Transportation device

Abstract

A transportation device is provided. In the transportation device, a control system is configured to execute: a first process of determining whether an acceleration condition including the following is satisfied: a shape of a travel path (P) located on a front side (F) with respect to a subject vehicle (1T) is an acceleration-permitted shape; and a preceding vehicle detection unit of the subject vehicle (1T) does not detect a preceding vehicle (1P) in a detection range (D); a second process of, in a case where it is determined in the first process that the acceleration condition is satisfied, determining whether the preceding vehicle (1P) is in a stopped state or a low-speed travel state; a third process of, in a case where it is determined in the second process that the preceding vehicle (1P) is not in either of the stopped state and the low-speed travel state, accelerating the subject vehicle (1T); and a fourth process of, in a case where it is determined in the first process that the acceleration condition is not satisfied, or in a case where it is determined in the second process that the preceding vehicle (1P) is in the stopped state or the low-speed travel state, causing the subject vehicle (1T) to be in a prohibited acceleration state.

Description

Technical Field

[0001] The present invention relates to a transport device comprising a plurality of transport vehicles that travel along a driving path to transport goods, and a control system for controlling them. Background Technology

[0002] An example of such a transport device is disclosed in Japanese Patent Application Publication No. 5-134742 (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 transportation equipment of Patent Document 1, each of the multiple transport vehicles (2) is equipped with a vehicle-to-vehicle distance detection unit (10), which detects the distance to a preceding vehicle that is located ahead of another transport vehicle (2) in the direction of travel. The control system (8) accelerates, decelerates, or stops the transport vehicle (2) in accordance with the distance detected by the vehicle-to-vehicle distance detection unit (10). Summary of the Invention

[0004] In the transport equipment of Patent Document 1, when the distance detected by the workshop distance detection unit (10) is long, the transport vehicle (2) accelerates. However, for example, when the preceding vehicle stops, the transport vehicle (2) decelerates as the distance to the preceding vehicle decreases and eventually stops.

[0005] Thus, in the transport equipment of Patent Document 1, the transport vehicle (2) sometimes switches from acceleration to deceleration in a short period of time, resulting in a deterioration in energy efficiency due to the unhelpful acceleration and deceleration of the transport vehicle (2).

[0006] Therefore, there is a desire to develop transportation equipment that can minimize energy consumption caused by the unproductive acceleration and deceleration of transport vehicles.

[0007] In view of the above, the characteristics of transportation equipment are constituted by the following points: A transportation device comprising a plurality of transport vehicles that travel along a travel path to transport goods and a control system for controlling the plurality of the aforementioned transport vehicles. The aforementioned transport vehicle, which is the object controlled by the aforementioned control system, is designated as the target vehicle, and the aforementioned transport vehicle located ahead of the target vehicle in its direction of travel is designated as the advance vehicle. Each of the aforementioned transport vehicles is equipped with a pilot vehicle detection unit that detects the aforementioned pilot vehicle existing within a detection range set at its front. The aforementioned control system is configured to execute the following: The first process determines whether the acceleration conditions, including the following, are met: the shape of the aforementioned driving path located on the aforementioned front side relative to the aforementioned target vehicle is a pre-set permissible acceleration shape; and the aforementioned lead vehicle detection unit of the aforementioned target vehicle does not detect the aforementioned lead vehicle within the aforementioned detection range. The second process determines whether the aforementioned leading vehicle, which is further ahead of the aforementioned detection range, is in a stopped state or in a low-speed driving state at a speed below a preset speed. The third process involves accelerating the target vehicle if, in the first process, the aforementioned acceleration conditions are met, and in the second process, the aforementioned leading vehicle is neither in the aforementioned stopped state nor in the aforementioned low-speed driving state; and The fourth process involves determining that the acceleration conditions are not met in the first process or that the preceding vehicle is in a stopped or low-speed driving state in the second process, thereby placing the target vehicle in a prohibited acceleration state.

