Article transportation facility

Abstract

To achieve an article transportation facility in which article transportation efficiency in the whole article transportation facility rarely degrades even when a situation where a transportation vehicle cannot smoothly travel in one of a plurality of after branch regions.SOLUTION: An article transportation facility includes a control system for controlling a plurality of transportation vehicles Va, Vb. The control system executes a subsequent vehicle prioritize process for allowing a subsequent transportation vehicle Vb to go to a second post-branch region 33b, by changing a route of an object transportation vehicle Va just going to a first post-branch region 33a and allowing it to go to the second post-branch region 33b, on condition that the subsequent transportation vehicle Vb is going to the second post-branch region 33b different from a first post-branch region 33a.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an article transport facility that includes a plurality of transport vehicles that travel along a travel path. [Background technology]

[0002] An example of an article conveying facility is disclosed in JP 2018-128914 A (Patent Document 1). In the following description of the background art, the reference symbols in Patent Document 1 are cited in parentheses. In the article conveying facility of Patent Document 1, a first stop position (P3) is set upstream of a branch position (P1), and a conveying vehicle (3) that arrives at the first stop position (P3) stops at the first stop position (P3) until it is permitted to pass the branch position (P1). In addition, when a previous conveying vehicle (3) stops at the first stop position (P3), a subsequent conveying vehicle (3A) stops at a position separated upstream from the previous conveying vehicle (3) by a set distance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-128914 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the state shown in Fig. 15 of Patent Document 1, even if a following transport vehicle wants to proceed to a post-branch section different from the transport vehicle stopped at the first stop position, the following transport vehicle cannot proceed because it is blocked by the preceding transport vehicle stopped at the first stop position. For this reason, when a situation occurs in which the transport vehicle cannot travel smoothly in one of the multiple post-branch sections, such as a traffic jam, and the preceding transport vehicle is stopped at the first stop position, the following transport vehicle cannot proceed until the situation is resolved, resulting in a problem of a decrease in the efficiency of transporting goods in the entire goods transport facility.

[0005] It is therefore desirable to realize an article transport facility in which the article transport efficiency of the entire facility is not likely to decrease even if a situation occurs in which a transport vehicle is unable to travel smoothly in one of the multiple post-branch sections. [Means for solving the problem]

[0006] The article transport equipment according to the present disclosure includes: An article transport facility including a plurality of transport vehicles that travel along a travel path to transport articles, and a control system that controls the transport vehicles, The travel route has a branching section where a route branches from one pre-branching section to multiple post-branching sections, The control system includes: When there is a following transport vehicle that is a following transport vehicle for a target transport vehicle that is one of the plurality of transport vehicles, When the target guided vehicle that is about to proceed to a first post-branch section, which is one of the plurality of post-branch sections, is to stop in the pre-branch section due to a traffic condition of the first post-branch section, on the condition that the following guided vehicle is about to proceed to a second post-branch section, which is a post-branch section different from the first post-branch section, An item transport facility that performs a subsequent priority process by changing the course of the target transport vehicle and causing it to proceed to a post-branch section that is different from the first post-branch section, thereby causing the subsequent transport vehicle to proceed to the second post-branch section.

[0007] According to this configuration, when the target transport vehicle cannot proceed to the post-branch section, the target transport vehicle is caused to proceed to a post-branch section different from the first post-branch section which is the original route, so that the target transport vehicle is not stopped in the pre-branch section or the time for which the target transport vehicle is stopped in the pre-branch section is shortened, and the following transport vehicle can proceed quickly to the second post-branch section. As a result, even if a situation occurs in which the transport vehicle cannot run smoothly in one of the multiple post-branch sections, the article transport efficiency of the entire article transport facility is not likely to decrease. [Brief description of the drawings]

[0008] [Figure 1]A diagram showing an example of a conveying facility. [Diagram 2] FIG. 2 is a diagram showing an example of the carrier vehicle of FIG. 1; [Diagram 3] FIG. 2 is a diagram showing an example of a state in which the transport vehicle of FIG. 1 has advanced into a first post-branch section; [Figure 4] FIG. 2 is a diagram showing an example of a state in which the transport vehicle of FIG. 1 has advanced to a second post-branch section; [Diagram 5] FIG. 2 is a diagram showing an example of a subsequent priority process performed by the control system of FIG. 1; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of the conveying facility will be described with reference to the drawings. As shown in a simplified manner in Fig. 1, an article conveying facility 10 includes a conveying vehicle V that conveys an article W by traveling along a travel route 30. In this embodiment, the article conveying facility 10 includes a plurality of conveying vehicles V. The travel route 30 means the entire route along which the conveying vehicle V travels, and the travel route 30 is composed of a collection of a plurality of routes (partial routes).

