Goods conveying facility

Abstract

To simply and appropriately control multiple conveying vehicles relating to a merged portion.SOLUTION: A control device 2 determines, in a sequence determining process, a passing sequence in accordance with a standby-time index I that is defined based on standby times Tf of multiple vehicles to be passed 1 at a merged portion 90. The standby time index I is determined by correcting the standby time Tf using a correction coefficient X that is defined in accordance with the state of each of the multiple vehicles to be passed 1.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of carrier vehicles traveling along a predetermined path and a control device for controlling the carrier vehicles.

Background Art

[0002] An example of such an article conveying facility is disclosed as a carrier cart system in Japanese Patent Application Laid-Open No. 2006-313463 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] In the system disclosed in Patent Document 1, a lock point is provided at a confluence of the traveling paths of the carrier vehicles (5), and it is determined whether the carrier vehicle (5) can pass through the lock point in a section where such a lock point is provided (hereinafter referred to as a "control section") as a unit.

[0004] Before entering the control section where the lock point is provided, the carrier vehicle (5) makes a blocking request to the zone controller (11) to request rejection of entry of other carrier vehicles (5) into the control section. When the zone controller (11) permits the carrier vehicle (5) that has made the blocking request to pass through the control section, it gives a blocking permission and rejects the passage of other carrier vehicles (5). After the carrier vehicle (5) has passed, the zone controller (11) releases the blocking in the control section and makes it possible to accept other carrier vehicles (5).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the technology disclosed in Patent Document 1, it is necessary to set a control section and to grasp that the carrier vehicle (5) has entered or exited the control section, etc., and the control configuration tends to become complicated. Further, it is desirable to determine the priority of the carrier vehicle (5) passing through the merging section in consideration of the situation of each carrier vehicle (5) rather than determining it only based on the timing when the carrier vehicle (5) enters the control section, in order to aim for efficient operation of the entire facility.

[0007] In view of the above actual situation, it is desired to realize a technology capable of simply and appropriately controlling a plurality of carrier vehicles involved in the merging section.

Means for Solving the Problems

[0008] A plurality of carrier vehicles traveling along a predetermined route, An article conveying facility including a control device for controlling the carrier vehicle, wherein The control device is configured to execute a merging control for controlling the operations of the plurality of carrier vehicles at a merging section where the plurality of routes merge, Regarding each of the plurality of carrier vehicles attempting to pass through the merging section at the same time as a vehicle to be passed, The merging control includes an order determination process for determining the passing order of each of the plurality of vehicles to be passed through the merging section, In the order determination process, the control device determines the passing order according to a waiting time index determined based on the waiting time of the plurality of vehicles to be passed at the merging section, The waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the state of each of the plurality of vehicles to be passed.

[0009] According to this configuration, based on the waiting time of each vehicle to pass at the merging section, it is determined whether the vehicle to pass can pass. Therefore, a simple control configuration can be constructed. Further, the waiting time index used as the basis for determining whether the vehicle can pass is determined by correcting the actual waiting time with a correction coefficient determined according to the state of each vehicle to pass. Therefore, the determination of whether the vehicle can pass takes into account the state of each vehicle to pass, and this can be achieved by a simple process of correcting the waiting time with the above correction coefficient. As described above, according to this configuration, it is possible to simply and appropriately control a plurality of carrier vehicles involved in the merging section.

[0010] Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments with reference to the drawings.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments of the article conveying facility will be described with reference to the drawings.

[0013] As shown in FIG. 1, the article conveying facility 100 includes a plurality of carrier vehicles 1 that travel along a predetermined path 9, and a control device 2 (see FIG. 2) that controls the carrier vehicles 1.

[0014] In this embodiment, the path 9 is set at a position spaced upward from the floor surface. For example, the path 9 is configured using rails provided near the ceiling. The carrier vehicle 1 is configured as a so-called ceiling carrier vehicle and travels along the rails on the path 9.

