Conveying device

Abstract

A conveying apparatus is provided. In the conveying apparatus, a control system causes a mobile body to execute a delivery conveying task in which the mobile body conveys an article from a delivery part to a conveying destination, and a storage conveying task in which the mobile body conveys the article from a conveying source to a storage part. One of these tasks is set as a first task, and the other is set as a second task. The control system executes: an assignment process of assigning the first task to the mobile body; a standby process of, after execution of the assignment process, causing execution of the first task by the mobile body to stand by for a standby time; an assignment determination process of determining, in the standby time, whether or not the second task is assigned to the mobile body; a continuous conveying process of, in a case where it is determined that the second task is assigned to the mobile body, causing the mobile body to continuously execute the storage conveying task and the delivery conveying task; and a single conveying process of, in a case where it is determined that the second task is not assigned to the mobile body, causing the mobile body to execute the first task after the standby time elapses.

Description

Technical Field

[0001] This invention relates to a conveying device comprising a mobile body for conveying articles, a storage device for storing multiple articles, and a control system for controlling the mobile body. Background Technology

[0002] An example of such a conveying device is disclosed in Japanese Patent Application Publication No. 2013-214654 (hereinafter referred to as "Patent Document 1"). In the following description of the background art, reference numerals from Patent Document 1 are cited in parentheses.

[0003] In the conveying device (1) of Patent Document 1, the storage device (3) has an inbound section (32A) for storing the article (20) and an outbound section (32B) for discharging the article (20).

[0004] The mobile body (2) is configured to perform an inbound transport task that transfers the item (20) received from the transport source to the inbound unit (32A), and an outbound transport task that receives the item (20) from the outbound unit (32B) and transports it to the transport destination. Summary of the Invention

[0005] In the conveying device (1) of Patent Document 1, when the control system (12) assigns a task to the moving body (2), the moving body (2) performs the assigned task in sequence. However, there are cases where the moving distance of the moving body (2) becomes longer and the conveying efficiency of the articles (20) carried by the moving body (2) becomes worse.

[0006] Therefore, there is a desire for conveying equipment that can easily shorten the travel distance of moving objects and easily improve the efficiency of transporting items by moving objects.

[0007] Given the aforementioned characteristic structure of the conveying equipment, it comprises: a mobile body for conveying items; a storage device having an inbound section and an outbound section for storing multiple of the aforementioned items; and a control system for controlling the mobile body; the storage device is configured to receive and store the aforementioned items from the mobile body at the inbound section, and to transfer the stored items from the outbound section to the mobile body; the control system is configured to cause the mobile body to perform an outbound conveying task of receiving the aforementioned items from the outbound section and conveying the aforementioned items to a conveying destination, and an inbound conveying task of transferring the aforementioned items received from the conveying source to the inbound section; one of the outbound conveying task and the inbound conveying task is designated as the first task, and the other is designated as the second task. 2. Task; The aforementioned control system is configured to perform: allocation processing, allocating the aforementioned first task to the aforementioned mobile body; standby processing, after the execution of the aforementioned allocation processing, suspending the execution of the aforementioned first task by the aforementioned mobile body for a preset standby time; allocation determination processing, during the aforementioned standby time, determining whether to allocate the aforementioned second task to the aforementioned mobile body; continuous transport processing, if the aforementioned allocation determination processing determines that the aforementioned second task is allocated to the aforementioned mobile body, causing the aforementioned mobile body to continuously execute the aforementioned inbound transport task and the aforementioned outbound transport task; and single transport processing, if the aforementioned allocation determination processing determines that the aforementioned second task is not allocated to the aforementioned mobile body, causing the aforementioned mobile body to execute the aforementioned first task after the aforementioned standby time has elapsed.

[0008] Based on this structural feature, in the case of continuous conveying, the mobile unit can continuously perform inbound and outbound conveying tasks. This makes it easier to shorten the mobile unit's travel distance and improve the efficiency of transporting goods by the mobile unit.

[0009] On the other hand, since the standby time for the execution of the first task is limited to the standby time during standby processing, it is possible to prevent the first task from remaining unexecuted for an extended period of time, even when performing a single transport process. As a result, the decrease in transport efficiency of items carried out by the moving body can be minimized. Attached Figure Description

[0010] Figure 1 This is a diagram showing the overall structure of the conveying equipment according to the relevant implementation method.

[0011] Figure 2 This is a diagram showing the structure of the moving body included in the conveying equipment according to the relevant implementation method.

[0012] Figure 3 This is a control block diagram illustrating the conveying equipment according to the implementation method.

[0013] Figure 4This diagram illustrates an example of control of a moving body performed by a control system.

[0014] Figure 5 This diagram illustrates an example of control of a moving body performed by a control system.