[0010] The article conveying facility 10 includes a control system 100 that controls the conveying vehicle V. Each function of the control system 100 is realized by, for example, cooperation between hardware such as an arithmetic processing device and a program executed on the hardware. The control system 100 may be provided entirely in the conveying vehicle V, or partly in the conveying vehicle V and partly in an external control device (a control device provided outside the conveying vehicle V and capable of communicating with the conveying vehicle V). The control system 100 may also be provided entirely in an external control device. Here, the external control device may not be a single device, but may be a collection of multiple devices capable of communicating with each other. The control system 100 controls the travel of the multiple conveying vehicles V so that each of them arrives at its destination. Examples of the "destination of the conveying vehicle" include a station from which the conveying vehicle V is conveyed, a station to which the conveying vehicle V is conveyed, and the like, which will be described later.

[0011] FIG. 2 is a diagram showing an example of a transport vehicle V. The transport vehicle V is equipped with a controller (equipment controller) that controls a travel drive unit 13 and a guide drive unit 20, which will be described later. When at least a part of the control system 100 is provided in an external control device, the controller provided in the transport vehicle V operates in response to commands from the external control device. Also, when at least a part of the control system 100 is provided in the transport vehicle V, the controller provided in the transport vehicle V may constitute at least that part of the control system 100.

[0012] As shown in Fig. 2, the direction along the travel path 30 is the travel direction X, and the direction perpendicular to the travel direction X when viewed in the up-down direction Z (vertical direction) (here, the horizontal direction perpendicular to the travel direction X) is the width direction Y. As shown in Fig. 1, a forward direction F is set in each part of the travel path 30. The opposite direction of the forward direction F is the reverse direction R (see Fig. 2), and the transport vehicle V basically travels in the forward direction F on the travel path 30. In this embodiment, the travel path 30 is configured so that the transport vehicle V can circulate between the source and destination of the article W by traveling in the forward direction F.

[0013] 2, the side facing the forward direction F along the travel path 30 is defined as the downstream side X1, and the side facing the reverse direction R along the travel path 30 is defined as the upstream side X2. The travel direction X can be rephrased as the front-rear direction of the transport vehicle V, the downstream side X1 as the front side of the transport vehicle V, and the upstream side X2 as the rear side of the transport vehicle V. Moreover, one side in the width direction Y (here, the right side when facing the forward direction F) is defined as the width direction first side Y1, and the other side in the width direction Y (here, the left side when facing the forward direction F) is defined as the width direction second side Y2.

[0014] The transport vehicle V travels along a travel path 30 to transport an article W. The article W is, for example, a front opening unified pod (FOUP) that accommodates a semiconductor wafer. The transport vehicle V is an unmanned transport vehicle. The travel path 30 may be formed physically or virtually. In this embodiment, the travel path 30 is physically formed by a travel rail 36 (here, a pair of travel rails 36 arranged at an interval in the width direction Y). The travel rail 36 is supported by being suspended from the ceiling, for example.

[0015] 2, it is assumed that the travel path 30 is formed along the ceiling, but the travel path 30 may be formed on the floor surface, etc. When the travel path 30 is formed on the floor surface, for example, the travel path 30 is physically formed by a rail installed on the floor surface, or the travel path 30 is virtually formed by a two-dimensional code or an RF (Radio Frequency) tag, etc. installed on the floor surface. The floor surface may be a floor surface suspended and supported from the ceiling.

[0016] As shown in FIG. 2, the transport vehicle V includes a first traveling section 11 as a traveling section. The first traveling section 11 includes a traveling wheel 14 that rolls on a traveling surface (here, a surface facing the upper side Z1) of the traveling rail 36, and a traveling drive unit 13 (for example, an electric motor such as a servo motor) that rotates the traveling wheel 14. The traveling wheel 14 is rotationally driven by the traveling drive unit 13, so that the first traveling section 11 travels along the traveling rail 36. In this embodiment, the transport vehicle V further includes a second traveling section 12 on the upstream side X2 with respect to the first traveling section 11. The second traveling section 12 is configured similarly to the first traveling section 11, and the traveling wheel 14 is rotationally driven by the traveling drive unit 13, so that the second traveling section 12 travels along the traveling rail 36.

[0017] The transport vehicle V includes a main body 15 connected to the first running section 11. The article W is transported by the transport vehicle V while being stored in the main body 15. In this embodiment, the main body 15 is supported by the first running section 11 while being disposed on the lower side Z2 relative to the first running section 11. In this embodiment, the main body 15 is connected to both the first running section 11 and the second running section 12, and is supported by the first running section 11 and the second running section 12 while being disposed on the lower side Z2 relative to the first running section 11 and the second running section 12.

[0018] 2, the transport vehicle V is equipped with a collision prevention sensor 17 that detects another transport vehicle V present on the downstream side X1 of the transport vehicle V. When the collision prevention sensor 17 detects another transport vehicle V, the transport vehicle V equipped with the collision prevention sensor 17 avoids a collision with the other transport vehicle V by decelerating or stopping, for example.