[0015] Along the path 9, a plurality of transfer target locations 8 are provided. The transfer target locations 8 are arranged below the path 9. The carrier vehicle 1 is configured to transfer an article (not shown) between the transfer target locations 8 by raising and lowering the article.

[0016] Each of the plurality of carrier vehicles 1 is configured to receive a transfer command from a host control device (not shown) that comprehensively manages the equipment and execute a task according to the transfer command. For example, the transfer command includes information on the transfer source and the transfer destination of the article. The carrier vehicle 1 that has received the transfer command transfers the article from the transfer source to the transfer destination. The transfer source and the transfer destination include the above-described transfer target locations 8.

[0017] There are various articles handled by the article transfer facility 100. In this example, the article transfer facility 100 is used in a semiconductor manufacturing factory. Therefore, a substrate storage container (so-called FOUP: Front Opening Unified Pod) that houses substrates (such as wafers and panels) and a reticle storage container (so-called reticle pod) that houses reticles are regarded as articles. In this case, the carrier vehicle 1 transfers articles such as substrate storage containers and reticle storage containers along the path 9 across each process.

[0018] In this embodiment, the transfer target location 8 includes a processing device 80 that performs processing on an article and a mounting table 81 arranged adjacent to the processing device 80. "Processing on an article" means processing on the contained object (substrate or reticle) contained in the article as a storage container. The carrier vehicle 1 receives the article that has been processed by the processing device 80 from the mounting table 81, or delivers the article that has not been processed by the processing device 80 to the mounting table 81. Note that the processing device 80 performs various processes such as thin film formation, photolithography, and etching.

[0019] As shown in FIG. 2, the control device 2 is configured to be communicable with the carrier vehicle 1. The control device 2 includes, for example, a processor such as a microcomputer and peripheral circuits such as a memory. Then, each process or each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer.

[0020] The control device 2 and the carrier vehicle 1 are configured to transmit and receive signals to and from each other. When the carrier vehicle 1 attempts to pass through a confluence section 90 (see FIG. 3) where a plurality of paths 9 merge, the carrier vehicle 1 makes a passing permission request to the control device 2. When the control device 2 permits the carrier vehicle 1 to pass through the confluence section 90, the control device 2 gives the carrier vehicle 1 a passing permission. The passing permission request is transmitted and received as a passing request signal. The passing permission is transmitted and received as a passing permission signal.

[0021] In the present embodiment, the carrier vehicle 1 includes a conveyance control unit 10 and a timer 11. In the present embodiment, the carrier vehicle 1 further includes a power storage device 12. The carrier vehicle 1 can realize various operations such as a traveling operation and a transfer operation using the power stored in the power storage device 12. All the carrier vehicles 1 in the article conveyance facility 100 may include the power storage device 12, or only some of the carrier vehicles 1 may include the power storage device 12. That is, some or all of the plurality of carrier vehicles 1 are equipped with the power storage device 12 for storing power.

[0022] The conveyance control unit 10 is a device configured with a central processing unit as the core and is configured to control the operation of the carrier vehicle 1. The conveyance control unit 10 also transmits and receives signals to and from the control device 2. The timer 11 is configured to measure the elapsed time from an arbitrary point in time. In the present embodiment, the timer 11 measures the elapsed time since the carrier vehicle 1 made a passing permission request. However, the start time of the measurement by the timer 11 may be set as appropriate.

[0023] Figure 3 shows a state where a plurality of carrier vehicles 1 are about to pass through a junction 90 where a plurality of paths 9 merge. In the illustrated example, two paths 9 merge to form the junction 90. One of the two paths 9 is a straight path 91 that linearly merges into the junction 90, and the other is a curved path 92 that curvilinearly merges into the junction 90. Note that whether the path 9 is the straight path 91 or the curved path 92 is relatively determined in relation to the plurality of paths 9 that merge into the junction 90. In other words, among the two merging paths 9, the one with the greater curvature of the curve is the curved path 92, and the other is the straight path 91. That is, even the straight path 91 may be curved.

