicle 1 and the preceding transport vehicle 1 in the event that the preceding transport vehicle 1 stops immediately after passing branch point P2. Furthermore, when the permitted transport vehicle 1p (here, the first transport vehicle A) travels on the straight path at branch point P2 (here, the third straight section 2d), it is appropriate to set only the occupied location R (here, the third occupied location R3) located on that path as occupied.

[0070] In the following description, among the two occupied locations R on the path connected to the branch point P2 through which the permitted transport vehicle 1p passes, the one that the permitted transport vehicle 1p actually traverses is designated as the "primary occupied location," and the one that the permitted transport vehicle 1p does not actually traverse is designated as the "secondary occupied location." In this example, the fourth occupied location R4, which is actually traversed by the first transport vehicle A, which is the permitted transport vehicle 1p, is equivalent to the primary occupied location, and the third occupied location R3 is equivalent to the secondary occupied location.

[0071] After the control system 9 permits the passage of the first transport vehicle A from the third stop point S3 to the fourth occupying point R4, it stores the identification number of the first transport vehicle A (which is the permitted transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the third stop point S3 (which is the stop point S (object stop point St) that the first transport vehicle A wants to pass through), and the address of the fourth occupying point R4 (which is the occupying point R (main occupying point) that the first transport vehicle A wants to pass through) in the storage unit 91 as passage permission information for the fourth occupying point R4 (which is the occupying point R (main occupying point) that the first transport vehicle A wants to pass through) in the storage unit 91. Furthermore, the control system 9 stores the identification number of the first transport vehicle A (as the permitted transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the third stop location S3 (as the stop location S (object stop location St) that the first transport vehicle A wants to pass through), and the address of the fourth stop location R4 (as the stop location R (main stop location) that the first transport vehicle A wants to pass through) in the storage unit 91 as passage permission information regarding the third stop location R3 (as the secondary stop location).

[0072] After that, as Figure 11 As shown, given that the first transport vehicle A has advanced a predetermined distance d from the third stop point S3, the communication unit 13 of the first transport vehicle A sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the first transport vehicle A, stores the information regarding the content of the entry notification N2 as permission information for passage to the fourth occupied location R4 in the storage unit 91. Furthermore, the control system 9 stores the information regarding the content of the entry notification N2 from the first transport vehicle A as permission information for passage to the third occupied location R3 in the storage unit 91.

[0073] Furthermore, as the successor to the first transport vehicle A, the second transport vehicle B travels on the third straight section 2d in a manner approaching the third stop point S3, and the third transport vehicle C travels on the fourth straight section 2e in a manner approaching the fourth stop point S4. Moreover, the communication unit 13 of the second transport vehicle B sends a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also sends a permission request notification N1 to the control system 9.

[0074] At this time, the first transport vehicle A has occupied the fourth occupation location R4, which is the main occupation location, and therefore prohibits the passage of transport vehicles 1 other than the first transport vehicle A, which is the permitted transport vehicle 1p, from the third stop location S3, which is the target stop location St, to the fourth occupation location R4. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same path. Moreover, the control system 9 receives the entry notification N2 from the first transport vehicle A, and therefore, in accordance with the permission request notification N1 from the second transport vehicle B, sets the second transport vehicle B, which is the subsequent transport vehicle 1 of the first transport vehicle A, as the permitted transport vehicle 1p, and permits the passage of the second transport vehicle B from the third stop location S3 to the fourth occupation location R4. Furthermore, as access permission information regarding the fourth occupied location R4, the control system 9 stores in the storage unit 91 the identification number of the second transport vehicle B (which is the authorized transport vehicle 1p), the information that the second transport vehicle B did not send an entry notification N2, the address of the third stop location S3 (the stop location S (object stop location St) that the second transport vehicle B wants to pass through), and the address of the fourth occupied location R4 (the occupied location R that the second transport vehicle B wants to pass through). Furthermore, as access permission information regarding the third occupied location R3, the control system 9 stores in the storage unit 91 the identification number of the second transport vehicle B (which is the authorized transport vehicle 1p), the information that the second transport vehicle B did not send an entry notification N2, the address of the third stop location S3 (the stop location S (object stop location St) that the second transport vehicle B wants to pass through), and the address of the fourth occupied location R4 (the occupied location R that the second transport vehicle B wants to pass through).

[0075] In this example, when the control system 9 sets the fourth occupied location R4 to an occupied state, it also prohibits the transport vehicle 1 from the fourth stop location S4 to the fourth occupied location R4. That is, the transport vehicle C is prohibited from traveling from the fourth stop location S4 to the fourth occupied location R4 until the occupied state of the fourth occupied location R4 is released.

[0076] The control system 9, in response to the permission request notification N1 from the third transport vehicle C, disallows the passage of the third transport vehicle C from the fourth stop point S4 to the fourth occupied point R4. As permission waiting information regarding the fourth occupied point R4, the control system 9 stores in the storage unit 91 the identification number of the third transport vehicle C at the fourth stop point S4 (which is the first permission waiting transport vehicle 1wf), the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the fourth occupied point R4 (which is the occupied point R that the third transport vehicle C wants to pass through).

[0077] After that, as Figure 12As shown, given that the second transport vehicle B has advanced a predetermined distance d from the third stop point S3, the communication unit 13 of the second transport vehicle B sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the second transport vehicle B, stores the information regarding the content of the entry notification N2 as permission information for passage to the fourth occupied location R4 in the storage unit 91. Furthermore, the control system 9 stores the information regarding the content of the entry notification N2 from the second transport vehicle B as permission information for passage to the third occupied location R3 in the storage unit 91.