[0015] Figure 6 This diagram illustrates an example of control of a moving body performed by a control system.

[0016] Figure 7 This diagram illustrates an example of control of a moving body performed by a control system.

[0017] Figure 8 This diagram illustrates an example of control of a moving body performed by a control system.

[0018] Figure 9 This is a flowchart illustrating an example of control of a moving body performed by a control system. Detailed Implementation

[0019] Hereinafter, the conveying device 100 of the relevant embodiments will be described with reference to the accompanying drawings.

[0020] like Figure 1 As shown, the conveying device 100 includes a movable body 1 and a storage device 2. In this embodiment, the conveying device 100 includes multiple movable bodies 1 and multiple storage devices 2. Furthermore, in this embodiment, the conveying device 100 also includes multiple processing devices 3.

[0021] The moving body 1 is configured to transport item W. In this embodiment, the moving body 1 is configured to move along a predetermined moving path R in a predetermined moving direction M. In this embodiment, the moving path R is constituted by a track 4 suspended from the ceiling. Moreover, the moving body 1 is a ceiling-mounted transport vehicle that is guided by the track 4 and travels along the travel path P to transport item W. In this embodiment, item W is a FOUP (Front Opening Unified Pod) that contains a chip.

[0022] Storage device 2 is a device for storing multiple items W. Storage device 2 includes an inbound section 21 and an outbound section 22. In this embodiment, in storage device 2, the outbound section 22 is arranged downstream of the inbound section 21 in the movement direction M.

[0023] The storage device 2 is configured to receive and store the item W from the mobile body 1 at the receiving section 21, and to transfer the stored item W to the mobile body 1 from the dispatch section 22. Therefore, the mobile body 1 is configured to stop at a predetermined receiving position P1 on the movement path R and transfer the item W between itself and the receiving section 21, and to stop at a predetermined dispatch position P2 on the movement path R and transfer the item W between itself and the dispatch section 22.

[0024] The processing apparatus 3 is an apparatus for processing the article W. In this embodiment, the processing apparatus 3 removes the wafer from the FOUP and performs various processes on the wafer, such as thin film formation, photolithography, and etching.

[0025] In this embodiment, the processing device 3 includes a loading port 31. Furthermore, after receiving the FOUP from the moving body 1 via the loading port 31, the processing device 3 performs the aforementioned processing on the wafer retrieved from the FOUP. Additionally, the processing device 3 transfers the processed wafer from the loading port 31 to the moving body 1. Therefore, in this embodiment, the moving body 1 is configured to stop at a pre-set transfer position P3 on the movement path R, and transfer the article W between itself and the processing device 3 (here, the loading port 31).

[0026] like Figure 2 As shown, in this embodiment, the mobile body 1 includes a traveling section 11 and a transfer section 12.

[0027] The traveling unit 11 has a plurality of traveling wheels 11a that roll on the track 4. In this embodiment, at least a portion of the traveling wheels 11a rotate by means of the driving force of a traveling motor (not shown).

[0028] The transfer unit 12 transfers the item W between the receiving section 21, the receiving section 22, and the loading port 31. Detailed descriptions are omitted, but the transfer unit 12 typically includes, for example, a holding section for holding the item W, a lifting section for moving the holding section vertically relative to the traveling section 11, a horizontal moving section for moving the holding section horizontally relative to the traveling section 11, and a rotating section for rotating the holding section relative to the traveling section 11 about a rotation axis in the vertical direction. Furthermore, the transfer unit 12 is not limited to any structure necessary for transferring the item W between the receiving section and the aforementioned transfer target.

[0029] In this embodiment, the movement path R includes a first-layer path R1, a second-layer path R2 disposed above the first-layer path R1, and a connecting path R3 connecting the first-layer path R1 and the second-layer path R2 (see reference). Figure 4(etc.). In this embodiment, the first-level path R1 is the path traversed by the mobile body 1, which is assigned a task with a relatively short travel distance. Moreover, the second-level path R2 is the path traversed by the mobile body 1, which is assigned a task with a relatively long travel distance. Furthermore, the connecting path R3 is composed of an elevator that raises and lowers the mobile body 1, a track that is inclined relative to the horizontal direction, etc.

[0030] The illustration is omitted, but in this embodiment, the number of transfer positions P3 set in the second-level path R2 is less than the number of transfer positions P3 set in the first-level path R1. In this example, no transfer positions P3 are set in the second-level path R2.

[0031] like Figure 3 As shown, the conveying device 100 includes a control system 9 for controlling the moving bodies 1. The control system 9 is configured with a computer, and its functions are implemented through the cooperation of hardware and software. In this embodiment, the control system 9 includes a first control device 91 disposed at a predetermined location in the conveying device 100, and second control devices 92 disposed at each of the plurality of moving bodies 1. The first control device 91 and the plurality of second control devices 92 are configured to communicate wirelessly with each other.