[0024] The control device 2 is configured to execute merging control for controlling the operations of the plurality of carrier vehicles 1 at the junction 90 where the plurality of paths 9 merge.

[0025] Here, each of the plurality of carrier vehicles 1 that are about to pass through the junction 90 at the same time is a target vehicle 1 to pass through. "Passing through at the same time" means passing through the junction 90 within a preset setting period. This setting period is, for example, 3000 msec to 5000 msec. For each of the plurality of carrier vehicles 1, when the time determined based on the traveling speed and the distance from the current position to the junction 90 is within the setting period, these plurality of carrier vehicles 1 are the target vehicles 1 to pass through. In the illustrated example, the carrier vehicle 1 indicated by "A" and the carrier vehicle 1 indicated by "B" are each the target vehicle 1 to pass through. Hereinafter, these two target vehicles 1 to pass through may be referred to as the target vehicle A and the target vehicle B, respectively.

[0026] The merging control includes an order determination process for determining the passing order of each of the plurality of target vehicles 1 through the junction 90. In the order determination process, based on the waiting time index I calculated for each of the plurality of target vehicles 1, it is determined whether the target vehicle 1 is allowed to pass.

[0027] In this embodiment, the passing target vehicle 1 notifies the control device 2 of the waiting time index I for itself. Then, in the order determination process, the control device 2 compares the waiting time indexes I for each of the plurality of passing target vehicles 1, and gives the passing permission for the merging section 90 to the passing target vehicle 1 with the larger waiting time index I.

[0028] The waiting time index I is determined by correcting the waiting time Tf with a correction coefficient X that is determined according to the state of each of the plurality of passing target vehicles 1. In this embodiment, the waiting time index I is corrected so as to have a larger value as the correction coefficient X increases. In this example, the waiting time index I is determined by adding the correction coefficient X to the waiting time Tf.

[0029] In this embodiment, when the passing target vehicle 1 is transporting an article, the correction coefficient X is set so that the waiting time index I is made larger than when the passing target vehicle 1 is not transporting an article. In this example, the correction coefficient X is set to increase. The transport vehicle 1 transporting an article is in the middle of task execution and may be in a hurry to arrive at the destination. On the other hand, for the transport vehicle 1 not transporting an article, the destination may not be determined, so the urgency is relatively likely to be low. According to the above configuration, since the correction coefficient X for the passing target vehicle 1 in the state of transporting an article is set to increase, it becomes easier for the passing target vehicle 1 to pass through the merging section 90 preferentially with respect to the passing target vehicle 1 not transporting an article.

[0030] In the illustrated example, the passing target vehicle A is in a state of not transporting an article (presence or absence of article: "none"). On the other hand, the passing target vehicle B is in a state of transporting an article (presence or absence of article: "yes"). Therefore, when paying attention to the presence or absence of the article, the correction coefficient Xb for the passing target vehicle B includes an element that is larger than the correction coefficient Xa for the passing target vehicle A.

[0031] In this embodiment, when the passing vehicle 1 is located on a straight road 91 where it merges into the merging section 90 linearly, a correction coefficient X is set so as to increase the waiting time index I as compared with the case where the passing vehicle 1 is located on a curved road 92 where it merges into the merging section 90 curvilinearly. In this example, the correction coefficient X is set to increase. The passing vehicle 1 traveling on the straight road 91 is more likely to have a higher traveling speed than the passing vehicle 1 traveling on the curved road 92. As for the entire facility, by preferentially allowing such a passing vehicle 1 that is relatively likely to have a higher traveling speed to pass through the merging section 90, efficient operation can be achieved.

[0032] In the illustrated example, the passing vehicle A is located on the curved road 92 (traveling route: curved road). The passing vehicle B is located on the straight road 91 (traveling route: straight road). Therefore, when paying attention to the route 9 on which the passing vehicle 1 travels, the correction coefficient Xb for the passing vehicle B includes an element that is larger than the correction coefficient Xa for the passing vehicle A.