[0019] As shown in FIG. 2, in this embodiment, information holders 38 such as two-dimensional codes and RF tags are installed at a plurality of locations on the travel route 30. The information holders 38 are installed at locations that can be the stopping locations of the transport vehicle V, such as stations and a branch waiting area E2 (see FIG. 5) described later. The information holders 38 hold position information that is information on the location where the information holders 38 are installed. The transport vehicle V includes a reading device 16 that reads the position information held by the information holders 38, and recognizes its own current location based on the position information read by the reading device 16. The transport vehicle V recognizes its own current location based on, for example, the position information read by the reading device 16 and the travel distance since the reading device 16 read the position information. The travel distance of the transport vehicle V is measured using, for example, a rotary encoder. Note that the transport vehicle V may be configured to recognize its own current location based on the output of a positioning device such as a GNSS (Global Navigation Satellite System) receiver.

[0020] The control system 100 grasps the current position of each of the multiple transport vehicles V. In this embodiment, as described above, the transport vehicles V are configured to recognize their own current positions, and the control system 100 grasps the current position of each of the multiple transport vehicles V by acquiring information on the current position of the transport vehicles V from each transport vehicle V.

[0021] A number of stations are set on the travel route 30 as destinations of the transport vehicle V. At each station, the transport vehicle V transfers an item W between the station and an item support section provided at the station. The operation of the transport vehicle V includes a travel operation along the travel route 30, an operation of receiving the item W from the item support section at the station, and an operation of unloading the item W onto the item support section at the station. The transport vehicle V travels to the source station and receives the item W at the station, and then travels to the destination station and unloads the item W at the station.

[0022] Examples of the "article support unit" include a load port of the processing device 34, an entry / exit port of the storage device 35, and a storage shelf (not shown) for temporarily storing the article W. The article support unit is disposed, for example, directly below the travel path 30 in the station.

[0023] The "destination" of the transport vehicle V mentioned above includes a processing device station 34s for transferring the item W to and from a processing device 34 (shown in FIG. 1) that processes the item W. The "destination" of the transport vehicle V also includes a storage device station 35s for transferring the item W to and from a storage device 35 (shown in FIG. 1) that stores the item W. The destination of the transport vehicle V may also include a maintenance station (not shown) for the transport vehicle V.

[0024] 2, a guide rail 37 is provided in a portion of the travel path 30. In this embodiment, the guide rail 37 is disposed on the upper side Z1 of the travel rail 36. In this embodiment, the guide rail 37 is disposed between the pair of travel rails 36 in the width direction Y that are spaced apart from each other in the width direction Y when viewed in the up-down direction.

[0025] The transport vehicle V includes guided parts (21, 22) that are guided by the guide rail 37 by contacting the guide rail 37 from either side in the width direction Y, and a guide drive unit 20 (e.g., a solenoid or an electric motor) that moves the guided parts in the width direction Y. The movement of the guided parts in the width direction Y by the guide drive unit 20 is performed, for example, by driving only the guided parts in the width direction Y, or by driving the guided parts in the width direction Y together with a support unit that supports the guided parts.

[0026] In this embodiment, the first running portion 11 includes a first guide wheel 21 that rotates (here, rotates freely) around an axis along the up-down direction Z as a guided portion, and a guide drive unit 20 provided on the first running portion 11 moves the first guide wheel 21 in the width direction Y. In the example shown in Fig. 2, the first running portion 11 includes two first guide wheels 21 aligned in the running direction X, and the guide drive unit 20 moves support units that support the two first guide wheels 21 in the width direction Y, thereby moving the two first guide wheels 21 in the width direction Y.

[0027] In the present embodiment, the second running portion 12 includes a second guide wheel 22 that rotates (here, rotates freely) around an axis along the up-down direction Z as a guided portion, and a guide drive unit 20 provided on the second running portion 12 moves the second guide wheel 22 in the width direction Y. In the example shown in FIG. 2, the second running portion 12 includes two second guide wheels 22 arranged side by side in the running direction X, and the guide drive unit 20 moves the support units that support the two second guide wheels 22 in the width direction Y, thereby moving the two second guide wheels 22 in the width direction Y. Hereinafter, when matters common to the first guide wheel 21 and the second guide wheel 22 are described, they will not be distinguished from each other and will be referred to as "guide wheels".

[0028] Fig. 3 is a diagram showing a state where a target transport vehicle Va, which is one of a plurality of transport vehicles V, has advanced to a first post-branch section 33a. Fig. 4 is a diagram showing a state where a following transport vehicle Vb, which is a transport vehicle V following the target transport vehicle Va, has advanced to a second post-branch section 33b. The travel path 30 has a branching section 31 where the path branches from one pre-branch section 32 to a plurality of post-branch sections (33a, 33b). In the example shown in Figs. 3 and 4, the branching section 31 branches into two path sections, the first post-branch section 33a and the second post-branch section 33b, but may branch into three or more path sections.