[0078] Furthermore, the third transport vehicle C, which is the first permit waiting transport vehicle 1wf, is prohibited from traveling from the fourth stop point S4 to the fourth occupying point R4, and therefore stops at the fourth stop point S4. Moreover, the control system 9 updates the permit waiting information about the third transport vehicle C stored in the storage unit 91 (here, the elapsed time since the third transport vehicle C sent the permit request notification N1).

[0079] Furthermore, as the successor to the second transport vehicle B, the fourth transport vehicle D travels along the third straight section 2d in a manner approaching the third stopping point S3. Moreover, the communication unit 13 of the fourth transport vehicle D sends a permission request notification N1 to the control system 9.

[0080] At this time, the first transport vehicle A has occupied the third occupation location R3, which is a secondary occupation location, thus prohibiting the transport vehicle 1 from the third stop location S3 to the third occupation location R3. Therefore, the control system 9, in accordance with the permission request notification N1 from the fourth transport vehicle D, prohibits the fourth transport vehicle D from the third stop location S3 to the third occupation location R3. As permission waiting information regarding the third occupation location R3, the identification number of the fourth transport vehicle D at the third stop location S3, which is the first permission waiting transport vehicle 1wf, the elapsed time since the fourth transport vehicle D sent the permission request notification N1, and the address of the third occupation location R3, which is the occupation location R that the fourth transport vehicle D wants to pass through, are stored in the storage unit 91.

[0081] like Figure 13As shown, when the second transport vehicle B, which is the last permitted transport vehicle 1p in the same path transport vehicle 1s, arrives at the fourth occupation point R4, or after the first transport vehicle A and the second transport vehicle B, which are permitted transport vehicles 1p, pass through the fourth occupation point R4, the control system 9 releases the occupation status of both the fourth occupation point R4 (the primary occupation point) and the third occupation point R3 (the secondary occupation point). Furthermore, the control system 9 deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. Additionally, the control system 9 updates the permission waiting information for the third transport vehicle C (here, the elapsed time since the third transport vehicle C sent the permission request notification N1) and the permission waiting information for the fourth transport vehicle D (here, the elapsed time since the fourth transport vehicle D sent the permission request notification N1) stored in the storage unit 91.

[0082] Next, as Figure 14 As shown, the control system 9, in response to the permission request notification N1 from the third transport vehicle C (which is the first permitted waiting transport vehicle 1wf) at the fourth stop location S4, sets the third transport vehicle C as the permitted transport vehicle 1p, permitting the passage of the third transport vehicle C from the fourth stop location S4 to the fourth occupied location R4 (see reference). Figure 14 The dashed arrow at the bottom of the diagram indicates that the third transport vehicle C has occupied the fourth occupation location R4. Furthermore, the control system 9 stores the identification number of the third transport vehicle C (as the permitted transport vehicle 1p), the information that the third transport vehicle C did not send an entry notification N2, the address of the fourth stop location S4 (the stop location S (object stop location St) that the third transport vehicle C wants to pass through), and the address of the fourth occupation location R4 (the occupation location R that the third transport vehicle C wants to pass through) in the storage unit 91 as passage permission information for the fourth occupation location R4.

[0083] Furthermore, the control system 9, in accordance with the permission request notification N1 from the third stop location S3 for the fourth transport vehicle D, which is the first permitted waiting transport vehicle 1wf, sets the fourth transport vehicle D as the permitted transport vehicle 1p, permitting the passage of the fourth transport vehicle D from the third stop location S3 to the third occupied location R3 (see reference). Figure 14 The dashed arrow at the top of the diagram indicates that the fourth transport vehicle D has occupied the third occupation location R3. Furthermore, the control system 9 stores the identification number of the fourth transport vehicle D (as permitted transport vehicle 1p), the information that the fourth transport vehicle D did not send an entry notification N2, the address of the third stop location S3 (the stop location S that the fourth transport vehicle D wants to pass through, or the address of the third occupation location R3 that the fourth transport vehicle D wants to pass through) in the storage unit 91 as access permission information for the third occupation location R3. Further explanation regarding the subsequent operation of the control system 9 is omitted.

[0084] exist Figures 15 to 20 The image shows a third example of the layout of the confluence area 3, the entry interval 4, and the exit interval 5. In this example, there is one confluence area 3, two entry intervals 4, and two exit intervals 5.

[0085] exist Figures 15 to 20 In the example shown, the travel path 2 includes a fifth straight section 2g, a sixth straight section 2h, a third connecting section 2i, and a fourth connecting section 2j. Each of the fifth and sixth straight sections 2g and 2h is formed to extend in a straight line. The fifth and sixth straight sections 2g and 2h are arranged parallel to each other. The third connecting section 2i is formed such that it branches off from the fifth straight section 2g at a branch point P2 located in the middle of the fifth straight section 2g, and merges with the sixth straight section 2h at a confluence point P1 located in the middle of the sixth straight section 2h. The fourth connecting section 2j is formed such that it branches off from the sixth straight section 2h at a branch point P2 located upstream of the confluence point P1, and merges with the fifth straight section 2g at a confluence point P1 located downstream of the branch point P2.

