TRANSPORT SYSTEM

Abstract

[Problem] Providing a transport system that can determine whether a transfer operation is possible or not using a smaller amount of communication than is required by conventional systems. [Means of solving the problem] A transport system is provided which includes a transport vehicle 10 transporting an object 100 and transferring the object 100 between an arrangement part (50, 60) on which the object 100 can be arranged and the transport vehicle 10, wherein the transport system comprises: a first communicator 20 provided in the transport vehicle 10; a second communicator 30 which can communicate with the first communicator 20;and a detector 45 that detects the presence or absence of the object 100 arranged on the assembly part, wherein the first communicator 20 performs a predetermined communication with the second communicator 30 to send and receive information regarding the transfer of the object 100, and wherein the second communicator 30 in the predetermined communication sends to the first communicator 20 a one-bit information indicating the presence or absence of the object 100 detected by the detector 45.

Description

Technical field

[0001] The present invention relates to a transport system. State of the art

[0002] A transport vehicle for transporting items such as semiconductor wafers is known (see patent document 1). This transport vehicle transfers an item to or from an assembly component, such as a loading station. During the transfer, the transport vehicle performs predetermined communication with a communicator on the assembly component, sending and receiving information necessary for the transfer.

[0003] Before transferring the transported item, the transport vehicle determines whether the transfer to or from the assembly unit is possible. Specifically, the transport vehicle communicates with the assembly unit's communicator and receives either a first signal (unloading request) or a second signal (loading request). Based on this first or second signal, the transport vehicle then determines whether transferring the transported item is possible. The first signal is transmitted when a transported item can be unloaded at the loading point. The second signal is transmitted when the transport vehicle can load a transported item from the loading point. Citation list for patent literature

[0004] [Patent Literature 1] Japanese unexamined patent application, first publication no. 2018-121080 Summary of the invention: Technical problem

[0005] Here, it is necessary to allocate at least one bit each for the transmission of the first and second signals. In other words, two bits are required to determine whether a transfer operation (discharging or charging) is possible or not. Therefore, if the aforementioned predetermined communication is carried out within a limited communication scope, the communication scope available for information needed for purposes other than determining the possibility of the transfer operation (e.g., identification information of the transfer point) may be insufficient.

[0006] The aim of the present invention is to provide a transport system that can determine whether a transfer operation is possible or not, using a smaller amount of communication than is required in conventional systems. Means to solve the problem

[0007] A transport system according to one aspect of the present invention is a transport system comprising a transport vehicle for transporting an object and transferring the object between an assembly part on which the object can be arranged and the transport vehicle, wherein the transport system comprises: a first communicator provided in the transport vehicle, a second communicator capable of communicating with the first communicator, and a detector that detects the presence or absence of the object arranged on the assembly part, wherein the first communicator performs predetermined communication with the second communicator to send and receive information regarding the transfer of the object, and wherein the second communicator, in the predetermined communication, transmits one-bit information indicating the presence or absence of the object detected by the detector.sends to the first communicator. Advantageous effects of the invention

[0008] In a transport system according to one aspect of the present invention, the transport vehicle can determine with information of one bit whether a transfer operation such as unloading or loading is possible, and can determine whether a transfer operation is possible or not using a smaller communication scope than is required in conventional systems.

[0009] According to the high-speed transport vehicle described above, the transport vehicle can use the first communicator to capture the information transmitted by the second communicator from the single bit and, based on this information, determine whether or not to transfer the object. With this configuration, the transport vehicle can determine whether a transfer is possible using a smaller communication frequency than required by conventional systems.

[0010] According to the aforementioned aspect, the transfer of the item by the transport vehicle can involve either unloading the item onto the assembly part and / or loading the item onto the assembly part. When unloading the item onto the assembly part, the transport vehicle can begin unloading the item onto the assembly part if the information received by the first communicator indicates that the item is not present on the assembly part. When loading the item onto the assembly part, the transport vehicle can begin loading the item onto the assembly part if the information received by the first communicator indicates that the item is present on the assembly part. According to such a configuration, the transport vehicle can transfer items to or from the assembly part in a suitable manner.

[0011] In accordance with the aspect described above, the high-lift transport vehicle further comprises a storage unit comprising several levels of shelves arranged in a vertical direction, and a control device which moves the shelf into a transfer position, which is a position in which the transfer of the object can be carried out.The transport vehicle can include a runner running on an elevated track, a gripper that grasps the object, and a lifting device that raises and lowers the gripper. Each of the multiple levels of storage can comprise several arrangement components. In the predetermined communication, the first communicator can transmit identification information to the second communicator, identifying the storage of a transfer point among the multiple levels of storage. The control device can move the storage of the transfer point identified by the identification information into the transfer position. According to such a configuration, the transport vehicle can transport objects to or from the storage location in a suitable manner.

[0012] According to the high-lift transport vehicle as described above, if the multiple arrangement parts arranged in the vertical direction are defined as a row, stop positions for the transport vehicle for transferring the object to or from one of the multiple arrangement parts in the row can be defined according to each of the multiple rows, the second communicator can be provided according to each of the multiple stop positions, and when the transport vehicle stops at any of the multiple stop positions, the first communicator can carry out the predetermined communication with the second communicator according to the stop position at which the transport vehicle stopped.

[0013] According to the aforementioned aspect of the high-lift transport vehicle, the transport vehicle can include a transverse extension that extends the gripper and lifting device to one side of a travel direction. When the object is being transferred to or from a shelf on a top floor among multiple shelves, the transport vehicle can extend the gripper and lifting device transversely directly over the top floor shelf and lower the gripper after this transverse extension. The first and second communicators can be optical communicators that perform optical communication. Brief description of the drawings Fig. Figure 1 is a diagram showing a schematic configuration of a transport system according to the present embodiment. Fig. Figure 2 is a schematic configuration diagram of a transport vehicle according to the present embodiment. Fig. Figure 3 is a view of a storage device according to the present embodiment, seen from a Y direction (left-right direction). Fig. Figure 4 is a view of the storage device according to the present embodiment, seen from an X-direction (direction of travel). Fig. Figure 5 is a diagram describing a discharge process according to the present embodiment. Fig. Figure 6 is a diagram describing a charging process according to the present embodiment. Description of the exemplary implementations

[0014] The present invention is described below with reference to an embodiment of the invention. However, the invention defined in the claims is not limited to the following embodiment, and not all combinations of features described in the embodiment are essential for the means by which the present invention solves the problems mentioned above. In the drawings, identical or similar elements are identified by the same reference numerals, and redundant descriptions may be omitted. The shape and size of the elements in the drawings may be exaggerated for the sake of clarity.