[0029] The pre-branch section 32 is a section that does not include the pre-branch section 32 on the upstream side X2 of the branching section 31. Moreover, the pre-branch section 32 is a section that is set in advance for each branching section 31. In this embodiment, the pre-branch section 32 is a section that does not include other pre-branch sections 32. Moreover, the pre-branch section 32 is a section in which the guide rail 37 is not provided. Moreover, the pre-branch section 32 is a section that does not include the above-mentioned station. Moreover, the pre-branch section 32 is a section that does not include a junction where multiple routes join. Moreover, the pre-branch section 32 is a straight section.

[0030] The post-branch section (33a, 33b) is a section that does not include a post-branch section on the downstream side X1 of the branching section 31. Moreover, the post-branch section is a section that is set in advance for each branching section 31. In this embodiment, the post-branch section is a section that does not include other post-branch sections. Moreover, the post-branch section is a section in which the guide rail 37 is not provided. Moreover, the post-branch section is a section that does not include the above-mentioned station. Moreover, the post-branch section is a section that does not include a junction where multiple routes join.

[0031] The above-mentioned reverse direction R, running direction X, downstream side X1, upstream side X2, width direction Y, first width direction side Y1, and second width direction side Y2 are determined based on the forward direction F, which is the running direction that forms the path from which the branching portion 31 branches. Therefore, in Figs. 3 to 5, these are omitted from the illustration and only the forward direction F is shown.

[0032] Whether the transport vehicle V advances to the first post-branch section 33a or the second post-branch section 33b at the branching section 31 is determined according to the positions in the width direction Y of the first guide wheel 21 and the second guide wheel 22 when entering the branching section 31. Specifically, when the positions of the first guide wheel 21 and the second guide wheel 22 when entering the branching section 31 are such that they contact the guide rail 37 from the first side Y1 in the width direction, the transport vehicle V advances to the post-branch section on the first side Y1 in the width direction (the second post-branch section 33b in the branching section 31 shown in FIGS. 3 and 4). When the positions of the first guide wheel 21 and the second guide wheel 22 when entering the branching section 31 are such that they contact the guide rail 37 from the second side Y2 in the width direction, the transport vehicle V advances to the post-branch section on the second side Y2 in the width direction (the first post-branch section 33a in the branching section 31 shown in FIGS. 3 and 4). Before the transport vehicle V enters the branch section 31, the guide drive section 20 moves the guide wheels (21, 22) to a position in the width direction Y according to the branch route to which the transport vehicle V is to travel.

[0033] In this embodiment, the transport vehicle V is equipped with movement detection units (21a, 22a) that detect the movement of the guide wheels (21, 22) in the width direction Y. The control system 100 detects that the guide wheels have moved in the width direction Y by acquiring the detection result of the movement of the guide wheels in the width direction Y by the movement detection units.

[0034] The movement detection units (21a, 22a) are configured to detect movement of the guide wheels in the width direction Y, for example, by detecting the position in the width direction Y of the guide wheels (21, 22) or the support parts that support the guide wheels. The movement detection units may be configured to detect movement of the guide wheels in the width direction Y by detecting movement of the guide wheels or the support parts that support the guide wheels. In this case, the movement detection unit detects movement of the guide wheels or the support parts that support the guide wheels, for example, by detecting a change in torque of a motor that constitutes the guide drive unit 20.

[0035] In this embodiment, the transport vehicle V is equipped with, as movement detection units (21a, 22a), a first movement detection unit 21a that detects movement of the first guide wheel 21 in the width direction Y and a second movement detection unit 22a that detects movement of the second guide wheel 22 in the width direction Y. The first movement detection unit 21a is provided on the first running portion 11, and the second movement detection unit 22a is provided on the second running portion 12.

[0036] 5, in this embodiment, a branch area E1 is set in advance in the branch section 31. When one of the multiple guided vehicles V is in the branch area E1, the control system 100 executes a branch waiting control to stop the other guided vehicles V that are about to enter the branch area E1 in a branch waiting area E2 provided in the pre-branch section 32. The branch area E1 does not include the branch waiting area E2, but may include a part of the pre-branch section 32 of the branch section 31, or a part of the post-branch section (33a, 33b) of the branch section 31.

[0037] In this embodiment, multiple guided vehicles V can stop in the branch waiting area E2. The branch waiting area E2 may be composed of multiple areas. The branch waiting area E2 may also include a branch section on the upstream side X2 of the branch section 31, a post-branch section, a junction section, a curved section, and the like. In the illustrated example, the branch waiting area E2 is a straight section.