[0086] exist Figures 15 to 20 In the example shown, a fifth stopping point S5, serving as a stopping point S, is provided upstream of the connection portion (branch portion P2) with the third connecting portion 2i in the fifth straight section 2g, and a fifth occupying point R5, serving as an occupying point R, is provided downstream of the connection portion (merging portion P1) with the fourth connecting portion 2j in the fifth straight section 2g. Furthermore, a sixth stopping point S6, serving as a stopping point S, is provided upstream of the connection portion (branch portion P2) with the fourth connecting portion 2j in the sixth straight section 2h, and a sixth occupying point R6, serving as an occupying point R, is provided downstream of the connection portion (merging portion P1) with the third connecting portion 2i in the sixth straight section 2h. In this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels straight from the 5th stop point S5 toward the 5th occupied point R5 along the 5th straight section 2g; a path in which the transport vehicle 1 travels from the 5th stop point S5, sequentially passing through the 5th straight section 2g, the 3rd connecting section 2i, and the 6th straight section 2h, toward the 6th occupied point R6; a path in which the transport vehicle 1 travels straight from the 6th stop point S6 toward the 6th occupied point R6 along the 6th straight section 2h; and a path in which the transport vehicle 1 travels from the 6th stop point S6, sequentially passing through the 6th straight section 2h, the 4th connecting section 2j, and the 5th straight section 2g, toward the 5th occupied point R5.

[0087] In addition, Figures 15 to 20In the example shown, the portions of the fifth stop point S5 and the fifth straight section 2g that are upstream of the fifth stop point S5, and the portions of the sixth stop point S6 and the sixth straight section 2h that are upstream of the sixth stop point S6, correspond to entering interval 4. Furthermore, the portions of the fifth occupying point R5 and the fifth straight section 2g that are downstream of the fifth occupying point R5, and the portions of the sixth occupying point R6 and the sixth straight section 2h that are downstream of the sixth occupying point R6, correspond to exiting interval 5. Additionally, the portion of the fifth straight section 2g from the fifth stop point S5 to the fifth occupying point R5, the portion of the sixth straight section 2h from the sixth stop point S6 to the sixth occupying point R6, the third connecting section 2i, and the fourth connecting section 2j correspond to merging region 3.

[0088] The following is for reference Figures 15 to 20 The third example of traffic control using control system 9 will be described. In this example, it is assumed that four transport vehicles 1 travel on the travel path 2, and these four transport vehicles 1 are designated as transport vehicle A, transport vehicle B, transport vehicle C, and transport vehicle D in the order of arrival at the meeting area 3. In this example, transport vehicle A and transport vehicle B travel on the travel path 2 from the fifth stop point S5, sequentially passing through the fifth straight section 2g, the third connecting section 2i, and the sixth straight section 2h towards the sixth occupied location R6. Furthermore, transport vehicle C travels on the travel path 2 from the sixth stop point S6 towards the sixth occupied location R6 along the sixth straight section 2h, and transport vehicle D travels on the travel path 2 from the fifth stop point S5 towards the fifth occupied location R5 along the fifth straight section 2g.

[0089] like Figure 15 As shown, firstly, the first transport vehicle A travels along the fifth straight section 2g in a manner approaching the fifth stop point S5. Furthermore, the first transport vehicle A sends a permission request notification N1 from the communication unit 13 to the control system 9 at the fifth stop point S5 or at a location upstream of the fifth stop point S5.

[0090] like Figure 16 As shown, the control system 9, in response to the permission request notification N1 from the first transport vehicle A, sets the first transport vehicle A as the permitted transport vehicle 1p, permitting the passage of the first transport vehicle A from the fifth stop point S5 to the sixth occupied point R6 (see reference). Figure 16The dashed arrow in the diagram indicates that the first transport vehicle A occupies the sixth occupation point R6. Furthermore, the control system 9 prohibits the passage of transport vehicles 1 other than the first transport vehicle A from the fifth stop point S5 to the sixth occupation point R6. In this example, when the control system 9 permits transport vehicle 1p (here, the first transport vehicle A) to travel on the path branching off at branch point P2 (here, the third connecting section 2i and the sixth straight section 2h), in addition to the occupation point R (here, the sixth occupation point R6) located on that path, the occupation point R (here, the fifth occupation point R5) located on the straight path (here, the fifth straight section 2g) at branch point P2 is also set to an occupation state. That is, in this example, the control system 9 also prohibits the passage of transport vehicle 1 from the fifth stop point S5 to the fifth occupation point R5.

[0091] After the control system 9 permits the passage of the first transport vehicle A from the fifth stop point S5 to the sixth occupied point R6, it stores the identification number of the first transport vehicle A (which is the permitted transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the fifth stop point S5 (which is the stop point S (object stop point St) that the first transport vehicle A wants to pass through), and the address of the sixth occupied point R6 (which is the occupied point R (main occupied point) that the first transport vehicle A wants to pass through) in the storage unit 91 as passage permission information for the sixth occupied point R6 (which is the occupied point R (main occupied point)) that the first transport vehicle A wants to pass through. Furthermore, the control system 9 stores the identification number of the first transport vehicle A (as the permitted transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the fifth stop location S5 (as the stop location S (object stop location St) that the first transport vehicle A wants to pass through), and the address of the sixth stop location R6 (as the stop location R (main stop location) that the first transport vehicle A wants to pass through) in the storage unit 91 as passage permission information for the fifth stop location R5 (as the secondary stop location).