[0033] In this embodiment, the correction coefficient X is set so as to increase the waiting time index I as the traffic congestion degree J in the route 9 where the passing vehicle 1 is located increases. In this example, the correction coefficient X is set to increase. Thereby, it is easier to allow the passing vehicle 1 located on the route 9 with a relatively high traffic congestion degree J to pass through the merging section 90 prior to the passing vehicle 1 located on the route 9 with a relatively low traffic congestion degree J. Therefore, the traveling of the passing vehicle 1 on the route 9 with a relatively high traffic congestion degree J can be smoothed, and thereby, the traffic congestion degree J can be made uniform for the entire route 9. Note that the "traffic congestion degree J" is determined based on the number of carrier vehicles 1 within a predetermined area of the route 9. Also, when paying attention to one carrier vehicle 1, it may be determined based on the time the carrier vehicle 1 stops, the traveling speed, or the time to pass through a set specific section. The "traffic congestion degree J" is preferably determined quantitatively by quantification. For example, the traffic congestion degree J is determined by numerical values in five levels from 1 to 5.

[0034] In the illustrated example, in route 9 where passing vehicle A is located, only passing vehicle A exists, and the congestion level J is set to "1" (congestion level: 1). In route 9 where passing vehicle B is located, a plurality of carrier vehicles 1 exist, and the congestion level J is set to "3" (congestion level: 3). Therefore, when focusing on the congestion level J, the correction coefficient Xa of passing vehicle A is not affected by the congestion level J. The correction coefficient Xb of passing vehicle B is affected by the congestion level J and includes elements that increase the correction coefficient Xb.

[0035] As described above, various indicators are considered to determine the correction coefficient X, and for each of the plurality of passing vehicles 1, the correction coefficient X is added to the waiting time Tf to determine the waiting time index I.

[0036] In the illustrated example, for passing vehicle A, the correction coefficient Xa is set to "0" without being affected by each indicator such as the presence or absence of goods, the driving route, and the congestion level J. Therefore, "0" of the correction coefficient Xa is added to the waiting time Tf of "4000 msec" of passing vehicle A, and the waiting time index I for passing vehicle A becomes "4000". For passing vehicle B, the correction coefficient Xb is affected by all of the indicators such as the presence or absence of goods, the driving route, and the congestion level J, and is set to "2000". Therefore, "2000" of the correction coefficient Xa is added to the waiting time Tf of "3000 msec" of passing vehicle B, and the waiting time index I for passing vehicle B becomes "5000". In this example, the waiting time index I is a dimensionless value without a unit. However, in this example, since the waiting time index I is obtained by adding the correction coefficient X to the waiting time Tf, its unit may be the same as that of the waiting time Tf, which is "msec". Alternatively, a unit other than "msec" may be used as the unit of the waiting time index I.

[0037] Figure 4 is a graph with the horizontal axis representing the waiting time Tf and the vertical axis representing the waiting time index I. After passing vehicle 1 stops at the stop point S, the waiting time Tf and the waiting time index I gradually start to increase. These are measured by the timer 11 mounted on each passing vehicle 1.

[0038] As described above, in this example, since the correction coefficient Xa for the passing target vehicle A is "0", even if the correction coefficient Xa is added to the waiting time Tf, the graph is not affected. On the other hand, since the correction coefficient Xb for the passing target vehicle B is a positive value ("2000" in this example), the graph is shifted upward by adding the correction coefficient Xb to the waiting time Tf.

[0039] Figure 5 is a time chart from the perspective of the control device 2 that executes the order determination process. In the illustrated example, the passing target vehicle A stops at the stop point S before the passing target vehicle B, and the count of the waiting time Tf (waiting time index I) starts from there. For the passing target vehicle B that stops at the stop point S behind the passing target vehicle A, the start of the count of the waiting time Tf (waiting time index I) is later than that of the passing target vehicle A.