[0038] When there is a following transport vehicle Vb behind a target transport vehicle Va, which is one of multiple transport vehicles V, and the target transport vehicle Va attempts to proceed into a first post-branch section 33a, which is one of multiple post-branch sections (33a, 33b), and is to stop in the pre-branch section 32 due to traffic conditions in the first post-branch section 33a, the control system 100 performs a following priority process to cause the following transport vehicle Vb to proceed to the second post-branch section 33b by changing the course of the target transport vehicle Va and causing it to proceed into a post-branch section different from the first post-branch section 33a, on the condition that the following transport vehicle Vb is attempting to proceed into a second post-branch section 33b, which is a post-branch section different from the first post-branch section 33a.

[0039] In the following, a case where the subsequent priority process is a process of moving the target guided vehicle Va to the second post-branch section 33b will be described as an example, but in a branching section 31 where the route branches into three or more post-branch sections, the target guided vehicle Va may be moved to a post-branch section other than the first post-branch section 33a and the second post-branch section 33b. In the following, a case where the target guided vehicle Va stops in the pre-branch section 32 and the subsequent priority process is executed will be described as an example, but the subsequent priority process may be executed so that the target guided vehicle Va moves to the second post-branch section 33b without stopping in the pre-branch section 32.

[0040] Examples of the above-mentioned "traffic conditions" that may cause the target transport vehicle Va to stop in the pre-branch section 32 include congestion, a broken transport vehicle V running or stopped, the processing device station 34s being full, the storage device station 35s being full, an abnormality in the traveling rail 36, an abnormality in the processing device 34, an abnormality in the storage device 35, a situation in which the transport vehicle V cannot pass, etc. The determination of whether or not there is a "traffic jam" is made by the control system 100 based on, for example, the number of transport vehicles V present in the post-branch section (33a, 33b), a preset section downstream X1 from the post-branch section, the pre-branch section 32 on the downstream side X1, the post-branch section downstream X1, or the above-mentioned stations, etc.

[0041] FIG. 5 shows a state in which the control system 100 changes the course of the target transport vehicle Va among the three transport vehicles V (Va, Vb, Vc) stopped in the branch waiting area E2 to proceed to the second post-branch section 33b, thereby causing the following transport vehicle Vb to proceed to the second post-branch section 33b. After the following transport vehicle Vb proceeds to the second post-branch section 33b, if the route of the transport vehicle Vc is the second post-branch section 33b, the control system 100 causes the transport vehicle Vc to proceed to the second post-branch section 33b. If the route of the transport vehicle Vc is the first post-branch section 33a, the transport vehicle Vc is stopped at the head of the branch waiting area E2. After that, the transport vehicle Vc becomes the next target transport vehicle Va. Note that if the problem that occurred in the first post-branch section 33a has been resolved, the transport vehicle Vc does not need to be stopped at the head of the branch waiting area E2.

[0042] The control system 100 executes the following priority processing with the additional condition that the number of following transport vehicles V with respect to the target transport vehicle Va is N or more (N is an integer of 2 or more). Examples of the "following transport vehicles V" include transport vehicles V stopped in the branch waiting area E2 excluding the target transport vehicle Va, stopped and running transport vehicles V in the branch waiting area E2 excluding the target transport vehicle Va, stopped and running transport vehicles V in the pre-branch section 32 excluding the target transport vehicle Va, etc.

[0043] Examples of the "further condition" include the following: the number of the following guided vehicles V is the upper limit of the number of vehicles that can be stopped in the branch waiting area E2; the number of the following guided vehicles V is a predetermined number that is more than half of the number of vehicles that can be stopped in the branch waiting area E2 and less than the upper limit of the number of vehicles that can be stopped; the number of the following guided vehicles V stopped in the branch waiting area E2 is two or more or three or more; the number of the following guided vehicles V existing in the pre-branch section 32 is two or more or three or more. In addition, the control system 100 may execute the following priority processing with the further condition that the number of the following guided vehicles V that are about to proceed to a post-branch section different from the first post-branch section 33a (the second post-branch section 33b in the example shown in FIG. 5) is N or more (N is an integer of 2 or more).

[0044] The control system 100 executes the following priority processing with the further condition that the destination point of the following transport vehicle Vb is the processing equipment station 34s. The control system 100 may execute the following priority processing with the "further condition" that the destination point of any of the following transport vehicles V for the target transport vehicle Va is the processing equipment station 34s. The control system 100 may execute the following priority processing with the "further condition" that the processing equipment station 34s is not full, or the control system 100 may execute the following priority processing regardless of whether the processing equipment station 34s is full.