[0092] After that, as Figure 17 As shown, given that the first transport vehicle A has advanced a predetermined distance d from the fifth stop point S5, the communication unit 13 of the first transport vehicle A sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the first transport vehicle A, stores the information regarding the content of the entry notification N2 as permission information for passage to the sixth occupied location R6 in the storage unit 91. Furthermore, the control system 9 stores the information regarding the content of the entry notification N2 from the first transport vehicle A as permission information for passage to the fifth occupied location R5 in the storage unit 91.

[0093] Furthermore, as the successor to the first transport vehicle A, the second transport vehicle B travels on the fifth straight section 2g in a manner approaching the fifth stop point S5, and the third transport vehicle C travels on the sixth straight section 2h in a manner approaching the sixth stop point S6. Moreover, the communication unit 13 of the second transport vehicle B sends a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also sends a permission request notification N1 to the control system 9.

[0094] At this time, the first transport vehicle A has occupied the sixth occupation location R6, which is the main occupation location, and therefore prohibits the passage of transport vehicles 1 other than the first transport vehicle A, which is the permitted transport vehicle 1p, from the fifth stop location S5, which is the target stop location St, to the sixth occupation location R6. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same path. Moreover, the control system 9 receives the entry notification N2 from the first transport vehicle A, and therefore, in accordance with the permission request notification N1 from the second transport vehicle B, sets the second transport vehicle B, which is the subsequent transport vehicle 1 of the first transport vehicle A, as the permitted transport vehicle 1p, and permits the passage of the second transport vehicle B from the fifth stop location S5 to the sixth occupation location R6. Furthermore, as access permission information regarding the sixth occupied location R6, the control system 9 stores in the storage unit 91 the identification number of the second transport vehicle B (which is the authorized transport vehicle 1p), the information that the second transport vehicle B did not send an entry notification N2, the address of the fifth stop location S5 (the stop location S (object stop location St) that the second transport vehicle B wants to pass through), and the address of the sixth occupied location R6 (the occupied location R that the second transport vehicle B wants to pass through). Furthermore, as access permission information regarding the fifth occupied location R5, the control system 9 stores in the storage unit 91 the identification number of the second transport vehicle B (which is the authorized transport vehicle 1p), the information that the second transport vehicle B did not send an entry notification N2, the address of the fifth stop location S5 (the stop location S (object stop location St) that the second transport vehicle B wants to pass through), and the address of the sixth occupied location R6 (the occupied location R that the second transport vehicle B wants to pass through).

[0095] In this example, when the control system 9 sets the sixth occupied location R6 to an occupied state, it also prohibits the transport vehicle 1 from the sixth stop location S6 to the sixth occupied location R6. That is, the transport vehicle C is prohibited from traveling from the sixth stop location S6 to the sixth occupied location R6 until the occupied state of the sixth occupied location R6 is released.

[0096] The control system 9, in response to the permission request notification N1 from the third transport vehicle C, disallows the passage of the third transport vehicle C from the sixth stop point S6 to the sixth occupied point R6. As permission waiting information regarding the sixth occupied point R6, the control system 9 stores in the storage unit 91 the identification number of the third transport vehicle C at the sixth stop point S6 (which is the first permission waiting transport vehicle 1wf), the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the sixth occupied point R6 (which is the occupied point R that the third transport vehicle C wants to pass through).

[0097] After that, as Figure 18 As shown, given that the second transport vehicle B has advanced a predetermined distance d from the fifth stop point S5, the communication unit 13 of the second transport vehicle B sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the second transport vehicle B, stores the information regarding the content of the entry notification N2 as permission information for passage to the sixth occupied location R6 in the storage unit 91. Furthermore, the control system 9 stores the information regarding the content of the entry notification N2 from the second transport vehicle B as permission information for passage to the fifth occupied location R5 in the storage unit 91.

[0098] Furthermore, the third transport vehicle C, which is the first permit waiting transport vehicle 1wf, is prohibited from traveling from the sixth stop point S6 to the sixth occupying point R6, and therefore stops at the sixth stop point S6. Moreover, the control system 9 updates the permit waiting information about the third transport vehicle C stored in the storage unit 91 (here, the elapsed time since the third transport vehicle C sent the permit request notification N1).

[0099] Furthermore, as the successor to the second transport vehicle B, the fourth transport vehicle D travels along the fifth straight section 2g in a manner approaching the fifth stopping point S5. Moreover, the communication unit 13 of the fourth transport vehicle D sends a permission request notification N1 to the control system 9.

[0100] At this time, the first transport vehicle A has occupied the fifth occupation location R5, which is a secondary occupation location, thus prohibiting the transport vehicle 1 from the fifth stop location S5 to the fifth occupation location R5. Therefore, the control system 9, in accordance with the permission request notification N1 from the fourth transport vehicle D, prohibits the fourth transport vehicle D from the fifth stop location S5 to the fifth occupation location R5. As permission waiting information regarding the fifth occupation location R5, the identification number of the fourth transport vehicle D at the fifth stop location S5, which is the first permission waiting transport vehicle 1wf, the elapsed time since the fourth transport vehicle D sent the permission request notification N1, and the address of the fifth occupation location R5, which is the occupation location R that the fourth transport vehicle D wants to pass through, are stored in the storage unit 91.