[0032] The first control device 91 sends control commands to each of the plurality of second control devices 92. Based on the control commands from the first control device 91, the second control devices 92 control the driving part 11 and the transfer part 12 of the moving body 1.

[0033] like Figure 4 As shown, in this embodiment, the storage unit 21 includes a first storage unit 21A for transferring items W between a moving body 1 located on the first-level path R1, and a second storage unit 21B for transferring items W between a moving body 1 located on the second-level path R2. Therefore, in this embodiment, the storage location P1 includes a first storage location P11 for transferring items W between the moving body 1 and the first storage unit 21A, and a second storage location P12 for transferring items W between the moving body 1 and the second storage unit 21B.

[0034] Furthermore, in this embodiment, the outbound section 22 includes a first outbound section 22A for transferring items W between the mobile body 1 located on the first-level path R1, and a second outbound section 22B for transferring items W between the mobile body 1 located on the second-level path R2. Therefore, in this embodiment, the outbound position P2 includes a first outbound position P21 for transferring items W between the mobile body 1 and the first outbound section 22A, and a second outbound position P22 for transferring items W between the mobile body 1 and the second outbound section 22B.

[0035] The control system 9 is configured to enable the mobile body 1 to perform outbound transport tasks, namely, receiving items W from the outbound section 22 and transporting them to the transport destination, and inbound transport tasks, namely, transferring items W received from the transport source to the inbound section 21. Furthermore, the transport destination in the outbound transport task and the transport source in the inbound transport task are, respectively, the loading port 31 of the processing device 3, a conveyor, etc., which facilitates the transfer of items W between the mobile body 1 and the device. Moreover, the transport destination in the outbound transport task includes the inbound section 21, which includes other storage devices 2 (storage devices 2 different from the storage devices 2 of the outbound section 22 where the mobile body 1 receives items W in this outbound transport task). And the transport source in the inbound transport task includes the outbound section 22, which includes other storage devices 2.

[0036] The following is for reference Figures 4 to 9 An example of the control of the moving body 1 by the control system 9 will be described. In the following description, one of the outbound transport task and the other of the inbound transport task will be designated as "Task 1" and the other as "Task 2".

[0037] like Figure 4 As shown, no task is assigned to mobile body 1 at the start of control. Furthermore, mobile body 1 is located on path R1 in level 1. Additionally, mobile body 1 does not hold item W.

[0038] The control system 9 first performs the assignment process of assigning the first task to the moving body 1. Figure 5 In the example shown, during the allocation process, the outbound transport task for the second outbound unit 22B is designated as task 1. Furthermore, the state where a task has been allocated to the moving body 1 refers to the state before the task is actually executed.

[0039] Furthermore, in this example, the control system 9 is configured to allocate outbound and inbound transport tasks to the mobile body 1 based on the costs set for each action of the mobile body 1, including the movement of the mobile body 1 and the transfer of the item W to the inbound section 21 and the outbound section 22, so as to minimize the cost. In addition, the aforementioned costs include costs corresponding to the movement distance of the mobile body 1, costs corresponding to the transfer action of the mobile body 1, costs corresponding to the construction and shape of the movement path R, and costs corresponding to the presence and state of other mobile bodies 1, etc.

[0040] Here, in Figure 5In the example shown, the cost of the outbound transport task for the first outbound section 22A (20) is lower than the cost required for the outbound transport task for the second outbound section 22B (26 here). Therefore, the control system 9 usually assigns the outbound transport task for the first outbound section 22A to the mobile body 1. However, in the allocation process of this example, the control system 9 assigns the outbound transport task for the second outbound section 22B as the first task to the mobile body 1 without considering cost. In addition, in this example, the cost required for the outbound transport task for the first outbound section 22A is lower than the cost required for the outbound transport task for the second outbound section 22B because the cost for the mobile body 1 to travel on the connecting path R3 is set relatively high.

[0041] Furthermore, if the transport distance of item W obtained from the outbound transport task assigned to mobile body 1 is less than the determination distance D, that is, if the distance that mobile body 1 transports item W in the outbound transport task is relatively short, it is preferable to set the outbound transport task for the first outbound unit 22A as the first task in the allocation process. Additionally, the determination distance D is determined, for example, based on the situation where mobile body 1 moves to another area or building due to the outbound transport task.

[0042] like Figure 6 As shown, after the allocation process is executed, the control system 9 performs a standby process during a preset standby time T, which puts the execution standby of the first task (here, the outbound transport task for the second outbound unit 22B) of the moving body 1 into standby mode.