[0015] The positions and orientations of the components can be described with reference to a Cartesian XYZ coordinate system. In this Cartesian XYZ coordinate system, the X and Y directions are horizontal directions, and the Z direction is a vertical direction.

[0016] Fig. Figure 1 is a diagram showing a schematic configuration of a transport system HS according to the present embodiment. Fig. Figure 2 is a schematic configuration diagram of a transport vehicle 10. The transport system HS transfers an object 100 between the transport vehicle 10, which transports the object 100, and an arrangement part on which the object 100 can be arranged.

[0017] As in Fig. As shown in Figure 1, the transport system HS comprises, for example, the transport vehicle 10, a first communicator 20, a second communicator 30, a storage device 40 and a detector 45.

[0018] Transport vehicle 10 is a transport vehicle that carries item 100 and travels along an elevated track R, which is positioned above the floor, for example, on the ceiling of a cleanroom. The elevated track R is suspended by means of support columns BR attached to the ceiling. The following describes an example where transport vehicle 10 is an elevated transport vehicle. However, transport vehicle 10 is not limited to an elevated transport vehicle and can be any transport vehicle that carries and transfers item 100.

[0019] The transport vehicle 10 transports the item 100 while it is suspended in a receiving chamber AS. The transport vehicle 10 is used, for example, to transport the item 100 between processing equipment and a storage device 40. It should be noted that the X-direction in Fig. 2 represents the direction of travel of the transport vehicle 10. The Z-direction in Fig. 2 represents the vertical direction of the transport vehicle 10.

[0020] These processing devices include, for example, a film forming device, a coating / developing device, an exposure device, or an etching device, and perform various processes during the manufacture of devices (for example, semiconductor devices). The container storage device mentioned above is, for example, located on the transport route along which items 100 are transported and is used for the temporary storage of the items 100. The container storage device mentioned above is, for example, located near the ceiling. The items 100 contain, for example, wafers or photomasks used in the manufacture of semiconductor devices. Examples of item 100 include a FOUP (front-opening unit container), a SMIF holder, and a photomask holder, the interiors of which can be rinsed.Item 100 is an example of the “subject matter” of the present invention.

[0021] As in Fig. As shown in Figure 2, the transport vehicle 10 comprises, for example, a runner 2, a coupler 3a, a carrier 3b, an energy receiver 4, a main body 5, a cover 6 and a vehicle control unit 7.

[0022] The runner 2 causes the transport vehicle 10 to travel along the elevated track R. The runner 2 includes, for example, wheels arranged to contact the elevated track R and a drive unit that powers the wheels. The drive unit generates a motive force to move the transport vehicle 10. The runner includes, for example, a runner motor such as a linear motor or a rotary motor. The drive unit includes, for example, a rotary encoder or a linear encoder. The drive unit controls the linear motor or rotary motor based on sensing results such as the wheel rotational speed detected by the rotary encoder or linear encoder, and controls the speed or stop position of the transport vehicle 10.

[0023] Coupler 3a couples runner 2 and carrier 3b. For example, one end of coupler 3a is connected to runner 2 and the other end to carrier 3b. Carrier 3b is arranged along the horizontal plane and supports the main body 5.

[0024] The energy receiver 4 receives energy wirelessly from a wireless power supply unit. The energy receiver 4 is, for example, provided at the coupler 3a. The method for wirelessly supplying energy from a wireless power supply unit NE to the energy receiver 4 can include one of the following methods: an electromagnetic induction method, a magnetic (electric field) resonance method, an electric field coupling method, or an electromagnetic wave method. The energy received by the energy receiver 4 is converted into direct current and supplied to the rotor drive and the main body 5.

[0025] The main body 5 is coupled to the runner 2 by means of the coupler 3a and runs together with the runner 2 along the elevated track R. The main body 5 includes, for example, a transverse extender 11, a rotary device 12, a lifting device 13 and a holder 14.

[0026] The transverse extension 11 extends the rotary device 12, the lifting device 13, and the holder 14 to a transverse side of the direction of travel. The direction of travel of the main body 5 is the direction in which the transport vehicle 10 moves along the elevated track R by means of the runner 2, i.e., the ±X direction. The "transverse side" of the direction of travel refers to a direction perpendicular to the direction of travel, i.e., the ±Y direction. The rotary device 12 rotates the lifting device 13 within a horizontal plane.

[0027] The lifting device 13 lowers or raises the holder 14 at a predetermined speed and holds the holder 14 at a target height. The lifting device 13 is, for example, attached to the underside of the rotary device 12. The holder 14 is suspended from the lifting device 13 by several suspensions. The lifting device 13 is, for example, a hoist and lowers the holder 14 by extending the several suspensions, and the lifting device 13 raises the holder 14 by retracting the several suspensions.

[0028] The holder 14 holds the object 100. The holder 14 suspends and holds the object 100, for example, by gripping the flange of the object 100. The method by which the holder 14 grips the object 100 is not restricted in any particular way; however, it can do so by gripping from above or by clamping the object 100 from the left and right. The holder 14 is, for example, a clamping device comprising several claws and movable in the horizontal direction. The holder 14 moves the claws toward the underside of the flange by means of the driving force of a motor or the like. Then, the lifting device 13 winds up the suspensions, thereby raising the holder 14 and holding the object 100 in a suspended position.

[0029] Covers 6 are provided on the ±Y side of the main body 5, and each cover 6 is attached to the support 3b and arranged to extend from the support 3b in the -Z direction. The pair of covers 6 forms a space in which the object 100 is received, i.e., the receiving space AS.

[0030] The vehicle control unit 7 can include a processor such as a CPU (central processing unit) or an MPU (microprocessor unit) and non-volatile or volatile semiconductor memory (e.g., RAM (random access memory), ROM (read-only memory), flash memory, EPROM (erasable programmable read-only memory), or EEPROM (electrically erasable programmable read-only memory)). For example, the vehicle control unit 7 can be a microcontroller such as an MCU.

[0031] The vehicle control unit 7 controls various processes of the transport vehicle 10. The vehicle control unit 7 controls the movement of the transport vehicle 10 by controlling the drive mechanism 2b. The vehicle control unit 7 controls the transfer of the object 100 to and from the storage device 40. The transfer of the object 100 includes either unloading the object 100 onto the storage device 40 or loading the object 100 from the storage device 40, or both.