[0101] like Figure 19As shown, when the second transport vehicle B, which is the last permitted transport vehicle 1p in the same path transport vehicle 1s, arrives at the sixth occupied location R6, or after the first transport vehicle A and the second transport vehicle B, which are permitted transport vehicles 1p, pass through the sixth occupied location R6, the control system 9 releases the occupied status of both the sixth occupied location R6 (the primary occupied location) and the fifth occupied location R5 (the secondary occupied location). Furthermore, the control system 9 deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. Additionally, the control system 9 updates the permission waiting information for the third transport vehicle C (here, the elapsed time since the third transport vehicle C sent the permission request notification N1) and the permission waiting information for the fourth transport vehicle D (here, the elapsed time since the fourth transport vehicle D sent the permission request notification N1) stored in the storage unit 91.

[0102] Next, as Figure 20 As shown, the control system 9, in response to the permission request notification N1 from the third transport vehicle C (which is the first permitted waiting transport vehicle 1wf) at the sixth stop location S6, sets the third transport vehicle C as the permitted transport vehicle 1p, permitting the passage of the third transport vehicle C from the sixth stop location S6 to the sixth occupied location R6 (see reference). Figure 20 The dashed arrow at the bottom of the diagram indicates that the third transport vehicle C has occupied the sixth occupation location R6. Furthermore, the control system 9 stores the identification number of the third transport vehicle C (as the permitted transport vehicle 1p), the information that the third transport vehicle C did not send an entry notification N2, the address of the sixth stop location S6 (the stop location S (object stop location St) that the third transport vehicle C wants to pass through), and the address of the sixth occupation location R6 (the occupation location R that the third transport vehicle C wants to pass through) in the storage unit 91 as passage permission information for the sixth occupation location R6.

[0103] Furthermore, the control system 9, in accordance with the permission request notification N1 from the 4th transport vehicle D (which is the 1st permission waiting transport vehicle 1wf) at the 5th stop location S5, designates the 4th transport vehicle D as the permissioned transport vehicle 1p, permitting the passage of the 4th transport vehicle D from the 5th stop location S5 to the 5th occupying location R5 (see reference). Figure 20 The dashed arrow at the top of the diagram indicates that the fourth transport vehicle D has occupied the fifth occupation location R5. Furthermore, the control system 9 stores the identification number of the fourth transport vehicle D (as permitted transport vehicle 1p), the information that the fourth transport vehicle D did not send an entry notification N2, the address of the fifth stop location S5 (the stop location S (object stop location St) that the fourth transport vehicle D wants to pass through), and the address of the fifth occupation location R5 (the occupation location R that the fourth transport vehicle D wants to pass through) in the storage unit 91 as access permission information for the fifth occupation location R5. Further details regarding the subsequent operation of the control system 9 are omitted.

[0104] exist Figures 21 to 24 The image shows a fourth example of the layout of the confluence area 3, the entry interval 4, and the exit interval 5. In this example, there is one confluence area 3, two entry intervals 4, and two exit intervals 5.

[0105] exist Figures 21 to 24 In the example shown, the travel path 2 includes a 7th straight section 2k, a 1st path section 2m, a 2nd path section 2n, and a 5th connecting section 2p. The 7th straight section 2k is formed to extend in a straight line. The 1st path section 2m is formed such that it branches off from the 7th straight section 2k at a branch point P2 located in the middle of the 7th straight section 2k and extends in a direction orthogonal to the 7th straight section 2k. The 2nd path section 2n is formed such that it extends in a direction orthogonal to the 7th straight section 2k and merges with the 7th straight section 2k from the side where the 1st path section 2m is located relative to the 7th straight section 2k at a merging point P1 located downstream of the branch point P2. The fifth connecting part 2p is formed in such a way that the branch part P2 in the second path part 2n, which is located upstream of the confluence part P1, branches off from the second path part 2n, and the confluence part P1 in the first path part 2m, which is located downstream of the branch part P2, merges with the first path part 2m.

[0106] exist Figures 21 to 24 In the example shown, a seventh stopping point S7, which serves as a stopping point S, is located upstream of the connection point (branch point P2) with the first path section 2m in the seventh straight section 2k. A seventh occupying point R7, which serves as an occupying point R, is located downstream of the connection point (merging point P1) with the second path section 2n in the seventh straight section 2k. Furthermore, an eighth stopping point S8, which serves as a stopping point S, is located upstream of the connection point (branch point P2) with the fifth connecting section 2p in the second path section 2n. An eighth occupying point R8, which serves as an occupying point R, is located downstream of the connection point (merging point P1) with the fifth connecting section 2p in the first path section 2m. In this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels straight from the 7th stop point S7 toward the 7th occupied point R7 along the 7th straight section 2k; a path in which the transport vehicle 1 travels from the 7th stop point S7, sequentially passing through the 7th straight section 2k and the 1st path section 2m, toward the 8th occupied point R8; a path in which the transport vehicle 1 travels from the 8th stop point S8, sequentially passing through the 2nd path section 2n and the 7th straight section 2k, toward the 7th occupied point R7; and a path in which the transport vehicle 1 travels from the 8th stop point S8, sequentially passing through the 2nd path section 2n, the 5th connecting section 2p, and the 1st path section 2m, toward the 8th occupied point R8.