[0008] Based on this feature, even when acceleration conditions are met, the target vehicle is prohibited from accelerating if the preceding vehicle is stationary or traveling at low speed. Therefore, when the likelihood of the target vehicle decelerating due to the preceding vehicle being stationary or traveling at low speed is high, the target vehicle can be prevented from accelerating even when acceleration conditions are met. Thus, energy consumption caused by the transport vehicle's unnecessary acceleration and deceleration can be minimized. Attached Figure Description

[0009] Figure 1 This is a diagram illustrating the transportation equipment involved in the implementation method.

[0010] Figure 2 This is a block diagram illustrating the configuration of the transportation equipment involved in the embodiment.

[0011] Figure 3 This is a diagram illustrating an example of control processing using a control system.

[0012] Figure 4 This is a flowchart illustrating an example of control processing using a control system.

[0013] Figure 5 This is a diagram illustrating an example of control processing using a control system. Detailed Implementation

[0014] Hereinafter, the transport equipment 100 according to the embodiment will be described with reference to the accompanying drawings.

[0015] like Figure 1As shown, the transport equipment 100 has multiple transport vehicles 1 that travel along the travel path P to transport goods.

[0016] In this embodiment, the travel path P is formed by a track suspended from the ceiling. That is, in this embodiment, the transport vehicle 1 is a ceiling-mounted transport vehicle. The transport vehicle 1 transports, for example, a FOUP (Front Opening Unified Pod) containing a semiconductor substrate as an article.

[0017] In addition, in this embodiment, the travel path P includes: a main path Pa formed in a loop; multiple secondary paths Pb formed in a loop that pass through multiple stations S respectively; and multiple connecting paths Pc that connect the main path Pa with the multiple secondary paths Pb.

[0018] Station S is configured to facilitate the transfer of goods between a transport vehicle 1 that stops at a position corresponding to Station S. Station S may include, for example, a loading port for a processing device that performs predetermined processing on goods, an inlet / outlet port for a storage device that stores goods, or a storage rack for temporarily storing goods.

[0019] like Figure 2 As shown, the transport equipment 100 includes a control system 10 for controlling a plurality of transport vehicles 1. In this embodiment, the control system 10 includes: a first control device 2, which is provided at a predetermined location in the transport equipment 100; and a second control device 3, which is provided at each of the plurality of transport vehicles 1. The first control device 2 and the plurality of second control devices 3 are configured to be able to communicate wirelessly with each other.

[0020] The first control device 2 sends control commands to each of the plurality of second control devices 3. Each of the plurality of second control devices 3 controls its own transport vehicle 1 based on the control commands from the first control device 2.

[0021] In this embodiment, the control system 10 is configured to acquire the location information of each of the multiple transport vehicles 1. This configuration includes a first control device 2 acquiring the location information of the transport vehicle 1 through communication with it, and multiple second control devices 3 each identifying and equipped with the location information of their own transport vehicle 1.

[0022] In the following description, the front side of the direction of travel of transport vehicle 1 is referred to as "front side F", and the rear side of the direction of travel of transport vehicle 1 is referred to as "rear side R" (see reference). Figure 3Furthermore, the transport vehicle 1 that is controlled by the control system 10 is referred to as the "object vehicle 1T". Moreover, the transport vehicle 1 located at the front F of the object vehicle 1T is referred to as the "lead vehicle 1P". In this embodiment, the lead vehicle 1P is the transport vehicle 1 located at the front F of the object vehicle 1T and at the rear R. Alternatively, two or more transport vehicles 1 located at the front F of the object vehicle 1T may be referred to as lead vehicles 1P.

[0023] like Figure 2 As shown, each of the plurality of transport vehicles 1 is equipped with a lead vehicle detection unit 11. In this embodiment, each of the plurality of transport vehicles 1 is also equipped with a vehicle speed detection unit 12 and a vehicle-to-vehicle distance detection unit 13.

[0024] The advance vehicle detection unit 11 is configured to detect the advance vehicle 1P present in the detection range D, where the detection range D is set at the front side F of the target vehicle 1T on which the advance vehicle detection unit 11 is installed. As the advance vehicle detection unit 11, for example, a collision avoidance sensor, a laser rangefinder, a camera, etc. can be used.