[0045] Here, a transport vehicle V that is not transporting an item W is referred to as an "empty transport vehicle", and a transport vehicle V that is transporting an item W is referred to as an "active transport vehicle". The control system 100 may execute the subsequent priority processing with the further condition that any of the transport vehicles V following the target transport vehicle Va is an empty transport vehicle. The control system 100 may execute the subsequent priority processing with the further condition that the number of empty transport vehicles among the transport vehicles V following the target transport vehicle Va is N or more (N is an integer of 2 or more). The control system 100 may execute the subsequent priority processing with the further condition that any of the transport vehicles V following the target transport vehicle Va is an active transport vehicle. The control system 100 may execute the subsequent priority processing with the further condition that the number of active transport vehicles among the transport vehicles V following the target transport vehicle Va is N or more (N is an integer of 2 or more).

[0046] The control system 100 executes the subsequent priority process under the further condition that the period during which the target guided vehicle Va is stopped in the pre-branch section 32 is equal to or longer than a predetermined judgment period. Examples of the period during which the target guided vehicle Va is stopped in the pre-branch section 32 as the "further condition" include a period during which the target guided vehicle Va is stopped at the head of the branch waiting area E2, a period during which the target guided vehicle Va is stopped at the head of the branch waiting area E2 or at a position other than the head, etc.

[0047] The subsequent priority process may be executed under the further condition that the destination point of the target guided vehicle Va is reachable through the second post-branch section 33b. Examples of the "reachable state" include the following: the destination point can be reached without traveling in the reverse direction R, the destination point can be reached without traveling through a section where the guided vehicle V cannot pass, the destination point can be reached without traveling through a section where the broken-down guided vehicle V is located, the destination point can be reached without traveling through a section where the travel rail 36 is abnormal, the destination point can be reached without traveling through a section where there is congestion, the destination point can be reached without returning to the branch section 31, and the like.

[0048] The subsequent priority process may be executed under the additional condition that, when the destination point of the target guided vehicle Va cannot be reached through the second post-branch section 33b, there is an evacuation section (not shown) in which the target guided vehicle Va can escape in a post-branch section different from the first post-branch section 33a. The target guided vehicle Va that escapes to the evacuation section is returned to the pre-branch section 32 by, for example, the control system 100 or a device that transports the guided vehicle V, and enters the first post-branch section 33a. In addition, in the subsequent priority process, the destination point of the target guided vehicle Va that is caused to proceed to the second post-branch section 33b may be changed.

[0049] In this embodiment, the control system 100 calculates the estimated time required for the target transport vehicle Va to reach the destination point, and executes subsequent priority processing with the further condition that the increase in the estimated time required for the target transport vehicle Va to reach the destination point through a post-branch section other than the first post-branch section 33a (the second post-branch section 33b in the example shown in Figure 5) relative to the estimated time required for the target transport vehicle Va to reach the destination point through the first post-branch section 33a is less than or equal to a predetermined judgment threshold.

[0050] The "estimated travel time" is calculated based on a route cost determined according to the distance from the branch point 31 to the destination point and the "travel conditions" of the target guided vehicle Va. The "route cost" is calculated by, for example, Dijkstra's algorithm. The above-mentioned estimated travel time may also be calculated using past statistical information, etc.

[0051] The route cost is calculated to increase as the "distance" from the branch point 31 to the destination point increases. The route cost is also calculated to increase when the above-mentioned "driving conditions" are conditions that result in a long driving time for the transport vehicle V. For example, when the driving conditions include the degree of congestion of the route, the route cost is calculated to increase as the degree of congestion of the route increases. The "degree of congestion of the route" is calculated, for example, based on the number of transport vehicles V in a preset section.

[0052] The "traveling conditions" include, for example, at least any of the congestion level of the route, the structure of the route (e.g., whether it is a straight section, a curved section, a branching section, or a merging section), the number of stations on the route, and the state of the transport vehicle V (e.g., whether it is an empty transport vehicle or a loaded transport vehicle). For example, in a section to which a maintenance lifter is connected for lowering the transport vehicle V from the travel path 30 formed on the ceiling side to the ground side for maintenance of the transport vehicle V, the congestion level of the section may be high due to the presence of the transport vehicle V heading toward the maintenance lifter or the transport vehicle V returning from the maintenance lifter to the travel path 30.

[0053] In this embodiment, the route cost is the sum of the section costs of all sections included in the route from the branch 31 to the destination. The section cost of each section can be a value obtained by multiplying a basic cost, which is a cost according to the distance of the section, by a correction coefficient determined according to the travel conditions of the transport vehicle V in the section. The basic cost is set so as to increase as the section in which the basic cost is set becomes longer. The correction coefficient is set so as to increase when the travel conditions of the transport vehicle V in the section in which the correction coefficient is set are conditions that result in a long time required for the transport vehicle V to pass through the section. Although details are omitted, the travel route 30 can be represented using nodes and links connecting the nodes. The nodes correspond to specific points such as the branch 31 and the junction, and the links correspond to route portions connecting specific points. In this case, the above section cost can be the cost of the section corresponding to the link (link cost).