[0032] The vehicle control unit 7 controls a drive (for example, an electric motor) provided in the transverse extension unit 11 to control the transverse extension process carried out by the transverse extension unit 11. The vehicle control unit 7 can control the position of the holder 14 by controlling the lifting device 13 to control the winding and unwinding of the suspensions. The vehicle control unit 7 controls the operation of the holder 14 and causes the holder 14 to hold the object 100 or causes the holding of the object 100 in the holder 14 to be released.

[0033] During the transfer of the object 100, interlocking communication takes place between the transport vehicle 10 and the storage device 40. Interlocking communication is a form of communication in which the processes and states of both the transport vehicle 10 and the storage device 40 are mutually monitored and reported to ensure the proper execution of the transfer of the object 100. The vehicle control unit 7 is connected to the first communicator 20 and performs the interlocking communication via the first communicator 20. Interlocking communication is an example of the "predetermined communication" of the present invention.

[0034] The first communicator 20 is provided in the transport vehicle 10. The first communicator 20 is electrically connected to the vehicle control unit 7. The first communicator 20 communicates with the second communicator 30 and sends and receives information to and from the second communicator 30.

[0035] Fig. Figure 3 is a view of the storage device 40 from the Y direction (left-right direction), and Fig. Figure 4 is a view of the storage device 40 from the X direction (direction of travel).

[0036] The storage device 40 stores the item 100. The storage device 40 is, for example, a buffer for temporary storage. If the transport vehicle 10 is unable to transfer the item 100 to a destination delivery location, for example, because another item 100 is already at that location, the item 100 is temporarily stored in the storage device 40. The delivery location serves as an assembly for delivering the item 100 to a semiconductor processing device (not shown in the drawings), which may include a cleaning device, a film deposition device, a lithography device, an etching device, a heat treatment device, or a planarizing device.

[0037] The storage device 40 comprises several levels of storage compartments 50 and a storage control device 70.

[0038] The multiple levels of the storage units 50 are arranged vertically. Each of the multiple levels of the storage units 50 comprises multiple arrangement areas 60. Viewed from the direction of travel, the multiple levels of the storage units 50 are arranged on both sides of the elevated railway R across the walking area, as shown in Fig. 4 shown. In other words, the multiple levels of the shelves 50 are arranged both on the left side (+Y direction) and on the right side (-Y direction) of the running area.

[0039] The arrangement areas 60 are arranged along the direction of travel on each shelf 50. The arrangement area 60 is a section in which an object 100 is arranged. That is, the arrangement area 60 is a section that supports and holds an object 100 from below. In the Fig. 3 and Fig. In the four examples shown, the arrangement area 60 is a section on the shelf 50 on which an object 100 is arranged. A positioner for positioning the object 100 can be arranged on the top of the arrangement area 60. The arrangement area 60 is, for example, shaped such that, in a top view, it is the same size as the object 100 or larger than the object 100.

[0040] In the following description, a unit consisting of a set of vertically arranged storage areas 60 is defined as a "row," and the set of storage areas 60 within a row can be collectively referred to as a storage row. Viewed from the direction of travel, the storage device 40 has multiple rows of storage arranged along a direction perpendicular to the vertical direction (travel direction) on both the left (+Y direction) and right (-Y direction) side of the travel area. It should be noted that, to distinguish between the multiple storage rows, they can be referred to as a first row, a second row, a third row, and a fourth row in the +X direction.

[0041] The in Fig. 3 and Fig. The storage device 40 shown in section 4 has eight storage trays 50 on both the left side (+Y direction) and the right side (-Y direction) of the running area. Each tray 50 has four arrangement areas 60. In other words, the storage device 40 is equipped with four rows of trays arranged on each side along the direction of travel. In each of the Fig. 3 and Fig. In the 4 exemplary rows shown, eight arrangement areas 60 are arranged in a vertical direction.

[0042] In the Fig. 3 and Fig. In the storage device 40 shown in Figure 4, of the shelves 50 on the eight levels, only the shelves 50 on the top level are suspended from the ceiling, and the other shelves 50 are integrally installed on the floor. The shelves 50 on the top level can be referred to as the "first storage," and the several shelves 50 that do not belong to the top level can be collectively referred to as the "second storage."

[0043] The first storage units are suspended from the ceiling by means of hangers 41. In particular, the shelves 50 of the top floor, which are an example of the first storage unit, are suspended from the ceiling on both sides of the walking area when viewed from the direction of travel. The shelves 50 of the top floor are attached to the hangers 41 on both sides of the walking area and are immovable relative to the hangers 41. The hangers 41 are suspended from the ceiling C by means of fastening elements 42. The hangers 44 are arranged, for example, at equal intervals along the direction of extension of the elevated railway R.

[0044] The storage areas 50 on the top floor are equipped with fall protection fences 43. The fall protection fences 43 prevent the object 100 from falling from the storage area 60. The fall protection fences 43 are arranged, for example, on the left and right sides of the object 100 placed on the storage area 60, viewed from the direction of travel. The fall protection fences 43 extend along the elevated railway R.

[0045] When transferring (unloading or loading) an item 100 to or from a storage area 50 on the top floor, the transport vehicle 10 uses the transverse extender 11 to extend the lifting device 13 and the holder 14 transversely in the +Y direction or -Y direction, and the lifting device 13 raises and lowers the holder 14. The transport vehicle 10 then controls the operation of the holder 14 to unload the item 100 onto the arrangement area 60 designated by a host control device or to load the item 100 located on the arrangement area 60.

[0046] The second storage units are arranged below the first storage units and installed on the floor. Viewed from the direction of travel, the second storage units are positioned on both sides of the walking area and arranged in pairs so that they face each other across a height range S of the holder 14. The height range S refers to the area over which the holder 14 is raised and lowered during the transfer of the object 100 to or from the second storage units.

[0047] Here, each storage location 50 of the second storage unit is a movable storage location that can be moved to a transfer position where the item 100 can be transferred. The transfer position is defined within the height range S. In particular, in Fig. 4. The multiple shelves 50, which are arranged on the left side, can be moved into a transfer position within the height range S by moving each shelf independently in the right direction (+Y direction). Fig. 4. The multiple shelves 50 arranged on the right side can each be moved into a transfer position within the height range S by independently moving each shelf in the left direction (-Y direction). It should be noted that a transport vehicle 10 is required for transferring items 100 in the Fig. 3 and Fig. The storage device 40 is provided as an example in Figure 4. In other words, the transfer of objects 100 in the storage device 40 is not carried out by several transport vehicles 10 simultaneously, but by one transport vehicle 10. The drive source for the movement of each storage location is, for example, a motor, a cylinder, or the like, and is controlled by the storage control unit 70.