[0025] The vehicle speed detection unit 12 is configured to detect the travel speed of the transport vehicle 1 on which the vehicle speed detection unit 12 is installed.

[0026] The vehicle-to-vehicle distance detection unit 13 is configured to detect the distance (vehicle-to-vehicle distance) between the target vehicle 1T, on which the vehicle-to-vehicle distance detection unit 13 is installed, and the preceding vehicle 1P. For example, a laser rangefinder or camera can be used as the vehicle-to-vehicle distance detection unit 13. Alternatively, a single instrument can be used to function as both the preceding vehicle detection unit 11 and the vehicle-to-vehicle distance detection unit 13.

[0027] Figure 3 This is a diagram illustrating an example of control processing using control system 10. Figure 3 In the example shown, the control system 10 accelerates the target vehicle 1T when the distance (inter-vehicle distance) between the target vehicle 1T and the preceding vehicle 1P detected by the inter-vehicle distance detection unit 13 is greater than a preset first distance L1, thus satisfying the acceleration condition (see reference). Figure 3 (The image on the upper side of the middle).

[0028] Here, the acceleration conditions include: the shape of the travel path P of the target vehicle 1T located at the front side F is a pre-set permissible acceleration shape (hereinafter referred to as "first condition"); and the preceding vehicle detection unit 11 of the target vehicle 1T does not detect the preceding vehicle 1P within the detection range D (hereinafter referred to as "second condition"). In this embodiment, the acceleration conditions also include: from the current position of the target vehicle 1T to the position where it moves a predetermined distance away from the front side F (e.g., the distance required for deceleration corresponding to the travel speed of the target vehicle 1T), there is no stopping position of the target vehicle 1T (e.g., station S) (hereinafter referred to as "third condition").

[0029] Furthermore, in this application, "satisfying the acceleration conditions" means satisfying all the conditions included in the acceleration conditions (here, all of the first, second, and third conditions).

[0030] Furthermore, in this embodiment, the permissible acceleration shape is a straight line. More specifically, the permissible acceleration shape is as follows: the portion of the travel path P from the current position of the target vehicle 1T to the position where it moves forward F away from a predetermined distance is a straight line, excluding curves, branches, and merging.

[0031] exist Figure 3 In the example shown, when the distance (inter-vehicle distance) between the target vehicle 1T and the lead vehicle 1P becomes less than or equal to the first distance L1, even if the acceleration conditions are met, and the lead vehicle 1P, which is located further ahead of the detection range D, is in a stopped state, the control system 10 also puts the target vehicle 1T into a prohibited acceleration state (refer to...). Figure 3 (See the central diagram). Furthermore, besides the case where the lead vehicle 1P is stationary, if the lead vehicle 1P, located further ahead of the detection range D, is traveling at a low speed (e.g., 10 m / min or less), the target vehicle 1T is also prohibited from accelerating. Here, the set speed can also be 0 m / min. In this case, the control system 10 prohibits the target vehicle 1T from accelerating only when the lead vehicle 1P is stationary.

[0032] Moreover, in this example, when the target vehicle 1T is in a state where acceleration is prohibited as described above, the control system 10 maintains the current driving speed of the target vehicle 1T, that is, makes the target vehicle 1T drive at a constant speed.

[0033] The control system 10 can also be configured such that: the travel speed of the lead vehicle 1P is calculated based on the change in position information of the lead vehicle 1P over time, and the lead vehicle 1P is determined to be in a stopped state or a low-speed travel state based on this travel speed. Alternatively, the control system 10 can be configured such that: the relative speed of the target vehicle 1T relative to the lead vehicle 1P is calculated based on the change in distance over time detected by the inter-vehicle distance detection unit 13 of the target vehicle 1T, and the difference between this relative speed and the travel speed detected by the vehicle speed detection unit 12 of the target vehicle 1T is used to determine whether the lead vehicle 1P is in a stopped state or a low-speed travel state. Alternatively, the control system 10 can be configured such that: the lead vehicle 1P is determined to be in a stopped state or a low-speed travel state based on the travel speed of the lead vehicle 1P detected by the vehicle speed detection unit 12 of the lead vehicle 1P.