[0043] Furthermore, when the first task is an outbound delivery task, and the destination of the item W obtained from the outbound delivery task is another storage device 2, it is preferable that the standby time T is set to be longer compared to the case where the destination is a processing device 3.

[0044] Furthermore, in the allocation process, it is preferable to perform standby processing when the outbound conveying task for the second outbound section 22B or the inbound conveying task for the second inbound section 21B is set as the first task, and not to perform standby processing when the outbound conveying task for the first outbound section 22A or the inbound conveying task for the first inbound section 21A is set as the first task.

[0045] During the standby time T, control system 9 performs an allocation decision process to determine whether to assign the second task to mobile body 1. Figure 6 In the example shown, during the allocation determination process, the inbound transport task for the second inbound section 21B is set as the second task.

[0046] Furthermore, during the standby time T, the control system 9, as described above, determines the task assigned to the mobile body 1 based on cost. In this example, during the standby time T, the control system 9 performs a cost adjustment process that reduces the cost required to execute the second task (here, the receiving and conveying task for the second receiving unit 21B) compared to times other than the standby time T (here, the cost required to execute the receiving and conveying task for the second receiving unit 21B is halved from 30 to 15). This increases the likelihood that the second task (here, the receiving and conveying task for the second receiving unit 21B) will be assigned to the mobile body 1 during the standby time T. Additionally, the cost adjustment process can reduce one or more of the various costs mentioned above.

[0047] exist Figure 6 In the example shown, during the standby time T, the control system 9 assigns the inbound transport task for the second inbound unit 21B as the second task to the mobile body 1.

[0048] like Figure 7 and Figure 8 As shown, when the control system 9 determines in the allocation decision process that a second task will be assigned to the mobile body 1, it executes a continuous transport process that causes the mobile body 1 to continuously perform inbound and outbound transport tasks. In the illustrated example, in the continuous transport process, after the mobile body 1 performs an inbound transport task for the second inbound section 21B, the control system 9 executes an outbound transport task for the second outbound section 22B. The illustration is omitted, but in the inbound transport task for the second inbound section 21B, the mobile body 1 moves to the aforementioned transport source and receives the item W from that source. Furthermore, the continuous transport process is preferably executed without waiting for the standby time T to elapse.

[0049] On the other hand, although the illustration is omitted, if the control system 9 determines in the allocation determination process that no second task (here, the inbound transport task for the second inbound section 21B) has been allocated to the mobile body 1, a single transport process is executed. The single transport process is the process of causing the mobile body 1 to execute the first task after the standby time T has elapsed. In this example, in the single transport process, the outbound transport task for the first outbound section 22A or the outbound transport task for the second outbound section 22B is designated as the first task. That is, in the allocation process, the outbound transport task for the second outbound section 22B is allocated to the mobile body 1 as the first task, but in the single transport process, the outbound transport task for the first outbound section 22A or the outbound transport task for the second outbound section 22B is reassigned to the mobile body 1 as the first task. Furthermore, in the single transport process, it is preferable to allocate the first task based on the aforementioned cost.

[0050] Thus, the control system 9 is configured to perform allocation processing, standby processing, allocation decision processing, continuous conveying processing, and single conveying processing.

[0051] Figure 9 This is a flowchart illustrating an example of the control of the moving body 1 performed by the control system 9.

[0052] like Figure 9 As shown, the control system 9 first determines whether the transport distance of item W obtained from the outbound transport task assigned to the mobile body 1 is greater than or equal to the determination distance D (step #1).

[0053] If the transport distance of item W obtained from the outbound transport task is less than the determination distance D, that is, if the distance that mobile body 1 transports item W in the outbound transport task is relatively short (step #1: No), the control system 9 assigns the outbound transport task for the first outbound section 22A to mobile body 1 (step #2). Then, the control system 9 causes mobile body 1 to perform the outbound transport task for the first outbound section 22A (step #3).

[0054] On the other hand, if the transport distance of item W obtained from the outbound transport task is greater than or equal to the determination distance D, that is, if the distance that the mobile body 1 transports item W in the outbound transport task is relatively long (step #1: Yes), the control system 9 assigns the outbound transport task for the second outbound section 22B to the mobile body 1 (step #4). Then, the control system 9 performs cost adjustment processing on the cost required to execute the inbound transport task for the second inbound section 21B (step #5).

[0055] Next, the control system 9 determines whether to assign the inbound transport task for the second inbound section 21B to the mobile body 1 (step #6).

[0056] If the control system 9 determines at the current point in time that no inbound transport task for the second inbound section 21B has been assigned to the mobile body 1 (step #6: No), it determines whether a standby time T has elapsed since the outbound transport task for the second outbound section 22B was assigned to the mobile body 1 (step #7).