[0048] The transfer from the transport vehicle 10 to the second storage unit is carried out by raising and lowering the holder 14 relative to the arrangement area 60 of the storage unit 50, which has advanced into the transfer position (height range S). In the present embodiment, to distinguish the individual second storage units, the storage units 50 on the left side are designated from bottom to top as storage unit 50-1, storage unit 50-2, storage unit 50-3, storage unit 50-4, storage unit 50-5, storage unit 50-6 and storage unit 50-7, while the storage units 50 on the right side are designated from bottom to top as storage unit 50-8, storage unit 50-9, storage unit 50-10, storage unit 50-11, storage unit 50-12, storage unit 50-13 and storage unit 50-14.

[0049] The detector 45 detects the presence or absence of an object 100 arranged on the arrangement area 60. For example, the detector 45 detects the presence or absence of an object 100 arranged on each arrangement area 60. The detector 45 is connected to the storage control unit 70 and transmits the detection results to the storage control unit 70. The detector 45 includes, for example, an arrangement sensor, a presence sensor, or both sensors for each arrangement area 60. When an object 100 is arranged on the arrangement area 60, the detection results of the arrangement sensor and the presence sensor of the arrangement area 60 are both ON.

[0050] The second communicator 30 is capable of communicating with the first communicator 20. The second communicator 30 receives transport information from the first communicator 20 in an interlocking communication. The second communicator 30 transmits memory information to the first communicator 20 in an interlocking communication. The first communicator 20 and the second communicator 30 are, for example, optical communicators that perform optical and serial communication.

[0051] The transport information includes a Valid_A signal, a Complete signal, and an RTN (Requested Table Number) signal. The Valid_A signal indicates that the first communicator 20 is communicating. A high-level Valid_A signal indicates that the first communicator 20 is communicating, and a low-level Valid_A signal indicates that the first communicator 20 is not communicating. In cases where the signal is high, the state can be described as "ON," and in cases where the signal is low, the state can be described as "OFF."

[0052] The Complete signal indicates whether the transfer of item 100 by transport vehicle 10 is complete. A ON signal indicates that the transfer of item 100 by transport vehicle 10 is complete, while a OFF signal indicates that the transfer of item 100 by transport vehicle 10 is not complete.

[0053] The RTN signal is a signal that specifies the identification information of the storage location 50 to which the transport vehicle 10 intends to transfer an object (hereinafter referred to as "transfer point storage information"). The RTN signal comprises RTN1 to RTN6 signals, and the transfer point storage information is specified by the ON / OFF state of these RTN1 to RTN6 signals. That is, the transfer point information is expressed, for example, by a six-digit binary number. The RTN signal is an example of the "identification information" of the present invention.

[0054] The memory information includes a Valid_P signal, an ATN signal, and a CarrierDetect signal. The Valid_P signal indicates whether the second communicator 30 is communicating or not. A positive Valid_P signal indicates that the second communicator 30 is communicating, and a negative Valid_P signal indicates that the second communicator 30 is not communicating.

[0055] The ATN signal is a signal that indicates the identification number of the storage location 50 at transfer position (hereinafter referred to as "movable storage information"). The ATN signal comprises the ATN1 to ATN6 signals, and the movable storage information, represented in six-digit binary, is identified by these ATN1 to ATN6 signals.

[0056] The CarrierDetect signal is a signal that indicates the presence or absence of an item 100 on tray 50 of the movable tray information specified by the ATN signal. The CarrierDetect signal switches ON when an item 100 is present on tray 50 specified by the movable tray information, and switches OFF when no item 100 is present on tray 50 specified by the movable tray information. The CarrierDetect signal is a single-bit signal indicating the presence or absence of an item 100 detected by detector 45.

[0057] The second communicator 30 is located on the elevated railway line R. There is a one-to-one correspondence between the second communicator 30 and each row. In the Fig. 3 and Fig. In the example shown, the storage device 40 comprises four rows arranged along the direction of travel. Accordingly, four second communicators 30 are provided on the elevated railway R.

[0058] Here, a stop position T is defined for the transport vehicle 10 for each of the several rows. This stop position T is a stop position on the elevated track R at which an object 100 can be transferred to or from one of the several arrangement areas 60 within a single row. In the Fig. 3 and Fig. In the example shown, four stop positions T1 to T4 are defined. Every second communicator 30 is provided on the elevated track R in a one-to-one correspondence with each of the multiple stop positions T1 to T4. For example, the second communicator 30 on the elevated track R is provided near each of the multiple stop positions. To distinguish the multiple second communicators 30 from one another, they can be designated in the +X direction as a second communicator 30a, a second communicator 30b, a second communicator 30c, and a second communicator 30d.

[0059] When the transport vehicle 10 stops at one of the several stop positions T1 to T4, it performs a predetermined communication with the second communicator 30 corresponding to the stop position. That is, the first communicator 20 performs interlocking communication only with the second communicator 30 among the several second communicators 30 provided according to the stop position at which the transport vehicle 10 stopped. For example, the second communicator 30 provided according to the stop position at which the transport vehicle 10 stopped could be the second communicator 30 closest to that stop position. In such a case, the first communicator 20 performs interlocking communication only with the second communicator 30 closest to the stop position at which the transport vehicle 10 stopped, among the several second communicators 30.For example, if in . Fig. 3 When the transport vehicle 10 stops at stop position T1, the first communicator 20 performs interlocking communication only with the second communicator 30a.

[0060] The memory control device 70 can include a processor such as a CPU or an MPU and non-volatile or volatile semiconductor memory (e.g., RAM, ROM, flash memory, EPROM, or EEPROM). For example, the memory control device 70 can be a microcontroller such as an MCU.

[0061] The storage control unit 70 is connected to each of the multiple second communicators 30 via a wired or wireless connection. Through interlocking communication, the storage control unit 70 continuously transmits storage information from the second communicator 30 to the first communicator 20. The storage control unit 70 continuously retrieves transport information from the first communicator 20 via the second communicator 30 in interlocking communication.

[0062] The storage control unit 70 can move each storage location 50 into a transfer position where the transfer of an object 100 is possible. The transport vehicle 10 transmits transport information to the second communicator 30 via interlocking communication using the first communicator 20. The storage control unit 70 retrieves transport information from the second communicator 30 via interlocking communication, which corresponds to the stop position at which the transport vehicle 10 has stopped. The storage control unit 70 moves the storage location 50, specified by the transfer point storage location information indicated by the RTN signal in the transport information (i.e., the storage location 50 of the transfer point), into the transfer position.

