Conveying installation

Abstract

To achieve smooth passage of a plurality of carriers in a section including a plurality of adjacent intersections.SOLUTION: The transport facility includes a transport vehicle and a zone control system. After the preceding transport vehicle 1L that has entered the specific section in advance has been permitted to pass through the first passing point R1 or the second passing point R2, when a subsequent transport vehicle 1L that enters the specific section after the preceding transport vehicle 1F has made a request to permit passage through the first passing point R1 or the second passing point R2, the section control system permits the subsequent transport vehicle 1F to pass through the subsequent passing point RF if the subsequent stopping point SF is different from the preceding stopping point SL and the subsequent passing point RF is different from the preceding passing point RL.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a conveying facility that includes a conveying vehicle, a travel route along which the conveying vehicle travels, and a section control system that controls the conveying vehicle by issuing passage permission and stop commands to the conveying vehicle traveling in a specific section set on the travel route. [Background technology]

[0002] For example, Japanese Patent Laid-Open Publication No. 2006-313463 (Patent Document 1) discloses an invention for controlling the passage of transport vehicles in a merging section where multiple routes merge. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] Before entering a merging section where a lock point is provided, a guided vehicle (5) issues a blocking request to a zone controller (11) to prevent other guided vehicles (5) from entering the merging section. If the zone controller (11) is to permit the guided vehicle (5) that issued the blocking request to pass through the merging section, it issues a blocking permission and prevents other guided vehicles (5) from passing. After the guided vehicle (5) has passed through, the zone controller (11) releases the blocking at the merging section, making it ready to accept other guided vehicles (5). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-313463 Summary of the Invention [Problem to be solved by the invention]

[0005] In the invention disclosed in Patent Document 1, a decision is made as to whether or not a guided vehicle is permitted to pass at an intersection where two routes intersect. Only one vehicle can pass through such an intersection at a time, and other guided vehicles are inevitably excluded from passing. This does not require complex control. On the other hand, for example, when there is a section including multiple nearby intersections, control tends to become complicated in order to avoid interference between guided vehicles. From the perspective of reliability, it is conceivable to allow only one vehicle to pass through such a section including multiple intersections, and exclude other guided vehicles from passing. However, in this case, the passage of guided vehicles may be unnecessarily restricted even in a situation where the possibility of interference between guided vehicles is low.

[0006] In view of the above situation, it is desirable to realize smooth passage of multiple guided vehicles in a section including multiple nearby intersections. [Means for solving the problem]

[0007] A transport vehicle, a travel route along which the transport vehicle travels; a section control system that issues a pass permission and a stop command to the transport vehicle traveling in a specific section set on the travel route and controls the transport vehicle, a stop point where the transport vehicle stops in response to the stop command and a passing point where the transport vehicle passes after obtaining the passing permission are set in the specific section; The stop points include a first stop point and a second stop point, each of which has a different entrance location to the specific section; The passing points include a first passing point and a second passing point, each of which has a different exit location from the specific section; the first passing point and the second passing point are each located downstream of the travel route with respect to both the first stopping point and the second stopping point, The section control system comprises: After the passage permission for the first pass point or the second pass point is given to the leading transport vehicle, which is the transport vehicle that has entered the specific section ahead of the leading transport vehicle, when a passage permission request for the first pass point or the second pass point is received from a following transport vehicle, which is another transport vehicle that enters the specific section after the leading transport vehicle, The stopping point and the passing point through which the preceding transport vehicle passes are defined as a preceding stopping point and a preceding passing point, respectively, and the stopping point and the passing point through which the following transport vehicle passes are defined as a following stopping point and a following passing point, respectively, When the subsequent stopping point and the preceding stopping point are different and the subsequent passing point and the preceding passing point are different, the subsequent guided vehicle is given the passage permission for the subsequent passing point.