[0057] If the standby time T has elapsed (step #7: Yes), the control system 9 assigns an outbound transport task for the first outbound unit 22A or an outbound transport task for the second outbound unit 22B to the mobile body 1, causing the mobile body 1 to execute the assigned outbound transport task (step #3). On the other hand, if the standby time T has not elapsed (step #7: No), the control system 9 returns to step #6 as described above.

[0058] When the control system 9 determines that it should assign the inbound transport task for the second inbound section 21B to the mobile body 1 (step #6: Yes), it assigns the inbound transport task for the second inbound section 21B to the mobile body 1 (step #8). Then, after the control system 9 causes the mobile body 1 to perform the inbound transport task for the second inbound section 21B (step #9), it causes the mobile body 1 to perform the outbound transport task for the second outbound section 22B (step #10).

[0059] In the flowchart above, steps #2 and #4 correspond to allocation processing, step #7 corresponds to standby processing, step #6 corresponds to allocation determination processing, steps #8, #9, and #10 correspond to continuous conveying processing, and step #3 corresponds to single conveying processing.

[0060] [Other Implementation Methods] (1) In the above embodiment, the structure of the movement path R having a first-layer path R1, a second-layer path R2 arranged above the first-layer path R1, and a connecting path R3 connecting the first-layer path R1 and the second-layer path R2 has been described as an example. However, it is not limited to such a structure, and it can also be made such that the movement paths R are arranged at the same height. In this structure, the moving body 1 can also be an AGV (Automated Guided Vehicle), an RGV (Rail Guided Vehicle), etc. In addition, the moving body 1 can also be an unmanned aerial vehicle.

[0061] (2) In the above embodiment, the structure in which the second inbound section 21B, which is the object of the inbound transport task, and the second outbound section 22B, which is the object of the outbound transport task, are parts of the same storage device 2 in the continuous transport process is described as an example. However, it is not limited to such a structure. For example, when the two storage devices 2 are adjacent, in the continuous transport process, the second inbound section 21B of the storage device 2 on the upstream side of the movement direction M may be set as the object of the inbound transport task, and the second outbound section 22B of the storage device 2 on the downstream side of the movement direction M may be set as the object of the outbound transport task.

[0062] (3) In the above embodiment, the structure of performing an outbound transport task after the mobile body 1 performs an inbound transport task in continuous transport processing has been described as an example. However, it is not limited to such a structure, and it is also possible to make a structure in which the mobile body 1 performs an inbound transport task after performing an outbound transport task. In this structure, for example, when the two storage devices 2 are adjacent, it is preferable that the mobile body 1 performs an inbound transport task for the second outbound section 22B of the storage device 2 upstream in the movement direction M after performing an outbound transport task for the second inbound section 21B of the storage device 2 downstream in the movement direction M. In addition, when the mobile body 1 performs an outbound transport task for the second outbound section 22B and an inbound transport task for the second inbound section 21B in the same storage device 2, and the transport destination of the outbound transport task and the transport source of the inbound transport task are relatively close to the storage device 2, the mobile body 1 may also perform an inbound transport task in reverse direction towards the second inbound section 21B after the completion of the outbound transport task.

[0063] (4) In the above embodiment, the structure in which the control system 9 assigns the outbound delivery task for the second outbound unit 22B as the first task to the mobile body 1 without considering cost in the allocation process is described as an example. However, it is not limited to such a structure. In the allocation process, the control system 9 may also determine the first task based on cost after performing a process to reduce the cost required to execute the first task.

[0064] (5) In the above embodiment, the structure is described as follows: when performing continuous conveying processing, the outbound conveying task for the second outbound section 22B is set as the first task, and the inbound conveying task for the second inbound section 21B is set as the second task. However, it is not limited to that structure. When performing continuous conveying processing, the inbound conveying task for the second inbound section 21B may also be set as the first task, and the outbound conveying task for the second outbound section 22B may be set as the second task.

[0065] (6) In the above embodiment, the example described is a structure in which the discharge section 22 is arranged downstream of the storage section 21 in the moving direction M. However, it is not limited to such a structure, and the storage section 21 and the discharge section 22 may be shared and integrally constructed.

[0066] (7) In the above embodiment, the control system 9 is described as having a first control device 91 and a second control device 92 respectively provided on a plurality of moving bodies 1, and the first control device 91 gives commands to the plurality of second control devices 92. However, it is not limited to such a structure, for example, it can also be made into a structure in which the plurality of second control devices 92 operate independently or cooperate with each other.

[0067] (8) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0068] [Summary of this implementation method] The following is a summary of the conveying equipment described above.