[0034] In addition, Figure 3In the example shown, when the target vehicle 1T, traveling at a constant speed under the prohibited acceleration state, is detected by the lead vehicle detection unit 11, the control system 10 decelerates the target vehicle 1T (see reference). Figure 3 (See the lower part of the diagram), so that the target vehicle 1T stops at a position R further back than the lead vehicle 1P. Furthermore, in this example, the detection range D of the lead vehicle detection unit 11 is set to a range from the current position of the target vehicle 1T to a position F away from a predetermined second distance L2. Moreover, the second distance L2 is set to a value smaller than the first distance L1.

[0035] Thus, in this example, when the target vehicle 1T is in a prohibited acceleration state, the control system 10 maintains the target vehicle 1T at its current speed until the target vehicle 1T detects the lead vehicle 1P by the lead vehicle detection unit 11.

[0036] Figure 4 This is a flowchart illustrating an example of control processing using control system 10. (Example) Figure 4 As shown, the control system 10 first determines whether the above acceleration conditions are met (step #1).

[0037] When the control system 10 determines that the acceleration conditions are met (step #1: yes), it determines whether the distance (inter-vehicle distance) between the target vehicle 1T and the preceding vehicle 1P detected by the inter-vehicle distance detection unit 13 is less than or equal to the first distance L1 mentioned above (step #2).

[0038] When the control system 10 determines that the distance between the two vehicles is less than or equal to the first distance L1 (step #2: yes), it determines whether the preceding vehicle 1P, which is further ahead of the detection range D, is in a stopped state or a low-speed driving state (step #3).

[0039] If the control system 10 determines that the lead vehicle 1P is in a stopped state or a low-speed driving state (step #3: Yes), it sets the target vehicle 1T to a state where acceleration is prohibited (step #4). Then, the control system 10 maintains the target vehicle 1T at its current driving speed, that is, it makes the target vehicle 1T drive at a constant speed (step #5).

[0040] In addition, if the control system 10 determines in step #2 that the inter-vehicle distance is greater than the first distance L1 (step #2: no), or if it determines in step #3 that the lead vehicle 1P is not in either a stopped state or a low-speed driving state (step #3: no), it accelerates the target vehicle 1T (step #6).

[0041] Furthermore, if the control system 10 determines in step #1 that the acceleration conditions are not met (step #1: No), it puts the target vehicle 1T into a state where acceleration is prohibited (step #7). Then, the control system 10 maintains the target vehicle 1T at its current speed, that is, it performs either making the target vehicle 1T travel at a constant speed or making the target vehicle 1T decelerate (step #8).

[0042] Furthermore, in this example, step #1 corresponds to "process 1", step #3 corresponds to "process 2", step #6 corresponds to "process 3", steps #4 and #7 correspond to "process 4", and step #5 corresponds to "process 5".

[0043] Other implementation methods (1) In the above embodiment, the following configuration is described as an example: when the target vehicle 1T is in a prohibited acceleration state, the control system 10 maintains the target vehicle 1T at its current speed until the target vehicle 1T is detected by the lead vehicle detection unit 11. However, the configuration is not limited to this, and the control system 10 may also control the transport vehicle 1 in the following manner.

[0044] For example, such as Figure 5 As shown, when the target vehicle 1T is traveling at a constant speed in a prohibited acceleration state, and the follower vehicle 1F, which is located behind the target vehicle 1T by a distance R, detects the target vehicle 1T through its preceding vehicle detection unit 11, the control system 10 accelerates the target vehicle 1T until it reaches a predetermined position (e.g., a position slightly larger than the second distance L2 from the current position of the preceding vehicle 1P to the rearward side R). Then, the control system 10 does not decelerate the follower vehicle 1F, but instead accelerates or travels at a constant speed. Suitablely, when the target vehicle 1T is located as shown... Figure 5 In areas where transport vehicles 1 are prone to congestion, such control is implemented around the merging point of the travel path P (the connection point between connecting path Pc and secondary path Pb). This control reduces the likelihood of congestion for transport vehicles 1, improving the efficiency of transporting goods using transport vehicles 1. For example, if congestion occurs on the path from the main path Pa to the secondary path Pb via connecting path Pc, and the last transport vehicle 1 in the congestion remains on the main path Pa, subsequent transport vehicles 1 not going to the secondary path Pb cannot travel on the main path Pa. However, through the control described above, the congestion affecting transport vehicles 1 that are traveling on the main path Pa as before, without going to the secondary path Pb, can be avoided.