[0063] The storage control unit 70 has information about which of the several storage locations 50 has advanced to the transfer position. The storage control unit 70 also has information about the current stop position of the transport vehicle 10. For example, the storage control unit 70 continuously detects the stop position of the transport vehicle 10 by detecting the second communicator 30, from which the transport vehicle 10 receives information. Here, "detection" includes receiving some form of information.

[0064] The following describes an example of an unloading process according to the present embodiment. As an example of the unloading process, with reference to Fig. 5 describes the process in which the transport vehicle 10 unloads into storage 50-5 in the second storage area. Fig. Figure 5 shows changes in the signal states of the transport information and the storage information during the unloading process.

[0065] The vehicle control unit 7 receives information from the host control unit about the unloading point's arrangement area 60. In other words, the vehicle control unit 7 defines the unloading point's arrangement area 60. This information includes the unloading point's storage location 50-5 (hereinafter referred to as "unloading point storage information") and the position where the transport vehicle 10 is to stop to unload the item 100 onto the unloading point's arrangement area 60 (hereinafter referred to as the "first defined stop position").

[0066] The vehicle control unit 7 causes the transport vehicle 10 to stop at the first predetermined stop position, which is the stop position corresponding to the arrangement area 60 of the unloading point among the multiple stop positions. When the transport vehicle 10 stops at the first predetermined stop position, interlocking communication takes place between the first communicator 20 and the second communicator 30 corresponding to the first predetermined stop position. In the following description, an example is given in which the second communicator 30 corresponding to the first predetermined stop position is the "second communicator 30b". Through the interlocking communication, the in Fig. The transport information shown in section 5 is constantly transmitted from the first communicator 20 to the second communicator 30b, and the information in Fig. The 5 shown memory information is constantly being transferred from the second communicator 30b to the first communicator 20.

[0067] When the transport vehicle 10 stops at the first defined stop position, the vehicle control unit 7 switches the Valid_A signal ON (step S101). In other words, when the transport vehicle 10 stops at the first defined stop position, the first communicator 20 sends an ON Valid_A signal to the second communicator 30b, which corresponds to the first defined stop position.

[0068] If the storage control unit 70 detects that the Valid_A signal is switched ON and the item 100 is not being transferred within the storage device 40, it switches the Valid_P signal in the storage information ON (step S102). For example, the storage control unit 70 can detect that no transfer is taking place within the storage device 40 if another transport vehicle 10 does not perform a transfer at a stop position other than the first defined stop position.

[0069] For example, if the On_Duty signal is switched OFF, the storage control unit 70 can determine that no transfer is taking place within the storage device 40. The On_Duty signal is an internal signal of the storage control unit 70 and indicates whether a transfer operation is taking place or not. When the On_Duty signal is switched ON, this indicates that a transfer operation is taking place, and when the On_Duty signal is switched OFF, this indicates that no transfer operation is taking place.

[0070] When the Valid_P signal is switched ON in step S102, the memory controller 70 switches its internal On_Duty signal ON (step S103). When the On_Duty signal is switched ON, the memory controller 70 does not accept signals from any second communicator 30 other than communicator 30b and does not allow any other storage locations 50 to operate besides storage location 50-5 of the discharge point.

[0071] When the vehicle control unit 7 detects, via the first communicator 20, that the Valid_P signal is switched ON, it causes the first communicator 20 to transmit unloading point storage information, namely information specifying storage 50-5, to the second communicator 30b (step S104). In the Fig. In example 5, the state in which only the RTN1 and RTN3 signals are switched ON indicates that the discharge point storage information refers to storage 50-5. Therefore, in step S104, the vehicle control unit 7 switches only the RTN1 and RTN3 signals ON, thereby transmitting information from storage 50-5 as discharge point storage information to the storage control unit 70.

[0072] When the storage control unit 70 detects the RTN signal, where only the RTN1 and RTN3 signals are switched ON (i.e., the unloading point storage information specifying storage 50-5), it moves storage 50-5 into the transfer position. When storage 50-5 begins moving, the storage control unit 70 switches the Motion Signal, which is an internal signal, ON (step S105), and when storage 50-5 reaches the transfer position, it switches the Motion Signal OFF (step S106). When the Motion Signal is ON, it indicates that storage 50 is in motion. The Motion Signal can consist of multiple signals, thus identifying the movement of each individual storage 50. The On_Duty signal indicates that a transfer operation is taking place.

[0073] When the tray 50-5 reaches the transfer position (the motion signal is switched OFF), the storage control unit 70 causes the second communicator 30b to transmit the information about the moving tray, which identifies the tray present at the transfer position, namely the information specifying tray 50-5, to the first communicator 20 (step S107). In the Fig. In the example shown, the state in which only the ATN1 and ATN3 signals are switched ON indicates that the information for the movable storage location refers to storage location 50-5. Accordingly, in step S107, the storage control unit 70 transmits the information for the movable storage location to the transport vehicle 10 by switching only the ATN1 and ATN3 signals ON.

[0074] The storage control unit 70 determines, based on the detection result of the detector 45, the presence or absence of the object 100 on the arrangement area 60 of the unloading point, which is identified by the ATN signal, and transmits a CarrierDetect signal indicating the presence or absence of the object 100. In other words, the storage control unit 70 switches the CarrierDetect signal ON when an object 100 is located on the arrangement area 60, which is identified by the information on the moving storage location, and switches the CarrierDetect signal OFF when the object 100 is not present on the arrangement area 60. The storage control unit 70 can, for example, identify the arrangement area 60 of the unloading point based on the unloading point storage location information and the information on the stop position (first defined stop position) at which the transport vehicle 10 stops.However, the invention is not limited to this example, and the storage control device 70 can acquire the information of the arrangement area 60 of the unloading point from the transport vehicle 10 in an interlocking communication.

[0075] Here, the CarrierDetect signal is a single-bit piece of information that indicates the presence or absence of item 100 through ON / OFF states. This allows the transport vehicle 10 to determine, with minimal communication, whether unloading is possible or not. In the Fig. In example 5, unloading is prohibited when the CarrierDetect signal is switched ON, and unloading is allowed when the CarrierDetect signal is switched OFF.

[0076] The vehicle control unit 7 detects the ATN signal when only the ATN1 and ATN13 signals are switched ON, i.e., the information about the moving tray, which specifies tray 50-5, and starts the unloading process (step S108) if the CarrierDetect signal is switched OFF at this time. For example, when performing the unloading process, the vehicle control unit 7 determines that unloading is possible when the CarrierDetect signal is switched OFF, and determines that unloading is not possible when the CarrierDetect signal is switched ON. Then, the vehicle control unit 7 only starts the unloading process when the movement of tray 50-5 to the transport position is complete and it has been determined that unloading is possible.Thus, the vehicle control unit 7 starts the unloading process when the movement of the storage unit 50-5 into the transport position is completed and no object 100 is located on the arrangement area 60 of the unloading point.