[0069] The conveying equipment includes: a mobile body for conveying items; a storage device having an inbound section and an outbound section for storing multiple items; and a control system for controlling the mobile body; the storage device is configured to receive and store the items from the mobile body at the inbound section, and transfer the stored items from the outbound section to the mobile body; the control system is configured to cause the mobile body to perform an outbound conveying task of receiving the items from the outbound section and conveying the items to a conveying destination, and an inbound conveying task of transferring the items received from the conveying source to the inbound section; one of the outbound conveying task and the inbound conveying task is designated as a first task, and the other is designated as a second task; The control system is configured to execute: allocation processing, which allocates the aforementioned first task to the aforementioned mobile body; standby processing, which, after the execution of the aforementioned allocation processing, keeps the execution of the aforementioned first task by the aforementioned mobile body in standby for a preset standby time; allocation determination processing, which, during the aforementioned standby time, determines whether to allocate the aforementioned second task to the aforementioned mobile body; continuous transport processing, which, if the allocation determination processing determines that the aforementioned second task is allocated to the aforementioned mobile body, makes the aforementioned mobile body continuously execute the aforementioned inbound transport task and the aforementioned outbound transport task; and single transport processing, which, if the allocation determination processing determines that the aforementioned second task is not allocated to the aforementioned mobile body, makes the aforementioned mobile body execute the aforementioned first task after the aforementioned standby time has elapsed.

[0070] According to this structure, in the case of continuous conveying, the mobile unit can continuously perform inbound and outbound conveying tasks. This makes it easier to shorten the mobile unit's travel distance and improve the efficiency of transporting goods by the mobile unit.

[0071] On the other hand, since the standby time for the execution of the first task is limited to the standby time during standby processing, it is possible to prevent the first task from remaining unexecuted for an extended period of time, even when performing a single transport process. As a result, the decrease in transport efficiency of items carried out by the moving body can be minimized.

[0072] Here, preferably, the aforementioned moving body is configured to move along a predetermined moving path in a predetermined moving direction; in the aforementioned storage device, the aforementioned outgoing section is arranged downstream of the aforementioned inbound section in the aforementioned moving direction.

[0073] According to this structure, in continuous conveying processes, after the moving body transfers the items to the receiving section and moves in the direction of movement, it can receive the items from the dispatching section. Therefore, it is easy to shorten the moving distance of the moving body and easily improve the conveying efficiency of items carried out by the moving body.

[0074] Furthermore, preferably, the aforementioned first task is the aforementioned outbound transport task; the aforementioned standby time is set longer when the aforementioned transport destination of the aforementioned item, as determined by the aforementioned outbound transport task, is another aforementioned storage device, compared to the case where the aforementioned transport destination is a processing device for processing the aforementioned item.

[0075] According to this structure, when the destination of the items determined by the outbound transport task is another storage device, the necessity to speed up the transport of items is low. Therefore, by setting a longer standby time, the transport efficiency of items carried by the mobile body can be easily improved. On the other hand, when the destination of the items determined by the outbound transport task is a processing device, by setting a shorter standby time, the items can be quickly transported to the processing device, and the operating efficiency of the processing device can be easily improved.

[0076] Furthermore, preferably, the aforementioned control system is configured to allocate the aforementioned outbound transport task and the aforementioned inbound transport task to the aforementioned mobile body using the cost set for each action of the aforementioned mobile body, including the movement of the aforementioned mobile body and the handover of the aforementioned items to the aforementioned inbound section and the aforementioned outbound section, so as to minimize the aforementioned cost; the aforementioned control system performs cost adjustment processing during the aforementioned standby time to make the aforementioned cost required to perform the aforementioned second task lower than the time other than the aforementioned standby time.

[0077] According to this structure, by using cost adjustment processing to reduce the cost required to execute the second task during the standby time compared to the time other than standby time, the likelihood of the second task being assigned to the mobile body during the standby time can be increased. Therefore, the possibility of performing continuous transport processing is increased, thereby easily improving the transport efficiency of items carried out by the mobile body.