[0008] According to this configuration, when the subsequent stop point and the preceding stop point are different and the subsequent pass point and the preceding pass point are different, the section control system gives the subsequent guided vehicle permission to pass through the subsequent pass point. Therefore, not only the preceding guided vehicle but also the subsequent guided vehicle can pass through the specific section, allowing multiple guided vehicles that exist simultaneously in the specific section to pass smoothly. As described above, according to this configuration, smooth passage of multiple guided vehicles can be achieved in a section that includes multiple nearby intersections.

[0009] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Plan view of the transport facility [Figure 2] Diagram showing control at intersections by the section control system [Figure 3] Diagram showing specific sections [Figure 4] Diagram showing control in a specific section [Figure 5] Diagram showing control in a specific section DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the conveying equipment will be described with reference to the drawings.

[0012] 1, the transport facility 100 includes a transport vehicle 1 and a travel path 9 along which the transport vehicle 1 travels. An example of the transport vehicle 1 is a so-called ceiling transport vehicle that travels along a travel rail installed near the ceiling.

[0013] A plurality of transfer target locations 8 are provided along a travel route 9. The transport vehicle 1 is configured to execute a task assigned thereto, for example, transporting an article (not shown) to the transfer target locations 8.

[0014] The transport facility 100 is used, for example, in a semiconductor manufacturing factory. In this case, the transfer target location 8 can be, for example, a processing device 80 that processes an object. Examples of the object include a FOUP (Front Opening Unified Pod) that stores wafers and a reticle pod that stores reticles. If the object is a FOUP, the object to be processed by the processing device 80 is a wafer. If the object is a reticle pod, the object to be processed by the processing device 80 is a reticle. In the semiconductor manufacturing factory exemplified here, the processing device 80 performs various processes on semiconductor substrates, such as thin film formation, photolithography, and etching. The processing device 80 is configured to pick up the object to be processed from among the objects on a mounting table 81 arranged adjacent to the processing device 80 and process the object. The transfer of the object to the mounting table 81 is performed by a transport vehicle 1.

[0015] The travel route 9 has an intersection 90 where multiple routes intersect. The intersection 90 includes a branch point where one route branches into multiple routes and a junction point where multiple routes merge into one. In this embodiment, the travel route 9 is one-way, and the guided vehicle 1 cannot travel in the opposite direction on the travel route 9. Therefore, at the intersection 90 as a branch point, the guided vehicle 1 selects one of the multiple branching routes to travel on. At the intersection 90 as a junction point, the guided vehicle 1 travels on one route beyond the intersection 90 (junction point) regardless of which of the multiple routes the guided vehicle 1 is traveling on (there is no room for route selection). Therefore, when there are multiple guided vehicles 1 entering the intersection 90 as a junction point at the same time from different routes, only one of the guided vehicles 1 is allowed to pass, and the other guided vehicles 1 must be prevented from passing.

[0016] As shown in Fig. 2, the transport facility 100 includes a section control system 2 that controls the transport vehicles 1 at intersections 90. The section control system 2 includes five major devices, such as an input device, an output device, a storage device, a calculation device, and a control device. The section control system 2 may be configured using multiple of the five major devices that are located at physically separate locations.

[0017] FIG. 2 shows an example in which the section control system 2 controls a plurality of guided vehicles 1 at an intersection 90.

[0018] The section control system 2 is configured to communicate with a plurality of guided vehicles 1 to control each of the guided vehicles 1. The communication is performed wirelessly, but at least part of the communication path may be wired.

[0019] The section control system 2 is configured to control the entry timing of each of the multiple transport vehicles 1 so that the multiple transport vehicles 1 pass through the intersection 90 in order without interfering with each other. In this transport facility 100, the section control system 2 is configured to control the transport vehicles 1 by issuing passage permission and stop commands to the transport vehicles 1 traveling in a specific section Z (see FIG. 3 etc.) set on the travel route 9.

[0020] Upstream of the intersection 90, which serves as a junction, there is a stop point S, which serves as an entry point to the section in which the intersection 90 is located, and downstream there is a passing point R, which serves as an exit point from the section in which the intersection 90 is located.