[0077] The transport vehicle 10 lowers the holder 14, which holds the item 100, and positions the item 100 on the arrangement area 60 of the unloading point on the tray 50-5. When the detector 45 detects that an item is on the arrangement area 60 of the unloading point, the memory controller 70 turns the CarrierDetect signal ON (step S109). For example, if the detection results of the arrangement sensor and the presence sensor corresponding to the arrangement area 60 of the unloading point both indicate that an item 100 is present (ON), the memory controller 70 turns the CarrierDetect signal ON to indicate that an item is on the arrangement area 60 of the unloading point.

[0078] After the object 100 has been placed on the arrangement area 60, the transport vehicle 10 lifts the holder 14 into a predetermined position and retracts the holder 14 from the height area S. This completes the unloading process (step S110).

[0079] The vehicle control unit 7 switches the RTN1 and RTN3 signals OFF when the unloading of item 100 is complete and the CarrierDetect signal is ON (step S111). After determining that the RTN1 and RTN3 signals in the transport information are OFF and that no collapse of the unloaded item 100 has occurred at the unloading point, the storage control unit 70 switches off the ATN1 and ATN13 signals (step S112) and starts the process of retracting the storage unit 50-5 (step S113). The case in which the unloaded item 100 has collapsed occurs, for example, when the logic of the detection result from the arrangement sensor does not match the logic of the detection result from the presence sensor.

[0080] During the retraction process of the 50-5 storage unit, the vehicle control unit 7 switches the Complete signal ON after confirming that all ATN signals (ATN1 to ATN6) are switched OFF (step S114). During the retraction process of the 50-5 storage unit, the memory control unit 70 switches the Valid_P signal and the CarrierDetect signal OFF after confirming that the Complete signal is switched ON (step S115).

[0081] When the Valid_P signal is detected as switched OFF, the vehicle control unit 7 switches the Valid_A signal OFF (step S116). Subsequently, the vehicle control unit 7 switches the Complete signal OFF after switching the Valid_A signal OFF (step S117). The storage control unit 70 switches the On_Duty signal OFF when the retraction process of storage unit 50-5 is complete (step S118).

[0082] The following describes an example of a charging process according to the present embodiment. As an example of the charging process, with reference to Fig. 6 describes the process that is carried out when the transport vehicle 10 performs the loading of an item 100 arranged on the storage unit 50-11 in the second storage units. Fig. Figure 6 shows changes in the signal states of the transport information and the storage information during the loading process.

[0083] The vehicle control unit 7 receives information from the host control unit about the loading point's arrangement area 60. In other words, the loading point's arrangement area 60 is defined in the vehicle control unit 7. Here, the information about the loading point's arrangement area 60 includes information about the loading point's storage location 50-11 (hereinafter referred to as "loading point storage information") and the position where the transport vehicle 10 should stop to load the item 100 from the loading point's arrangement area 60 (hereinafter referred to as the "second defined stop position").

[0084] The vehicle control unit 7 causes the transport vehicle 10 to stop at the second predetermined stop position, which is the stop position corresponding to the arrangement area 60 of the loading point among the multiple stop positions. When the transport vehicle 10 stops at the second predetermined stop position, interlocking communication takes place between the first communicator 20 and the second communicator 30. In the following description, an example is given in which the second communicator 30, corresponding to the second predetermined stop position, is the "second communicator 30c". Through the interlocking communication, the in Fig. The transport information shown in section 6 is constantly transmitted from the first communicator 20 to the second communicator 30c, and the information in Fig. The 6 shown memory information is constantly being transferred from the second communicator 30c to the first communicator 20.

[0085] When the transport vehicle 10 stops at the second stop position, the vehicle control unit 7 switches the Valid_A signal ON (step S201). When the storage control unit 70 detects that the Valid_A signal is switched ON and no transfer is taking place within the storage device 40, it switches the Valid_P signal ON (step S202). After the Valid_P signal is switched on, the storage control unit 70 switches the On_Duty signal within the storage control unit 70 ON (step S203).

[0086] When the vehicle control unit 7 detects, via the first communicator 20, that the Valid_P signal is switched ON, it causes the first communicator 20 to transmit information about storage location 50-11 (charging point storage information) to the second communicator 30c (step S204). For example, the state in which only the RTN1, RTN2, and RTN4 signals are switched ON indicates that the charging point storage information refers to storage location 50-11. Therefore, the vehicle control unit 7 switches, as in Fig. As shown in step S204, only the RTN1 signal, the RTN2 signal and the RTN4 signal are switched ON, thereby transmitting information from storage 50-11 as charging point storage information to the storage control unit 70.

[0087] When the storage control unit 70 detects the RTN signal, where only the RTN1, RTN2, and RTN4 signals are switched ON, i.e., the loading point storage information indicating storage unit 50-11, it moves storage unit 50-11 into the transfer position. When the movement of storage unit 50-11 begins, the storage control unit 70 switches the motion signal, which is an internal signal, ON (step S205), and when storage unit 50-11 reaches the transfer position, it switches the motion signal OFF (step S206).

[0088] When the storage unit 50-11 reaches the transfer position, the storage control unit 70 causes the second communicator 30c to transmit the information about the movable storage unit, which identifies the storage unit present at the transfer position, namely the information specifying storage unit 50-11, to the first communicator 20 (step S207). In the Fig. In the example shown, the state in which only the ATN1, ATN2, and ATN4 signals are switched ON indicates that the information for the movable storage unit relates to storage unit 50-11. Accordingly, in step S207, the storage control unit 70 transmits the information for the movable storage unit to the transport vehicle 10 by switching only the ATN1, ATN2, and ATN4 signals ON.

[0089] The storage control unit 70 uses the detection result of the detector 45 to determine the presence or absence of the object 100 on the loading point's arrangement area 60 and transmits a CarrierDetect signal indicating the presence or absence of the object 100 on the loading point's arrangement area 60. In other words, the storage control unit 70 switches the CarrierDetect signal ON when an object 100 is on the loading point's arrangement area 60 and switches the CarrierDetect signal OFF when no object 100 is on the loading point's arrangement area 60. The storage control unit 70 can, for example, recognize the loading point's arrangement area 60 based on the loading point storage information and the information about the stop position (second fixed stop position) at which the transport vehicle 10 stops.However, the invention is not limited to this example, and the storage control unit 70 can acquire the information of the arrangement area 60 of the charging point via interlocking communication from the transport vehicle 10.