[0078] Furthermore, preferably, the aforementioned moving body is configured to move along a predetermined moving path and stop at a predetermined transfer position on the moving path, whereby it transfers the aforementioned article between itself and the processing device; the moving path includes a first-layer path, a second-layer path disposed above the first-layer path, and a connecting path connecting the first-layer path and the second-layer path; the aforementioned storage unit includes a first storage unit for transferring the aforementioned article between itself and the aforementioned moving body located on the first-layer path, and a second storage unit for transferring the aforementioned article between itself and the aforementioned moving body located on the second-layer path; the aforementioned release unit includes a transfer unit for transferring the aforementioned article between itself and the aforementioned moving body located on the first-layer path. The first outbound section for the transfer of the aforementioned items, and the second outbound section for the transfer of the aforementioned items between the aforementioned moving body located in the aforementioned second-level path; the number of the aforementioned transfer positions set in the aforementioned second-level path is less than the number of the aforementioned transfer positions set in the aforementioned first-level path; when the aforementioned control system sets the aforementioned outbound transport task for the aforementioned second outbound section or the aforementioned inbound transport task for the aforementioned second inbound section as the aforementioned first task in the aforementioned allocation process, the aforementioned standby process is executed; when the aforementioned outbound transport task for the aforementioned first outbound section or the aforementioned inbound transport task for the aforementioned first inbound section is set as the aforementioned first task in the aforementioned allocation process, the aforementioned standby process is not executed.

[0079] Generally, the second-level path, which has fewer transfer positions than the first-level path, is mainly used by mobile bodies undertaking transport tasks with longer transport distances. Therefore, according to this structure, when performing transport tasks with longer transport distances, such as outbound transport tasks at the second outbound section (where items are transferred between mobile bodies on the second-level path) or inbound transport tasks at the second inbound section (where items are transferred between mobile bodies on the second-level path), standby processing can be performed. On the other hand, when performing transport tasks with shorter transport distances, such as outbound transport tasks at the first outbound section (where items are transferred between mobile bodies on the first-level path) or inbound transport tasks at the first inbound section (where items are transferred between mobile bodies on the first-level path), standby processing can be avoided. That is, when the transport distance is long, by waiting for the second task to be assigned during standby processing, and if the second task is assigned to a mobile body during the standby time, continuous transport processing can be performed, thus improving the transport efficiency of items carried out by the mobile body. Moreover, when the transport distance is relatively short, the first task can be executed without waiting for the second task to be assigned, thus enabling rapid transport of items.

[0080] In the above structure, preferably, when the transport distance of the aforementioned item obtained from the aforementioned outbound transport task is greater than or equal to a preset determination distance, the aforementioned control system sets the aforementioned outbound transport task for the aforementioned second outbound section as the aforementioned first task in the aforementioned allocation process; sets the aforementioned inbound transport task for the aforementioned second inbound section as the aforementioned second task in the aforementioned allocation determination process; in the aforementioned continuous transport process, the aforementioned moving body performs the aforementioned outbound transport task for the aforementioned second outbound section after performing the aforementioned inbound transport task for the aforementioned second inbound section; in the aforementioned single transport process, sets the aforementioned outbound transport task for the aforementioned first outbound section or the aforementioned outbound transport task for the aforementioned second outbound section as the aforementioned first task; when the transport distance of the aforementioned item obtained from the aforementioned outbound transport task is less than the aforementioned determination distance, the aforementioned outbound transport task for the aforementioned first outbound section is set as the aforementioned first task in the aforementioned allocation process.

[0081] According to this structure, when the transport distance of the items carried by the mobile body is greater than or equal to the determination distance, in continuous transport processing, the mobile body can perform an outbound transport task to the second outbound section after performing an inbound transport task to the second inbound section. That is, when the transport distance of the items carried by the mobile body is greater than or equal to the determination distance, the likelihood of the mobile body moving on the second-level path can be increased. Here, since the number of transfer positions on the second-level path is less than that on the first-level path, when the mobile body moves on the second-level path, it is possible to efficiently transport items over relatively long distances.

[0082] Industrial availability The technology disclosed herein can be used in conveying equipment having a mobile body for conveying articles, a storage device for storing multiple articles, and a control system for controlling the mobile body.

[0083] Explanation of reference numerals in the attached figures 100: Conveying equipment 1: Moving body 2: Storage device 21: Warehousing Department 21A; First Inbound Department 21B; Second Inbound Department 22: Outbound Department 22A; First Outbound Department 22B; Second Outbound Department 3: Processing device 9: Control System R: Movement path R1: Level 1 path R2: Level 2 path R3: Connection path P3: Location for transfer D: Determine distance T: Standby time M: Direction of movement.