[0040] However, for the passing target vehicle B, since the correction coefficient Xb is set to a large value under the influence of each index, at the time when the control device 2 that executes the order determination process determines whether the passing target vehicle 1 can pass, the waiting time index I (5000) for the passing target vehicle B is larger than the waiting time index I (4000) for the passing target vehicle A. Therefore, as a result of comparing the waiting time indexes I of both, the control device 2 gives permission for the passing target vehicle B to pass through the merging section 90.

[0041] In this way, in the order determination process, the control device 2 compares the waiting time indexes I determined based on the waiting time Tf at the merging section 90 of the plurality of passing target vehicles 1, and allows the passing target vehicle 1 with the largest waiting time index I to pass through before the other passing target vehicles 1.

[0042] Here, as described above, in this embodiment, the transport vehicle 1 includes a power storage device 12 (see FIG. 2). The power storage device 12 is, for example, a battery, a capacitor, or the like.

[0043] Figure 6 shows a specific merging section 90 among the plurality of merging sections 90 existing in the article transport facility 100.

[0044] As shown in FIG. 6, in the present embodiment, a charging station 7 for charging the power storage device 12 is provided in front of the confluence section 90. For example, a power supply line for non-contact power supply is provided in a part of the path 9, and a part of the area where the power supply line is provided is used as the charging station 7. In the present embodiment, the charging station 7 is provided on the curved road 92 out of the straight road 91 and the curved road 92 that merge at the confluence section 90.

[0045] In the present embodiment, when the amount of power stored in the power storage device 12 mounted on the passing vehicle 1 is equal to or less than a predetermined reference remaining amount, a correction coefficient X is set so that the waiting time index I is made smaller than when the amount of power stored in the power storage device 12 is greater than the reference remaining amount. In this example, the correction coefficient X is set to be smaller. As a result, the waiting time index I is likely to be a relatively small value. Therefore, the passing vehicle 1 equipped with the power storage device 12 whose power amount has become equal to or less than the reference remaining amount is highly likely to wait in front of the confluence section 90. Thereby, the passing vehicle 1 can charge the power storage device 12 at the charging station 7 by using the waiting time Tf.

[0046] Also, as described above, in the curved road 92 where the traveling speed of the passing vehicle 1 is likely to be relatively low, the correction coefficient X is relatively small in the first place. Therefore, the passing vehicle 1 on the curved road 92 is highly likely to wait in front of the confluence section 90. In the present embodiment, since the charging station 7 is provided on the curved road 92, a situation where the passing vehicle 1 can easily charge can be created.

[0047] In this embodiment, when the amount of electric power stored in the power storage device 12 mounted on the vehicle 1 to pass through is less than or equal to the reference remaining amount and there is no charging station 7 in front of the merging section 90 where the vehicle 1 to pass through intends to pass, the correction coefficient X is set so as to increase the waiting time index I compared to the case where the amount of electric power stored in the power storage device 12 is greater than the reference remaining amount. In this example, the correction coefficient X is set to increase. In such a case, by setting the correction coefficient X to be large, the waiting time index I is likely to become a relatively large value. Therefore, the vehicle 1 to pass through equipped with the power storage device 12 with the amount of electric power less than or equal to the reference remaining amount can easily pass through the merging section 90 without a charging station 7, and can easily perform charging at another charging station 7 or the like at an early stage.

[0048] In the illustrated example, it becomes easier for the vehicle B to pass through the merging section 90 located on the straight road 91 to be prioritized. When the vehicle B to pass through can pass through the merging section 90 prior to the vehicle A to pass through, the vehicle B to pass through can head to the charging station 7 provided in another location at an early stage and can perform charging there.

[0049] 〔Other Embodiments〕 Next, other embodiments will be described.