[0045] (2) In the above embodiment, the following configuration is described as an example: the transport vehicle 1 is a canopy transport vehicle that travels on a travel path P 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 transport vehicle that travels on a travel path P 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 P. In this case, the travel path P may be formed by multiple objects to be detected (e.g., QR codes, RF (Radio Frequency) tags, magnetic tapes, etc.).

[0046] (3) In the above embodiment, the following configuration is described as an example: the control system 10 includes a first control device 2 and a second control device 3 provided in each of the plurality of transport vehicles 1, and the first control device 2 gives instructions to the plurality of second control devices 3. However, it is not limited to this configuration. For example, it may be configured that the plurality of second control devices 3 operate independently or cooperate with each other.

[0047] (4) Furthermore, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments, provided that they do not create contradictions. Regarding other configurations, 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.

[0048] [Summary of this implementation method] The following is a summary of the transport equipment described above.

[0049] A transportation device comprising a plurality of transport vehicles that travel along a travel path to transport goods and a control system for controlling the plurality of the aforementioned transport vehicles. The aforementioned transport vehicle, which is the object controlled by the aforementioned control system, is designated as the target vehicle, and the aforementioned transport vehicle located ahead of the target vehicle in its direction of travel is designated as the advance vehicle. Each of the aforementioned transport vehicles is equipped with a pilot vehicle detection unit that detects the aforementioned pilot vehicle existing within a detection range set at its front. The aforementioned control system is configured to execute the following: The first process determines whether the acceleration conditions, including the following, are met: the shape of the aforementioned driving path located on the aforementioned front side relative to the aforementioned target vehicle is a pre-set permissible acceleration shape; and the aforementioned lead vehicle detection unit of the aforementioned target vehicle does not detect the aforementioned lead vehicle within the aforementioned detection range. The second process determines whether the aforementioned leading vehicle, which is further ahead of the aforementioned detection range, is in a stopped state or in a low-speed driving state at a speed below a preset speed. The third process involves accelerating the target vehicle if, in the first process, the aforementioned acceleration conditions are met, and in the second process, the aforementioned leading vehicle is neither in the aforementioned stopped state nor in the aforementioned low-speed driving state; and The fourth process involves determining that the acceleration conditions are not met in the first process or that the preceding vehicle is in a stopped or low-speed driving state in the second process, thereby placing the target vehicle in a prohibited acceleration state.

[0050] According to this configuration, even when acceleration conditions are met, the target vehicle is prohibited from accelerating if the preceding vehicle is stationary or traveling at low speed. Therefore, in situations where the target vehicle is highly likely to decelerate due to the preceding vehicle being stationary or traveling at low speed, acceleration can be prevented even when acceleration conditions are met. Consequently, energy consumption caused by the transport vehicle's unnecessary acceleration and deceleration can be minimized.

[0051] Here, it is appropriate that, if the aforementioned control system determines in the aforementioned second process that the aforementioned lead vehicle is in the aforementioned stopped state or the aforementioned low-speed driving state and in the aforementioned fourth process sets the aforementioned target vehicle to the aforementioned prohibited acceleration state, the aforementioned fifth process is performed as follows: the aforementioned target vehicle maintains its current driving speed until the aforementioned target vehicle passes the aforementioned lead vehicle detection unit and detects the aforementioned lead vehicle.

[0052] Based on this configuration, the vehicle in the prohibited acceleration state will not actively accelerate or decelerate before being detected by the lead vehicle detection unit, but will instead travel at a certain speed. Therefore, energy consumption caused by the unproductive acceleration and deceleration of the transport vehicle can be appropriately reduced.