Claims

1. A conveying device, comprising: Mobile vehicle, used for transporting goods; Storage device, comprising an inbound section and an outbound section, for storing multiple of the aforementioned items; and A control system that controls the aforementioned moving body; Its features are, The aforementioned storage device is configured to receive and store the aforementioned items from the aforementioned mobile body at the aforementioned receiving section, and to transfer the stored aforementioned items to the aforementioned mobile body at the aforementioned dispatch section. The aforementioned control system is configured to enable the aforementioned mobile body to perform outbound transport tasks, namely, receiving the aforementioned items from the aforementioned outbound section and transporting the aforementioned items to the transport destination, and inbound transport tasks, namely, transferring the aforementioned items received from the transport source to the aforementioned inbound section. Designate one of the aforementioned outbound delivery task and the aforementioned inbound delivery task as task 1, and designate the other as task 2. The aforementioned control system is configured to execute: The allocation process assigns the aforementioned first task to the aforementioned mobile body; Standby processing: After the aforementioned allocation processing is executed, the execution of the aforementioned first task by the aforementioned mobile body is put into standby mode for a preset standby time. The allocation determination process determines whether to allocate the aforementioned second task to the aforementioned mobile body during the aforementioned standby time. In the continuous transport process, if the allocation determination process determines that the aforementioned second task is to be assigned to the aforementioned mobile body, the aforementioned mobile body continuously executes the aforementioned inbound transport task and the aforementioned outbound transport task; and In the single delivery process, if it is determined in the aforementioned allocation determination process that no second task has been assigned to the aforementioned mobile body, the aforementioned mobile body shall execute the aforementioned first task after the aforementioned standby time has elapsed.

2. The conveying device as described in claim 1, characterized in that, The aforementioned moving body is configured to move along a predetermined moving path in a predetermined moving direction; In the aforementioned storage device, the aforementioned outgoing section is arranged downstream of the aforementioned inbound section in the aforementioned moving direction.

3. The conveying equipment as described in claim 1, characterized in that, The first task mentioned above is the aforementioned outbound transportation task; The aforementioned standby time is set longer when the aforementioned destination of the aforementioned items, derived from the aforementioned outbound transport task, is another aforementioned storage device, compared to the case where the aforementioned destination is a processing device for processing the aforementioned items.

4. The conveying device as described in claim 1, characterized in that, The aforementioned control system is configured to allocate the aforementioned outbound transport task and the aforementioned inbound transport task to the aforementioned mobile body using the cost set for each action of the aforementioned mobile body, including the movement of the aforementioned mobile body and the handover of the aforementioned items to the aforementioned inbound section and the aforementioned outbound section, so as to minimize the aforementioned cost. During the aforementioned standby time, the aforementioned control system performs a cost adjustment process that makes the cost required to perform the aforementioned second task lower than the cost during other times besides the aforementioned standby time.

5. The conveying device as described in any one of claims 1 to 4, characterized in that, The aforementioned moving body is configured to move along a predetermined moving path and stop at a predetermined transfer position on the aforementioned moving path and transfer the aforementioned item between itself and the processing device; The aforementioned movement path includes a first-layer path, a second-layer path configured above the aforementioned first-layer path, and a connection path connecting the aforementioned first-layer path and the aforementioned second-layer path; The aforementioned storage unit includes a first storage unit for transferring the aforementioned items between the aforementioned mobile body located in the aforementioned first-level path and a second storage unit for transferring the aforementioned items between the aforementioned mobile body located in the aforementioned second-level path. The aforementioned outbound section includes a first outbound section for transferring the aforementioned items between the aforementioned mobile body located in the aforementioned first-level path and a second outbound section for transferring the aforementioned items between the aforementioned mobile body located in the aforementioned second-level path. The number of transfer locations set in the aforementioned second-layer path is less than the number of transfer locations set in the aforementioned first-layer path; The aforementioned control system In the aforementioned allocation process, if the aforementioned outbound delivery task for the aforementioned second outbound department or the aforementioned inbound delivery task for the aforementioned second inbound department is set as the aforementioned first task, the aforementioned standby process is executed. If, in the aforementioned allocation process, the aforementioned outbound delivery task for the aforementioned first outbound department or the aforementioned inbound delivery task for the aforementioned first inbound department is set as the aforementioned first task, the aforementioned standby process will not be executed.

6. The conveying device as described in claim 5, characterized in that, The aforementioned control system If the transport distance of the aforementioned items, determined by the aforementioned outbound transport task, is greater than or equal to a pre-set judgment distance, In the aforementioned allocation process, the aforementioned outbound delivery task for the aforementioned second outbound department is designated as the aforementioned first task; In the aforementioned allocation determination process, the aforementioned inbound transport task for the aforementioned second inbound department is designated as the aforementioned second task; In the aforementioned continuous conveying process, the aforementioned moving body performs the aforementioned outbound conveying task for the aforementioned second inbound section after performing the aforementioned inbound conveying task for the aforementioned second inbound section; In the aforementioned single conveying process, the aforementioned outbound conveying task for the aforementioned first outbound department or the aforementioned outbound conveying task for the aforementioned second outbound department is designated as the aforementioned first task; If the transport distance of the aforementioned items obtained from the aforementioned outbound transport task is less than the aforementioned determination distance, in the aforementioned allocation process, the aforementioned outbound transport task for the aforementioned first outbound department is set as the aforementioned first task.

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