[0050] (1) In the above embodiment, an example in which the waiting time index I is determined by adding the correction coefficient X to the waiting time Tf has been described. However, without being limited to such an example, the waiting time index I may be determined by multiplying and adding the correction coefficient X to the waiting time Tf. In this case, for example, as shown in FIG. 7, the slope of the graph changes by multiplication, and the graph shifts upward by addition. However, the waiting time index I may be determined only by multiplying the correction coefficient X. Alternatively, in addition to the above, the waiting time index I may be determined by subtracting or dividing the correction coefficient X from the waiting time Tf. Even in this case, the waiting time index I is set to be a large value by being calculated by the correction coefficient X. That is, there are various methods of calculating the correction coefficient X with respect to the waiting time index I, but the correction coefficient X corresponding to various situations is set so that the waiting time index I becomes a large value as a result of the calculation. For example, there may be a case where the waiting time index I becomes a larger value as the correction coefficient X becomes smaller.

[0051] (2) In the above embodiment, an example in which the correction coefficient X is set to be larger for the passing target vehicle 1 in the state of transporting an article than for the passing target vehicle 1 in the state of not transporting an article has been described. However, without being limited to such an example, even if all of the plurality of passing target vehicles 1 that can pass through the merging section 90 at the same time are in the state of transporting an article, by setting the correction coefficient X in consideration of at least one of the content of the article being transported, the content of the given transport command, and the transport destination of the article, the superiority or inferiority of passing may be determined for both of the passing target vehicles 1 in the state of transporting an article. That is, the priority of article transport may be reflected in the correction coefficient X.

[0052] (3) In the above embodiment, an example in which the correction coefficient X is determined under the influence of various situations such as whether the passing target vehicle 1 is transporting an article, the path 9 (straight path 91 or curved path 92) where the passing target vehicle 1 is located, and the traffic congestion degree J has been described. However, without being limited to such an example, the correction coefficient X may be set for each of the above situations (that is, a plurality of correction coefficients X are set). In this case, the waiting time index I is determined by calculating all of the plurality of correction coefficients X with respect to the waiting time Tf.

[0053] (4) In the above embodiment, an example in which the correction coefficient X is set to be larger than that of the passing target vehicle 1 located on the curved path 92 where the traveling speed is likely to be relatively low when the passing target vehicle 1 is located on the straight path 91 where the traveling speed is likely to be relatively high has been described. However, without being limited to such an example, the magnitude of the correction coefficient X may be set from the viewpoint of the traveling speed of the passing target vehicle 1 regardless of the shape of the path 9. That is, the correction coefficient X may be set to increase as the traveling speed of the passing target vehicle 1 in front of the merging section 90 increases, or conversely, the correction coefficient X may be set to decrease as the traveling speed decreases.

[0054] (5) In the above embodiment, an example in which the control device 2 compares the waiting time indexes I determined based on the waiting times Tf of the plurality of passing target vehicles 1 at the merging section 90 in the order determination process and allows the passing target vehicle 1 with the largest waiting time index I to pass before the other passing target vehicles 1 has been described. However, without being limited to such an example, the control device 2 may determine the passing order according to the waiting time index I in the order determination process. For example, the control device 2 may calculate the reciprocal of the value obtained by correcting the waiting time Tf with the correction coefficient X as the waiting time index I, and allow the passing target vehicle 1 with the smallest waiting time index I to pass before the other passing target vehicles 1.

[0055] (6) In the above-described embodiment, the control device 2 has been described as an example of permitting the transport vehicle 1 to pass through the merging section 90 when it permits the passage. This permission to pass may be given collectively to a plurality of transport vehicles 1. In this case, the control device 2 may specify the order of passage based on the waiting time index I of each transport vehicle 1 and then give permission to pass to each transport vehicle 1. Thereby, the transport vehicles 1 can pass through the merging section 90 without interfering with each other.

[0056] (7) In the above-described embodiment, the timer 11 has been described as an example of measuring the elapsed time since the transport vehicle 1 made a request for permission to pass. However, without being limited to such an example, the timer 11 may measure the elapsed time since the transport vehicle 1 stopped at the stop point S set in front of the merging section 90.

[0057] (8) In the above-described embodiment, an example in which the transport vehicle 1 is provided with the timer 11 has been described. However, without being limited to such an example, the control device 2 may be provided with the timer 11. In this case, the timer 11 provided in the control device 2 may be used to measure the elapsed time since each transport vehicle 1 stopped in front of the merging section 90.