[0054] Other embodiments Next, other embodiments of the article conveying facility 10 will be described.

[0055] (1) In the above embodiment, the post-branch section on the first widthwise side Y1 is the second post-branch section 33b, and the post-branch section on the second widthwise side Y2 is the first post-branch section 33a. However, the present invention is not limited to this example, and for example, the post-branch section on the first widthwise side Y1 may be the first post-branch section 33a, and the post-branch section on the second widthwise side Y2 may be the second post-branch section 33b.

[0056] (2) In the above embodiment, a configuration has been described in which the subsequent priority process is executed with the additional condition that the number of subsequent guided vehicles V following the target guided vehicle Va is more than one. However, the present invention is not limited to such an example, and the subsequent priority process may be executed, for example, when the number of subsequent guided vehicles V following the target guided vehicle Va is one.

[0057] (3) In the above embodiment, a configuration has been described as an example in which the subsequent priority process is executed under the additional condition that the period during which the target guided vehicle Va is stopped in the pre-branch section 32 is equal to or longer than a predetermined judgment period. However, the present invention is not limited to such an example, and for example, the judgment period does not have to be determined in advance.

[0058] (4) In the above embodiment, an example has been described in which an expected time required for the target transport vehicle Va to reach the destination is calculated, and the subsequent priority process is executed under the additional condition that the increase in the expected time is equal to or less than a predetermined judgment threshold. However, the present invention is not limited to such an example, and for example, the expected time required for the target transport vehicle Va to reach the destination may not be calculated.

[0059] (5) In the above embodiment, a configuration has been described in which the destination point of the transport vehicle V includes the processing device station 34s and the storage device station 35s. However, the present invention is not limited to such an example, and for example, the destination point of the transport vehicle V does not have to include the storage device station 35s. Also, for example, the destination point of the transport vehicle V does not have to include the processing device station 34s.

[0060] (6) In the above embodiment, a configuration has been described as an example in which a branch waiting area E2 where multiple guided vehicles V can stop is provided in the pre-branch section 32. However, the present invention is not limited to such an example, and for example, the branch waiting area E2 may be an area where only one guided vehicle V can stop. Also, the pre-branch section 32 may not be provided with a branch waiting area E2, and a deceleration travel area where the guided vehicles V decelerate may be provided in the pre-branch section 32.

[0061] (7) In the above embodiment, a configuration has been described as an example in which the pre-branch section 32 is a section that is preset for each branch 31 and does not include other pre-branch sections 32. However, the present invention is not limited to such an example, and for example, the pre-branch section 32 may include a pre-branch section 32 on the upstream side X2 of the pre-branch section 32, a post-branch section, a station, a branch section, a junction section, a curved section, etc. Also, the pre-branch section 32 may be changed depending on the destination point of the transport vehicle V.

[0062] (8) In the above embodiment, the post-branch section (33a, 33b) is a section preset for each branch 31, and does not include other post-branch sections. However, the present invention is not limited to such an example. For example, the post-branch section may include a pre-branch section 32 on the downstream side X1 of the post-branch section, a post-branch section, a station, a branch section, a junction section, a curved section, etc. Furthermore, the post-branch section may be changed depending on the destination point of the transport vehicle V.

[0063] (9) Note that the configurations disclosed in each of the above-described embodiments can be applied in combination with configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments) as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0064] [Summary of this embodiment] An overview of the article transport facility described above will now be given.

[0065] The item conveying equipment according to the present disclosure is an item conveying equipment comprising a plurality of conveying vehicles that travel along a travel path to convey items, and a control system that controls the conveying vehicles, wherein the travel path has a branching section where the path branches from one pre-branch section to a plurality of post-branch sections, and the control system executes a subsequent priority process in which, when a subsequent conveying vehicle that is a following conveying vehicle is present for a target conveying vehicle that is one of the plurality of conveying vehicles, and the target conveying vehicle that is attempting to proceed into a first post-branch section that is one of the plurality of post-branch sections is to stop in the pre-branch section due to traffic conditions in the first post-branch section, the control system changes the course of the target conveying vehicle to proceed into the post-branch section that is different from the first post-branch section, thereby causing the subsequent conveying vehicle to proceed into the second post-branch section, on the condition that the subsequent conveying vehicle is attempting to proceed into a second post-branch section that is different from the first post-branch section.

[0066] According to this configuration, when the target transport vehicle cannot proceed to the post-branch section, the target transport vehicle is caused to proceed to a post-branch section different from the first post-branch section which is the original route, so that the target transport vehicle is not stopped in the pre-branch section or the time for which the target transport vehicle is stopped in the pre-branch section is shortened, and the following transport vehicle can proceed quickly to the second post-branch section. As a result, even if a situation occurs in which the transport vehicle cannot run smoothly in one of the multiple post-branch sections, the article transport efficiency of the entire article transport facility is not likely to decrease.