[0107] In addition, Figures 21 to 24 In the example shown, the portions of the 7th stop point S7 and the 7th straight section 2k that are upstream of the 7th stop point S7, and the portions of the 8th stop point S8 and the 2nd path section 2n that are upstream of the 8th stop point S8, correspond to entering section 4. Furthermore, the portions of the 7th occupying point R7 and the 7th straight section 2k that are downstream of the 7th occupying point R7, and the portions of the 8th occupying point R8 and the 1st path section 2m that are downstream of the 8th occupying point R8, correspond to exiting section 5. Additionally, the portion of the 7th straight section 2k from the 7th stop point S7 to the 7th occupying point R7, the portion of the 1st path section 2m from the branch point P2 to the 8th occupying point R8, the portion of the 2nd path section 2n from the 8th stop point S8 to the merging point P1, and the 5th connecting section 2p correspond to merging region 3.

[0108] The following is for reference Figures 21 to 24 The fourth example of traffic control using control system 9 will be described. In this example, it is assumed that three transport vehicles 1 are traveling on travel path 2, and these three transport vehicles 1 are designated as transport vehicle 1 A, transport vehicle 2 B, and transport vehicle 3 C in the order of arriving at the meeting area 3. In this example, transport vehicle 1 A and transport vehicle 2 B travel on travel path 2 in a straight line from the 7th stop point S7 towards the 7th occupied point R7 along the 7th straight section 2k. Furthermore, transport vehicle 3 C travels on travel path 2 from the 8th stop point S8, sequentially passing through the 2nd path section 2n, the 5th connecting section 2p, and the 1st path section 2m towards the 8th occupied point R8.

[0109] like Figure 21 As shown, firstly, the first transport vehicle A travels along the 7th straight section 2k in a manner approaching the 7th stop point S7. Moreover, the first transport vehicle A sends a permission request notification N1 from the communication unit 13 to the control system 9 at the 7th stop point S7 or at a point upstream of the 7th stop point S7.

[0110] like Figure 22 As shown, the control system 9, in response to the permission request notification N1 from the first transport vehicle A, sets the first transport vehicle A as the permitted transport vehicle 1p, permitting the passage of the first transport vehicle A from the 7th stop point S7 to the 7th occupied point R7 (see reference). Figure 22 The dashed arrow in the diagram indicates that the first transport vehicle A has occupied the seventh occupation location R7. Furthermore, the control system 9 prohibits the passage of transport vehicles 1 other than the first transport vehicle A from the seventh stop location S7 to the seventh occupation location R7. In this example, the control system 9 only sets the primary occupation location (here, the seventh occupation location R7) of permitted transport vehicle 1p (the first transport vehicle A) to an occupation state.

[0111] After the control system 9 grants permission for the first transport vehicle A to travel from the seventh stop point S7 to the seventh occupied point R7, it stores the identification number of the first transport vehicle A (which is the permitted transport vehicle 1p), the information that the first transport vehicle A did not send an entry notification N2, the address of the seventh stop point S7 (which is the stop point S (object stop point St) that the first transport vehicle A wants to travel to), and the address of the seventh occupied point R7 (which is the occupied point R (main occupied point) that the first transport vehicle A wants to travel to) in the storage unit 91 as passage permission information for the seventh occupied point R7 (which is the main occupied point) of the first transport vehicle A.

[0112] After that, as Figure 23 As shown, given that the first transport vehicle A has advanced a predetermined distance d from the seventh stop point S7, the communication unit 13 of the first transport vehicle A sends an entry notification N2 to the control system 9. The control system 9, in response to the entry notification N2 from the first transport vehicle A, stores the information regarding the subject of the entry notification N2 as passage permission information for the seventh occupied location R7 in the storage unit 91.

[0113] Furthermore, as the successor to the first transport vehicle A, the second transport vehicle B travels along the 7th straight section 2k in a manner approaching the 7th stop point S7, and the third transport vehicle C travels along the 2nd path section 2n in a manner approaching the 8th stop point S8. Moreover, the communication unit 13 of the second transport vehicle B sends a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also sends a permission request notification N1 to the control system 9.

[0114] At this time, the first transport vehicle A has occupied the seventh occupation location R7, which is the main occupation location, and therefore prohibits the passage of transport vehicles 1 other than the first transport vehicle A, which is the permitted transport vehicle 1p, from the seventh stop location S7, which is the target stop location St, to the seventh occupation location R7. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same path. Moreover, the control system 9 receives the entry notification N2 from the first transport vehicle A, and therefore, in accordance with the permission request notification N1 from the second transport vehicle B, sets the second transport vehicle B, which is the subsequent transport vehicle 1 of the first transport vehicle A, as the permitted transport vehicle 1p, and permits the passage of the second transport vehicle B from the seventh stop location S7 to the seventh occupation location R7. Furthermore, the control system 9 stores the identification number of the second transport vehicle B (which is the permit transport vehicle 1p), the information that the second transport vehicle B did not send an entry notification N2, the address of the seventh stop location S7 (the stop location S (object stop location St) that the second transport vehicle B wants to pass through), and the address of the seventh occupying location R7 (the occupying location R that the second transport vehicle B wants to pass through) in the storage unit 91 as access permission information regarding the seventh occupying location R7.

[0115] In this example, when the control system 9 sets the 7th occupied location R7 to an occupied state, it also prohibits the transport vehicle 1 from traveling from the 8th stop location S8 to the 7th occupied location R7. On the other hand, when the control system 9 does not set the 8th occupied location R8 to an occupied state, it does not prohibit the transport vehicle 1 from traveling from the 8th stop location S8 to the 8th occupied location R8.