[0058] (9) Note that the configurations disclosed in the above-described embodiments can also be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[0059] Summary of the Present Embodiment Hereinafter, the summary of the present embodiment will be described.

[0060] A plurality of transport vehicles traveling along a predetermined route, An article transport facility including a control device for controlling the transport vehicle. The control device is configured to execute confluence control for controlling the operations of the plurality of carrier vehicles at a confluence section where the plurality of paths merge. Regarding each of the plurality of carrier vehicles attempting to pass through the confluence section at the same time as a vehicle to be passed, the confluence control includes an order determination process for determining the passing order of each of the plurality of vehicles to be passed through the confluence section. In the order determination process, the control device determines the passing order according to a waiting time index determined based on the waiting time of the plurality of vehicles to be passed at the confluence section. The waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the state of each of the plurality of vehicles to be passed.

[0061] According to this configuration, it is determined whether a vehicle to be passed can pass based on the waiting time of each vehicle to be passed at the confluence section. Therefore, a simple control configuration can be constructed. Also, the waiting time index serving as the basis for determining whether a vehicle can pass is determined by correcting the actual waiting time with a correction coefficient determined according to the state of each vehicle to be passed. Therefore, the determination of whether a vehicle can pass takes into account the state of each vehicle to be passed, and it can be realized by a simple process of correcting the waiting time with the above correction coefficient. As described above, according to this configuration, it is possible to simply and appropriately control a plurality of carrier vehicles involved in the confluence section.

[0062] In the order determination process, it is preferable that the control device compares the waiting time indices of the plurality of vehicles to be passed and allows the vehicle to be passed with the largest waiting time index to pass through before the other vehicles to be passed.

[0063] According to this configuration, it is possible to make the increase and decrease of the waiting time correlated with the increase and decrease of the waiting time index. Therefore, it becomes easier to simply control a plurality of carrier vehicles involved in the confluence section.

[0064] When the passing target vehicle is transporting an article, it is preferable that the correction coefficient is set so as to increase the waiting time index compared to the case where the passing target vehicle is not transporting the article.

[0065] According to this configuration, it is easier for the passing target vehicle in the state of transporting an article to pass through the merging section, giving priority to the passing target vehicle not transporting the article.

[0066] When the passing target vehicle is located on a straight road that merges into the merging section linearly, it is preferable that the correction coefficient is set so as to increase the waiting time index compared to the case where the passing target vehicle is located on a curved road that merges into the merging section curvilinearly.

[0067] A passing target vehicle traveling on a straight road is more likely to have a higher traveling speed than a passing target vehicle traveling on a curved road. As for the entire facility, by preferentially allowing such a passing target vehicle with a relatively high traveling speed to pass through the merging section, efficient operation can be achieved. According to this configuration, it is easier for the passing target vehicle located on the straight road to pass through the merging section, giving priority to the passing target vehicle located on the curved road. Therefore, it becomes easier to achieve efficient operation of the entire facility.

[0068] It is preferable that the correction coefficient is set so as to increase the waiting time index as the traffic congestion degree in the route where the passing target vehicle is located increases.

[0069] According to this configuration, it is easier for the passing target vehicle located on a route with a relatively high traffic congestion degree to pass through the merging section, giving priority to the passing target vehicle located on a route with a relatively low traffic congestion degree. Therefore, it is possible to achieve the equalization of the traffic congestion degree of the entire route, and ultimately, it becomes easier to achieve efficient operation of the entire facility.

[0070] Some or all of the plurality of transport vehicles are equipped with a power storage device for storing power, A charging station for charging the power storage device is provided in front of the merging section, When the amount of power stored in the power storage device mounted on the passing target vehicle is less than or equal to a predetermined reference remaining amount, it is preferable that the correction coefficient is set so that the standby time index is smaller than when the amount of power stored in the power storage device is greater than the reference remaining amount.