[0090] Here, the CarrierDetect signal is a single-bit piece of information that indicates the presence or absence of object 100 through ON / OFF states. This allows the transport vehicle 10 to determine, with limited communication capabilities, whether loading is possible or not. In the Fig. In example 6, charging is prohibited when the CarrierDetect signal is switched OFF, and charging is allowed when the CarrierDetect signal is switched ON.

[0091] The vehicle control unit 7 detects the ATN signal when only the ATN1, ATN2, and ATN4 signals are switched ON, i.e., the information about the moving tray, specifying tray 50-11. If the CarrierDetect signal is switched ON at this time, it starts the loading process of item 100 (step S209). For example, during the loading process, the vehicle control unit 7 determines that loading is not possible when the CarrierDetect signal is switched OFF, and determines that loading is possible when the CarrierDetect signal is switched ON. Then, the vehicle control unit 7 only starts the loading process when the movement of tray 50-11 to the transport position is complete and the loading process has been determined to be possible.Thus, the transport vehicle 10 begins the loading process of the item 100 when the movement of the storage area 50-11 into the transport position is completed and an item 100 is located on the arrangement area 60 of the loading point.

[0092] The transport vehicle 10 lowers the holder 14, and the holder 14 holds the item 100 on the arrangement area 60 of the tray 50-11 of the loading point. If the detector 45 detects that there is no item 100 on the arrangement area 60 of the tray 50-11 of the loading point, the memory controller 70 switches the CarrierDetect signal OFF (step S210). For example, if the detection results of the arrangement sensor and the presence sensor corresponding to the arrangement area 60 of the loading point both indicate that there is no item 100 (OFF), the memory controller 70 switches the CarrierDetect signal OFF, indicating that there is no item on the arrangement area 60 of the loading point.

[0093] After holding the item 100, the transport vehicle 10 lifts the holder 14 into a predetermined position (e.g., storage space AS) and retracts the holder 14 from the height range S. This completes the process of loading the item 100 (step S211).

[0094] The vehicle control unit 7 switches the RTN1, RTN2, and RTN4 signals OFF when the loading process of item 100 is complete and the CarrierDetect signal is switched OFF (step S212). After determining that the RTN1, RTN2, and RTN4 signals are switched OFF and that no breakdown of the loaded item 100 has occurred, the storage control unit 70 switches the ATN1, ATN2, and ATN4 signals OFF (step S213) and starts the retraction process of tray 50-11 (step S214).

[0095] During the retraction process of tray 50-11, the vehicle control unit 7 switches the Complete signal ON after confirming that all ATN signals (ATN1 to ATN6) are OFF (step S215). During the retraction process of tray 50-11, the memory control unit 70 switches the Valid_P signal OFF when the Complete signal is detected as ON (step S216). When the Valid_P signal is detected as OFF, the vehicle control unit 7 switches the Valid_A signal OFF (step S217). Subsequently, the vehicle control unit 7 switches the Complete signal OFF after switching the Valid_A signal OFF (step S218). The memory control unit 70 switches off the On_Duty signal when the retraction process of tray 50-11 is complete (step S219).

[0096] As described above, the transport system HS according to the present embodiment comprises a transport vehicle 10 that transports an object 100 and transfers the object 100 between an assembly part (for example, an assembly area 60) on which the object 100 can be arranged and the transport vehicle 10. The transport system HS comprises a first communicator 20, a second communicator 30, and a detector 45. The first communicator 20 is located in the transport vehicle 10. The second communicator 30 is capable of communicating with the first communicator 20. The detector 45 detects the presence or absence of an object 100 arranged on the assembly part. The first communicator 20 performs predetermined communication with the second communicator 30 to send and receive information regarding the transfer of the object 100.In the predetermined communication, the second communicator 30 sends a one-bit piece of information to the first communicator 20, indicating the presence or absence of the object detected by the detector 45.

[0097] According to such a configuration, the transport vehicle 10 can determine that a loading operation is possible if the information from a bit indicates that an object 100 has been detected. Conversely, the transport vehicle 10 can determine that an unloading operation of the object is possible if the information from a bit indicates that no object 100 has been detected. Therefore, the transport vehicle 10 can determine the transfer operation (loading or unloading) that can be carried out by using only a small amount of communication.

[0098] The arrangement area 60 is an example of the arrangement part of the present invention. The arrangement part of the present invention can be a buffer, which is a temporary storage device, or it can be a provisioning connection. The arrangement part of the present invention can be a storage device 50 or a storage device 40.

[0099] In the transport system HS described above, a gauge can be performed while the storage device 40 is in normal operation. This gauge involves the transport vehicle 10 storing the position of the holder 14 when unloading the item 100 and the position of the holder 14 when gripping the item 100. This gauge can utilize the gauge unit disclosed in Japanese Patent Application No. 2017-76976 or Japanese Patent Application No. 2019-139474. For example, when a gauge is performed for the storage tray 50-2, the storage control unit 70 switches only the ATN2 signal ON once the storage tray 50-2 has reached the transfer position. The transport vehicle 10 then starts the transfer gauge when it detects that the ATN2 signal is ON and the CarrierDetect signal is OFF.

[0100] In this embodiment, the storage device 40 does not need to know which transfer operation (loading or unloading) is to be performed and only needs to transmit the movement of the storage tray 50 indicated by the ATN signal and the ON / OFF state of the CarrierDetect signal. Therefore, even if no loading or unloading operation is performed, no error occurs on the storage device 40 side. Consequently, the teaching operation can be performed without any errors occurring on the storage device 40 side.