[0053] Alternatively, it is preferable that the aforementioned control system be configured to acquire the location information of each of the aforementioned transport vehicles. In the second process described above, the control system calculates the speed of the lead vehicle based on the change in the position information of the lead vehicle over time, and determines whether the lead vehicle is in the aforementioned stopped state or the aforementioned low-speed driving state based on the speed.

[0054] Based on this configuration, it is possible to properly determine whether the preceding vehicle is in a stopped state or a low-speed driving state.

[0055] Additionally, it is appropriate that each of the aforementioned transport vehicles also has a speed detection unit to detect its own driving speed and a vehicle distance detection unit to detect the distance to the aforementioned preceding vehicle. In the aforementioned second process, the aforementioned control system calculates the relative speed of the aforementioned target vehicle relative to the aforementioned lead vehicle based on the change in distance and time detected by the aforementioned vehicle distance detection unit of the aforementioned target vehicle, and determines whether the aforementioned lead vehicle is in the aforementioned stopped state or the aforementioned low-speed driving state based on the difference between the relative speed and the driving speed detected by the aforementioned vehicle speed detection unit of the aforementioned target vehicle.

[0056] Based on this configuration, it is possible to properly determine whether the preceding vehicle is in a stopped state or a low-speed driving state.

[0057] [Industry availability] The technology disclosed herein can be used in a transport device comprising multiple transport vehicles that travel along a driving path to transport goods and a control system for controlling them.

[0058] [Explanation of reference numerals in the attached figures] 100: Transportation equipment 1: Transport vehicle 1T: Object vehicle 1P: Leading vehicle 11: Pre-departure Vehicle Inspection Department 12: Vehicle Speed ​​Detection Department 13: Workshop distance to inspection department 10: Control System P: Driving route D: Detection range.

Claims

1. A transport device comprising a plurality of transport vehicles that travel along a travel path to transport goods and a control system for controlling the plurality of said transport vehicles. The transport equipment has the following characteristics: The transport vehicle, which is controlled by the control system, is designated as the target vehicle, and the transport vehicle located ahead of the target vehicle in its direction of travel is designated as the advance vehicle. Each of the multiple transport vehicles is equipped with a lead vehicle detection unit that detects the lead vehicle present within a detection range set at its front. The control system is configured to perform the following: The first process determines whether the acceleration condition, including the following, is met: the shape of the driving path relative to the object vehicle on the front side is a pre-defined permissible acceleration shape; And the advance vehicle detection unit of the target vehicle did not detect the advance vehicle within the detection range; The second process determines whether the leading vehicle, which is further ahead than the detection range, is in a stopped state or a low-speed driving state at a speed below a preset speed. The third process involves accelerating the target vehicle if the acceleration condition is met as determined in the first process and if the preceding vehicle is not in either the stopped state or the low-speed driving state as determined in the second process. as well as The fourth process involves setting the target vehicle to a prohibited acceleration state if the acceleration conditions are not met in the first process, or if the preceding vehicle is in a stopped state or a low-speed driving state in the second process.

2. The transportation equipment according to claim 1, wherein, If the control system determines in the second process that the lead vehicle is in the stopped state or the low-speed driving state and sets the target vehicle to the prohibited acceleration state in the fourth process, the control system performs the following fifth process: the target vehicle maintains its current driving speed until the target vehicle is detected by the lead vehicle detection unit.

3. The transport equipment according to claim 1 or 2, wherein, The control system is configured to acquire the location information of each of the multiple transport vehicles. In the second process, the control system calculates the driving speed of the lead vehicle based on the change in the position information of the lead vehicle over time, and determines whether the lead vehicle is in the stopped state or the low-speed driving state based on the driving speed.

4. The transport equipment according to claim 1 or 2, wherein, Each of the multiple transport vehicles also has a speed detection unit for detecting its own travel speed and a vehicle distance detection unit for detecting the distance to the preceding vehicle. In the second process, the control system calculates the relative speed of the target vehicle relative to the leading vehicle based on the change in distance over time detected by the vehicle distance detection unit of the target vehicle, and determines whether the leading vehicle is in the stopped state or the low-speed driving state based on the difference between the relative speed and the driving speed detected by the vehicle speed detection unit of the target vehicle.

Images