[0071] According to this configuration, when the amount of power stored in the power storage device mounted on the passing target vehicle is less than or equal to a predetermined reference remaining amount, the correction coefficient is set to be smaller, so the standby time index is unlikely to be a large value. Therefore, the passing target vehicle has a lower priority and is more likely to wait at the merging section. And according to this configuration, it becomes possible to charge the power storage device by using the period during which the passing target vehicle equipped with the power storage device waits at the merging section.

[0072] When the amount of power stored in the power storage device mounted on the passing target vehicle is less than or equal to the reference remaining amount, and there is no charging station in front of the merging section where the passing target vehicle is about to pass, it is preferable that the correction coefficient is set so that the standby time index is larger than when the amount of power stored in the power storage device is greater than the reference remaining amount.

[0073] According to this configuration, when the amount of power stored in the power storage device is less than or equal to the reference remaining amount and there is no charging station in front of the merging section where the passing target vehicle is about to pass, the correction coefficient is set to be large, so the standby time index is likely to be a large value. Therefore, a passing target vehicle with the amount of power stored in the power storage device less than or equal to the reference remaining amount can easily pass through a merging section without a charging station, and can easily perform charging at other charging stations or the like earlier.

Industrial Applicability

[0074] The technology according to the present disclosure can be used in an article conveyance facility including a plurality of carrier vehicles traveling along a predetermined route and a control device for controlling the carrier vehicles.

Explanation of Signs

[0075] 100: Article conveying equipment 1: Conveying vehicle 12: Power storage device 2: Control device 7: Charging station 9: Route 90: Merging section 91: Straight route 92: Curved route Tf: Standby time X: Correction coefficient I: Standby time index J: Traffic congestion degree

Claims

1. A goods conveying facility comprising a plurality of carrier vehicles traveling along a predetermined route, and a control device for controlling the carrier vehicles, wherein: the control device is configured to perform merging control for controlling the operations of the plurality of carrier vehicles at a merging section where a plurality of the routes merge; each of a plurality of the carrier vehicles attempting to pass through the merging section at the same time is regarded as a vehicle to be passed; the merging control includes an order determination process for determining the passing order of each of the plurality of vehicles to be passed through the merging section; in the order determination process, the control device determines the passing order according to a waiting time index determined based on the waiting time of each of the plurality of vehicles to be passed at the merging section; the waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the state of each of the plurality of vehicles to be passed.

2. In the order determination process, the control device compares the waiting time indices of each of the plurality of vehicles to be passed, and causes the vehicle to be passed with the largest waiting time index to pass through the merging section before the other vehicles to be passed. The goods conveying facility according to Claim 1.

3. The correction coefficient is set such that when the vehicle to be passed is carrying goods, the waiting time index is made larger than when the vehicle to be passed is not carrying goods. The goods conveying facility according to Claim 2.

4. The correction coefficient is set such that when the vehicle to be passed is located on a straight path merging into the merging section linearly, the waiting time index is made larger than when the vehicle to be passed is located on a curved path merging into the merging section curvilinearly. The goods conveying facility according to Claim 2.

5. The correction coefficient is set such that the waiting time index increases as the traffic congestion degree on the route where the vehicle to be passed is located increases. The goods conveying facility according to Claim 2.

6. Some or all of the plurality of carrier vehicles are equipped with a power storage device for storing power, and a charging station for charging the power storage device is provided in front of the merging section. When the amount of power stored in the power storage device mounted on the vehicle to be passed is equal to or less than a predetermined reference remaining amount, the correction coefficient is set such that the waiting time index is made smaller than when the amount of power stored in the power storage device is larger than the reference remaining amount. The goods conveying facility according to Claim 2.

7. ​ ​ ​ When the amount of electric power stored in the power storage device mounted on the passing target vehicle is less than or equal to the reference remaining amount, and there is no charging station in front of the merging section where the passing target vehicle is about to pass, the correction coefficient is set so as to increase the standby time index as compared with the case where the amount of electric power stored in the power storage device is greater than the reference remaining amount. The article conveying facility according to claim 6.

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