[0116] like Figure 24 As shown, the control system 9, in response to the permission request notification N1 from the third transport vehicle C, sets the third transport vehicle C as the permitted transport vehicle 1p, permitting the passage of the third transport vehicle C from the eighth stop point S8 to the eighth occupied point R8 (see reference). Figure 24 The dashed arrow in the diagram indicates that the third transport vehicle C has occupied the eighth occupied location R8. Furthermore, the control system 9 prohibits the transport vehicle 1, other than the third transport vehicle C, from the eighth stop location S8 to the eighth occupied location R8.

[0117] After granting permission for the third transport vehicle C to travel from the eighth stop point S8 to the eighth occupied location R8, the control system 9 stores the following information in the storage unit 91 as permission information for the third transport vehicle C (as the permitted transport vehicle 1p), the information that the third transport vehicle C did not send an entry notification N2, the address of the eighth stop point S8 (the stop point S that the third transport vehicle C wants to travel to, which is the target stop point St), and the address of the eighth occupied location R8 (the occupied location R that the third transport vehicle C wants to travel to, which is the main occupied location) in the storage unit 91. Further details regarding the subsequent operation of the control system 9 are omitted.

[0118] [Other Implementation Methods] (1) In the above embodiment, the following configuration is described as an example: the transport vehicle 1 is a roof-mounted transport vehicle that travels on a travel path 2 formed by tracks suspended from the ceiling. However, it is not limited to this configuration. For example, the transport vehicle 1 may also be a rail-mounted transport vehicle that travels on a travel path 2 formed by tracks provided on the floor. Alternatively, the transport vehicle 1 may also be a trackless transport vehicle that travels along an imaginary travel path 2. In this case, the travel path 2 may be formed by multiple objects to be detected (e.g., QR codes, RF (Radio Frequency) tags, magnetic tapes, etc.). Furthermore, it may be configured such that no objects to be detected are provided, and the travel path 2 is imaginarily formed by a route calculated based on the recognition results of the surrounding environment.

[0119] (2) In the above embodiment, the following configuration is used as an example: the first transport vehicle A and the second transport vehicle B are transport vehicles 1s along the same path. However, this configuration is not limited to this. For example, the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C may also be transport vehicles 1s along the same path. In this case, the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C may all be designated as permitted transport vehicles 1p, or the third transport vehicle C may not be designated as permitted transport vehicle 1p, but the first transport vehicle A and the second transport vehicle B may be designated as permitted transport vehicles 1p.

[0120] (3) Furthermore, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments as long as they do not create contradictions. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0121] [Summary of this implementation method] The following is a summary of the conveying equipment described above.

[0122] A conveying device comprising the following: Multiple transport vehicles; The routes traveled by the aforementioned transport vehicles; and A control system that controls multiple of the aforementioned transport vehicles. The aforementioned travel path includes a merging area where multiple paths converge, multiple entry sections for the aforementioned transport vehicle to enter the aforementioned merging area, and exit sections for the aforementioned transport vehicle to exit the aforementioned merging area. Each of the aforementioned entry zones has a designated stop point. The aforementioned exit zone has designated locations for occupation. The aforementioned control system is configured to perform traffic control as follows: when a transport vehicle located at one of the aforementioned stopping points or upstream of the aforementioned stopping point is permitted to pass through the aforementioned merging area, it is assumed that the permitting transport vehicle, which is the permitting transport vehicle, occupies the aforementioned occupying point. In the aforementioned occupying point, passage of the aforementioned transport vehicles other than the aforementioned permitting transport vehicle from the aforementioned stopping point to the aforementioned occupying point occupied by the aforementioned permitting transport vehicle is prohibited. After the aforementioned permitting transport vehicle passes the aforementioned occupying point, the aforementioned occupying point is released. In the aforementioned passage control, when there are multiple transport vehicles with the same route among the multiple transport vehicles that want to pass through the aforementioned merging area, the aforementioned control system performs continuous passage permission processing to continuously permit the multiple transport vehicles with the same route to pass through the aforementioned merging area. The aforementioned transport vehicles with the same route are those transport vehicles that have the same combination of the aforementioned stop location and the aforementioned occupied location.

[0123] Based on this configuration, continuous passage permission processing can shorten the interval between multiple transport vehicles traveling on the same route when passing through a convergence area. This makes it easier to increase the number of transport vehicles passing through the convergence area per unit time. Therefore, it is easier to improve the passage efficiency of transport vehicles in the convergence area and the conveying efficiency of the transport equipment.

[0124] Here, it is appropriate that the aforementioned authorized transport vehicle is configured such that it sends an entry notification to the aforementioned control system upon having traveled a predetermined distance from the aforementioned object's stopping location. When performing the aforementioned continuous passage permission processing, the aforementioned control system, in accordance with receiving the aforementioned entry notification, grants passage permission to the subsequent aforementioned transport vehicles of the aforementioned permitted transport vehicles that sent the aforementioned entry notification among the multiple aforementioned transport vehicles on the same route, for the passage of the aforementioned merging area.

[0125] Based on this configuration, multiple vehicles traveling along the same route can continuously pass through the confluence area at appropriate intervals.

[0126] Additionally, it is suitable that the aforementioned control system is configured to store access permit information for multiple of the aforementioned licensed transport vehicles. The aforementioned passage permit information includes information showing the aforementioned stopping location and the aforementioned occupied location to which the aforementioned permitted transport vehicle intends to proceed.

[0127] Based on this configuration, for example, compared to storing only the passage permission information for one licensed transport vehicle, it is possible to quickly grant passage permission to multiple transport vehicles and to properly manage the multiple licensed transport vehicles that have been granted the passage permission.