[0021] The guided vehicle 1 makes a request for passage permission to the section control system 2 before the stopping point S or at the stopping point S.

[0022] When there are competing requests for passage permission from multiple guided vehicles 1, the section control system 2 grants passage permission to only one of the guided vehicles 1 and registers the occupancy of the pass point R for that guided vehicle 1. As a result, the pass point R is occupied by that guided vehicle 1. The guided vehicle 1 that has been granted passage permission travels through the intersection 90 and passes through the pass point R. The section control system 2 issues a stop command to the guided vehicle 1 that has not been granted passage permission. The guided vehicle 1 that has been issued the stop command stops at the stop point S and waits for passage permission to be granted by the section control system 2.

[0023] After the guided vehicle 1 that has been granted permission to pass passes through the pass point R, it sends an occupation release request to the section control system 2 to release the occupation of the pass point R. In response to the occupation release request, the section control system 2 cancels the occupation registration of the pass point R. As a result, the pass point R becomes unoccupied, and the section control system 2 becomes able to accept the next guided vehicle 1 at the pass point R.

[0024] The above-mentioned pass permission request, pass permission, exclusive release request, stop command, etc. are transmitted and received as signals between the section control system 2 and the guided vehicle 1. For example, a pass permission request is transmitted and received as a permission request signal. A pass permission is transmitted and received as a pass permission signal. A exclusive release request is transmitted and received as a release request signal. A stop command is transmitted and received as a stop command signal.

[0025] In this way, by using the section control system 2 to determine whether or not the guided vehicles 1 are allowed to pass through the intersection 90, it is possible to prevent the guided vehicles 1 from interfering with each other at the intersection 90.

[0026] In this embodiment, the section control system 2 includes a storage unit 20 and a comparison unit 21.

[0027] The storage unit 20 is a functional unit that records information about the guided vehicle 1. For example, information about the individual guided vehicle 1, current position information, planned travel route information, transmission information of a passage permission request, speed information, and the like are recorded.

[0028] The comparison unit 21 is a functional unit that compares the information of each guided vehicle 1 recorded in the storage unit 20. The comparison unit 21 compares, for example, the planned travel route information and the transmission information of the pass permission request for the multiple guided vehicles 1. If the section control system 2 recognizes the possibility of interference between the guided vehicles 1 on the travel route 9 as a result of the comparison, it performs control to avoid the interference. In this case, as described above, the section control system 2 gives pass permission to one of the two guided vehicles 1 and sends a stop command to the other one.

[0029] In the transport facility 100 according to the present disclosure, the section control system 2 controls the transport vehicle 1 in the specific section Z.

[0030] 3 shows a specific section Z. In the specific section Z, a stop point S where the guided vehicle 1 stops in response to a stop command and a passing point R where the guided vehicle 1 passes after obtaining a passing permission are set.

[0031] The stop point S includes a first stop point S1 and a second stop point S2, each of which is a different entry point to the specific section Z. The pass point R includes a first pass point R1 and a second pass point R2, each of which is a different exit point from the specific section Z. The first pass point R1 and the second pass point R2 are each located downstream of both the first stop point S1 and the second stop point S2 on the travel route 9.

[0032] In the specific section Z, the route from the first stopping point S1 to the first passing point R1 does not interfere with the route from the second stopping point S2 to the second passing point R2, and the route from the first stopping point S1 to the second passing point R2 does not interfere with the route from the second stopping point S2 to the first passing point R1.

[0033] The control performed by the section control system 2 in such a specific section Z will be described below. After granting passage permission for the first pass point R1 or the second pass point R2 to a leading guided vehicle 1L, which is a guided vehicle 1 that has entered the specific section Z ahead of the leading guided vehicle 1L, the section control system 2 determines whether to grant passage permission for the following guided vehicle 1F, which is another guided vehicle 1 that enters the specific section Z after the leading guided vehicle 1L, and controls the following guided vehicle 1F based on the determination result. This determination differs for each case. The control performed by the section control system 2 will be described below for each different case. The stopping point S and passing point R passed by the leading guided vehicle 1L are defined as a leading stopping point SL and a leading passing point RL, respectively, and the stopping point S and passing point R passed by the following guided vehicle 1F are defined as a following stopping point SF and a following passing point RF, respectively.