[0067] As one aspect, it is preferable that the control system executes the succeeding priority processing with an additional condition that the number of the guided vehicles following the target guided vehicle is N or more (N is an integer of 2 or more).

[0068] According to this configuration, whether or not to perform subsequent priority processing is determined based on the number of subsequent transport vehicles relative to the target transport vehicle, so that subsequent priority processing can be performed appropriately depending on the degree of need to give priority to the subsequent transport vehicle.

[0069] In one aspect, the control system preferably executes the subsequent priority processing with the additional condition that the period during which the target guided vehicle is stopped in the pre-branch section is longer than a predetermined judgment period.

[0070] According to this configuration, subsequent priority processing is not executed until the period during which the target transport vehicle is stopped in the pre-branch section is equal to or longer than the judgment period. Therefore, by executing subsequent priority processing even when the stop period in the pre-branch section is short, it is easy to avoid the target transport vehicle having to make an unnecessary detour.

[0071] In one embodiment, the control system calculates an estimated time required for the target transport vehicle to reach the destination point, and preferably executes the subsequent priority processing with the further condition that an increase in the estimated time required for the target transport vehicle to reach the destination point through a post-branch section that is different from the first post-branch section relative to the estimated time required for the target transport vehicle to reach the destination point through the first post-branch section is less than a predetermined judgment threshold.

[0072] According to this configuration, if the target transport vehicle is caused to reach its destination too late by proceeding into a post-branch section different from the first post-branch section, subsequent priority processing is not executed, making it easy to minimize the decrease in the efficiency of transporting goods caused by detouring the target transport vehicle.

[0073] In one aspect, the destination point of the transport vehicle includes a processing device station where the item is transferred between the processing device that processes the item, and a storage device station where the item is transferred between the storage device that stores the item, and the control system preferably executes the subsequent priority processing with the further condition that the destination point of the subsequent transport vehicle is the processing device station.

[0074] In order to efficiently perform processing by the processing device, it is desirable to transfer the article to the processing device at an appropriate time. On the other hand, since the storage device only stores the articles, a difference in the timing of transporting the articles is easily tolerated. According to this configuration, the following priority processing is performed on the condition that the destination point of the following transport vehicle is a processing device station, so it is easy to transfer the article to the processing device at an appropriate time.

[0075] It is sufficient for the article transport facility according to the present disclosure to achieve at least one of the above-mentioned effects. [Explanation of symbols]

[0076] 10: Goods transport equipment 30: Travel route 31: Branch 32: Pre-branch section 33a: Section after the first branch 33b: Section after the second branch 34: Processing equipment 34s: Station for processing equipment 35: Storage device 35s: Storage station 100: Control system V: Transport vehicle Va: Target vehicle Vb: Trailing vehicle W:Goods

Claims

1. An article transport facility including a plurality of transport vehicles that travel along a travel path to transport articles, and a control system that controls the transport vehicles, The travel route has a branching section where a route branches from one pre-branching section to a plurality of post-branching sections, The control system includes: When a following transport vehicle is present behind a target transport vehicle that is one of the plurality of transport vehicles, When the target guided vehicle that is about to proceed to a first post-branch section, which is one of the plurality of post-branch sections, is to stop in the pre-branch section due to a traffic condition of the first post-branch section, on the condition that the following guided vehicle is about to proceed to a second post-branch section, which is a post-branch section different from the first post-branch section, An item transport facility that performs a subsequent priority process by changing the course of the target transport vehicle and causing it to proceed to a post-branch section that is different from the first post-branch section, thereby causing the subsequent transport vehicle to proceed to the second post-branch section.

2. The article transport facility according to claim 1 , wherein the control system executes the subsequent priority processing with the further condition that the number of subsequent transport vehicles relative to the target transport vehicle is N or more (N is an integer of 2 or more).

3. The item transport facility according to claim 1 or 2, wherein the control system executes the subsequent priority processing with the further condition that the period during which the target transport vehicle is stopped in the pre-branch section is equal to or longer than a predetermined judgment period.

4. The item transport facility according to claim 1 or 2, wherein the control system calculates an estimated time required for the target transport vehicle to reach the destination point, and executes the subsequent priority processing with the further condition that an increase in the estimated time required for the target transport vehicle to reach the destination point through a post-branch section different from the first post-branch section relative to the estimated time required for the target transport vehicle to reach the destination point through the first post-branch section is less than or equal to a predetermined judgment threshold.

5. The destination point of the transport vehicle includes a processing device station for transferring the item between the processing device that performs processing on the item and a storage device station for transferring the item between the processing device and a storage device that stores the item, 3. The article transport facility according to claim 1, wherein the control system executes the subsequent priority processing on the further condition that the destination point of the subsequent transport vehicle is the processing device station.

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