[0128] In the configuration of the aforementioned control system for storing the aforementioned access permission information, the appropriate approach is... The aforementioned authorized transport vehicle is configured such that it sends an entry notification to the aforementioned control system upon having traveled a predetermined distance from the aforementioned object's stopping location. When performing the aforementioned continuous passage permission processing, the aforementioned control system, in accordance with receiving the aforementioned entry notification, grants passage permission to subsequent transport vehicles of the aforementioned permitted transport vehicles that sent the aforementioned entry notification among the multiple aforementioned transport vehicles on the same route, in accordance with the aforementioned entry notification, to the aforementioned merging area. The aforementioned access permit information also includes information indicating whether the aforementioned entry notification was received from the aforementioned permit delivery vehicle.

[0129] Based on this configuration, for each of the multiple authorized transport vehicles, it is possible to properly manage whether to pass through a location at a set distance from the object's stopping point.

[0130] In the configuration of the aforementioned control system for storing the aforementioned access permission information, the appropriate approach is... Each of the aforementioned transport vehicles is configured to send a permission request notification for passage through the aforementioned merging area to the aforementioned control system at the aforementioned stopping point or upstream of the aforementioned stopping point. The aforementioned transport vehicles that have sent the aforementioned permission request notification but have not been granted permission to pass through the aforementioned rendezvous area will be designated as permission-waiting transport vehicles. The aforementioned control system is configured to store permission waiting information regarding the aforementioned permission waiting transport vehicle. The aforementioned permit waiting information includes information showing the aforementioned occupied location that the permit waiting transport vehicle wishes to pass through and information showing the elapsed time since the aforementioned permit waiting transport vehicle sent the aforementioned permit request notification.

[0131] Based on this configuration, when there are multiple vehicles waiting for permission, considering the elapsed time since the permission request notification was sent, it is easy to grant passage permission to multiple vehicles waiting for permission in an appropriate order.

[0132] [Industry Applicability] The technology disclosed herein can be used in conveying equipment having multiple conveyor vehicles, travel paths of the multiple conveyor vehicles, and a control system for controlling the multiple conveyor vehicles.

[0133] [Explanation of Labels in the Attached Image] 100: Conveying equipment 1: Conveyor vehicle 1p: Permitted delivery vehicle 1w: Permission to wait for delivery vehicle 1s: Same path transport vehicle 2: Driving route 3: Convergence Area 4: Entering the interval 5: Exit the range 9: Control System P1: Confluence S: Stop location St: Location where the object stops R: Location of Occupation N1: License Request Notification N2: Enter notification.

Claims

1. A conveying device comprising the following: Multiple transport vehicles; The travel paths of the multiple transport vehicles; and A control system that controls multiple of the aforementioned transport vehicles. The conveying equipment has the following characteristics: The travel path includes a confluence area where multiple paths converge, multiple entry sections for the transport vehicle to enter the confluence area, and exit sections for the transport vehicle to exit the confluence area. Each of the multiple entry zones has a stop point. An occupation point is designated within the exit zone. The control system is configured to perform traffic control as follows: when a transport vehicle is permitted to pass through the merging area at an object stopping point (which is one of the plurality of stopping points) or upstream of the object stopping point, a permitting transport vehicle is assumed to be in an occupied state at the occupied location. In this occupied state, passage of any transport vehicle other than the permitting transport vehicle from the object stopping point to the occupied location occupied by the permitting transport vehicle is prohibited. The occupied state is released after the permitting transport vehicle passes the occupied location. In the passage control, if there are multiple transport vehicles with the same route among the multiple transport vehicles that want to pass through the merging area, the control system performs a continuous passage permission process to continuously permit the multiple transport vehicles with the same route to pass through the merging area. The transport vehicles with the same route are those transport vehicles that have the same combination of the stop point and the occupied point.

2. The conveying device according to claim 1, wherein, The permitted transport vehicle is configured such that it sends an entry notification to the control system based on the condition that it has traveled a predetermined distance from the object's stopping point. When the control system performs the continuous passage permission processing, it grants passage permission to the merging area to subsequent transport vehicles of the permitted transport vehicles that have sent the entry notification, in accordance with the receipt of the entry notification.

3. The conveying device according to claim 1, wherein, The control system is configured to store access permit information for the plurality of the permitted transport vehicles. The passage permission information includes information indicating the stopping point and the occupied point to which the permitted transport vehicle intends to proceed.

4. The conveying device according to claim 3, wherein, The permitted transport vehicle is configured such that it sends an entry notification to the control system based on the condition that it has traveled a predetermined distance from the object's stopping point. When the control system performs the continuous passage permission processing, it grants passage permission to subsequent transport vehicles of the permitted transport vehicles that have sent the entry notification, in accordance with the receipt of the entry notification, for passage through the merging area. The access permission information also includes information indicating whether the entry notification has been received from the permission delivery vehicle.

5. The conveying device according to claim 3, wherein, Each of the plurality of transport vehicles is configured to send a permission request notification for passage through the merging area to the control system at the stopping point or upstream of the stopping point. The transport vehicle that sent the permission request notification but was not permitted to pass through the rendezvous area will be designated as a permission-waiting transport vehicle. The control system is configured to store permission waiting information about the permission waiting transport vehicle. The permission waiting information includes information showing the occupied location that the permission waiting transport vehicle wants to pass through and information showing the elapsed time since the permission waiting transport vehicle sent the permission request notification.

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