[0101] The above embodiment reveals the following configurations. Configuration 1

[0102] Transport system HS, which includes a transport vehicle 10 transporting an object 100 and transfers the object between an arrangement part (e.g. an arrangement area 60) on which the object 100 can be arranged and the transport vehicle 10, wherein the transport system HS comprises: a first communicator 20, which is provided in the transport vehicle 10; a second communicator 30 that can communicate with the first communicator 20; and a detector 45 that detects the presence or absence of the object 100 arranged on the assembly part, wherein the first communicator 20 performs a predetermined communication with the second communicator 30 to send and receive information regarding the transfer of the object 100, and wherein the second communicator 30 in the predetermined communication sends a one-bit information indicating the presence or absence of the object 100 detected by the detector 45 to the first communicator 20. Configuration 2

[0103] Transport control system according to configuration 1, wherein the transport vehicle 10 receives the information of the one bit transmitted by the second communicator 30 by means of the first communicator 20 and determines on the basis of the received information of the one bit whether the object 100 is transferred or not. Configuration 3

[0104] Transport system according to configuration 1 or 2, wherein transferring the item 100 includes either unloading the item 100 onto the assembly part or loading the item 100 arranged on the assembly part or both, and where the transport vehicle is 10 the unloading of item 100 onto the assembly part begins when the information acquired by means of the first communicator 20 is information indicating that item 100 is not present on the assembly part, and when loading the item 100 arranged on the assembly part, the loading of the item 100 from the assembly part begins if the information acquired by means of the first communicator 20 is information indicating that the item 100 is located on the assembly part. Configuration 4

[0105] Transport system according to one of configurations 1 to 3, further comprising a storage device 40 comprising several levels of shelves 50 arranged in a vertical direction, and a storage control device 70 which moves the storage unit 50 into a transfer position, which is a position at which the transfer of the item 100 can be carried out, wherein the transport vehicle 10 comprises a runner 2 running on an elevated track R, a holder 14 holding the object 100, and a lifting device 13 that raises and lowers the holder 14, where each of the multiple levels of storage comprises 50 multiple arrangement parts, wherein the first communicator 20 in the predetermined communication transmits identification information to the second communicator 30, which identifies the storage location 50 of a transfer point among the multiple levels of storage locations 50, and wherein the storage control unit 70 moves the storage location 50 of the transfer point, which is marked by the identification information, into the transfer position. Configuration 5

[0106] Transport system according to one of configurations 1 to 4, where, if the multiple arrangement parts arranged in the vertical direction are defined as a series, Stop positions for the transport vehicle 10 for transferring the object 100 to or from any of the multiple arrangement parts in a row are specified to correspond to each row of a plurality of rows, wherein the second communicator 30 is provided corresponding to each of the multiple stop positions, and wherein, when the transport vehicle 10 stops at any of the multiple stop positions, the first communicator 20 performs the predetermined communication with the second communicator 30, which corresponds to the stop position at which the transport vehicle 10 has stopped. Configuration 6

[0107] Transport system according to one of configurations 1 to 5, where the transport vehicle 10 has a transverse extension includes, which extends the holder 14 and the lifting device 13 to a transverse side of a running direction, and wherein the transport vehicle 10, when transferring the object 100 to or from the shelf 50 of a top floor among the several shelves 50, extends the holder 14 and the lifting device 13 transversely directly over the shelf 50 of the top floor and lowers the holder 14 after this transverse extension process. Configuration 7

[0108] Transport system according to one of configurations 1 to 6, where the first communicator is 20 and the second communicator is 30 optical communicators that perform optical communication.

[0109] The embodiment described above. However, the technical scope of the invention is not limited to the description of the embodiment described above. It is also obvious to those skilled in the art that various modifications or improvements can be made to the embodiment described above. It is also clear from the scope of the claims that the present invention also includes one or more such modifications or improvements. One or more of the requirements described in the embodiment described above can be omitted in some cases. One or more of the requirements described in the embodiment described above can be combined if appropriate. The sequence of carrying out the methods shown in the present embodiment can be implemented in any order, provided that the result of the previous method is not used in the following method.While the processes in the above embodiment have been described for the sake of simplicity using terms such as "first," "next," and "subsequently," the processes need not always be carried out in this order. The contents of Japanese patent application No. 2023-114635 and all documents cited in the detailed description of the present invention are incorporated herein by reference. Description of the reference symbols HS Transport System 10 transport vehicles 20 First Communicator 30 Second Communicator 40 Storage device 50 Storage (arrangement part) 60 Arrangement area (arrangement part) QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018-121080

[0004] JP 2017-76976

[0099] JP 2019-139474

[0099] JP 2023-114635

[0109]

Claims

[1] Transport system comprising a transport vehicle for transporting an object and transferring the object between an arrangement part on which the object can be arranged and the transport vehicle, wherein the transport system comprises: a first communicator provided in the transport vehicle; a second communicator that can communicate with the first communicator; and a detector that detects the presence or absence of the object arranged on the assembly part, wherein the first communicator performs a predetermined communication with the second communicator to send and receive information regarding the transfer of the object, and wherein the second communicator in the predetermined communication sends a one-bit piece of information to the first communicator 20, indicating the presence or absence of the object as detected by the detector. [2] Transport system according to claim 1, wherein the transport vehicle detects the information of the one bit transmitted by the second communicator by means of the first communicator and determines on the basis of the detected information of the one bit whether the object is transferred or not. [3] Transport system according to claim 2, wherein transferring the item includes either unloading the item onto the assembly part or loading the item arranged on the assembly part, or both, and where the transport vehicle The unloading of the object onto the assembly part begins when the information acquired by the first communicator indicates that the object is not present on the assembly part, and When loading the item located on the assembly part, the loading of the item from the assembly part begins if the information acquired by the first communicator is information indicating that the item is located on the assembly part. [4] Transport system according to claim 1, further comprising a storage device comprising several levels of shelves arranged in a vertical direction, and a control device that moves the storage unit into a transfer position, which is a position at which the transfer of the item can be carried out, the transport vehicle includes a runner running alongside an elevated railway, a gripper that grasps the object, and a lifting device that raises and lowers the gripper, where each of the multiple levels of storage comprises several arrangement parts, wherein the first communicator in the predetermined communication transmits identification information to the second communicator, which identifies the storage of a transfer point among the multiple levels of storage, and the control unit moves the storage location of the transfer point, which is marked by the identification information, into the transfer position. [5] Transport system according to claim 4, where, if the multiple arrangement parts arranged in the vertical direction are defined as a series, Stop positions for the transport vehicle to transfer the item to or from any of the multiple arrangement parts in a row are specified to correspond to each row of a plurality of rows, wherein the second communicator is provided corresponding to each of the multiple stop positions, and wherein, when the transport vehicle stops at any of the multiple stop positions, the first communicator performs the predetermined communication with the second communicator corresponding to the stop position at which the transport vehicle has stopped. [6] Transport system according to claim 4, wherein the transport vehicle includes a transverse extender that extends the gripper and lifting device to a transverse side of a direction of travel, and wherein, when transferring the object to or from the storage area of ​​a top floor among the multiple storage areas, the transport vehicle extends the gripper and the lifting device transversely directly over the storage area of ​​the top floor and lowers the gripper after this transverse extension process. [7] Transport system according to claim 1, wherein the first communicator and the second communicator are optical communicators that perform optical communication.

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