[0034] FIG. 4 shows Case 1. In Case 1, transport vehicle A is the first to enter specific section Z, and transport vehicle B enters specific section Z afterwards. Therefore, transport vehicle A is the leading transport vehicle 1L, and transport vehicle B is the following transport vehicle 1F. The first stopping point S1, where leading transport vehicle A enters, is the leading stopping point SL, and the second stopping point S2, where following transport vehicle B enters, is the following stopping point SF. The first passing point R1, where leading transport vehicle A exits, is the leading passing point RL, and the second passing point R2, where following transport vehicle B exits, is the following passing point RF.

[0035] When the subsequent stop point SF and the preceding stop point SL are different and the subsequent pass point RF and the preceding pass point RL are different, the section control system 2 gives the subsequent guided vehicle B permission to pass through the subsequent pass point RF.

[0036] In Case 1 shown in Figure 4, the following stop point SF, which is the entry point for the following guided vehicle B, is the second stop point S2, and the preceding stop point SL, which is the entry point for the leading guided vehicle A, is the first stop point S1. Therefore, the entry points for both are different. Also, the following pass point RF, which is the exit point for the following guided vehicle B, is the second pass point R2, and the preceding pass point RL, which is the exit point for the leading guided vehicle A, is the first pass point R1. Therefore, the exit points for both are different.

[0037] 4, the following guided vehicle B is permitted to travel in the direction indicated by the solid arrow without affecting the preceding guided vehicle A. The section control system 2 gives the following guided vehicle B permission to pass.

[0038] 4, the following guided vehicle B is not permitted to travel in the direction indicated by the dashed arrow. In this case, the following pass point RF, which is the exit point of the following guided vehicle B, and the preceding pass point RL, which is the exit point of the preceding guided vehicle A, both become the first pass point R1 and overlap. In this case, the section control system 2 does not give the following guided vehicle B a pass permission because there is a possibility that the following guided vehicle B and the preceding guided vehicle A may interfere with each other. In other words, when the following pass point RF and the preceding pass point RL are the same, the section control system 2 does not give the following guided vehicle 1F a pass permission at the following pass point RF, and issues a stop command to stop the following guided vehicle 1F at the following stop point SF.

[0039] FIG. 5 shows Case 2. In Case 2, transport vehicle A is the first to enter specific section Z, and transport vehicle C enters specific section Z afterwards. Therefore, transport vehicle A is the leading transport vehicle 1L, and transport vehicle C is the following transport vehicle 1F. The first stopping point S1, where leading transport vehicle A enters, is the leading stopping point SL, and the first stopping point S1, where following transport vehicle C enters, is the following stopping point SF. The first passing point R1, where leading transport vehicle A exits, is the leading passing point RL, and the second passing point R2, where following transport vehicle B exits, is the following passing point RF.

[0040] In Case 2 shown in Figure 5, the following stop point SF, which is the entry location of the following guided vehicle C, is the first stop point S1, and the preceding stop point SL, which is the entry location of the preceding guided vehicle A, is the first stop point S1. Therefore, the entry locations of both are the same. On the other hand, the following pass point RF, which is the exit location of the following guided vehicle C, is the second pass point R2, and the preceding pass point RL, which is the exit location of the preceding guided vehicle A, is the first pass point R1, so the exit locations of both are different. However, as described above, the following stop point SF and the preceding stop point SL are the first stop point S1, and are the same.

[0041] Therefore, traveling of the following guided vehicle C in the direction indicated by the solid arrow in Figure 5 is not permitted as it may interfere with the preceding guided vehicle A. For example, if the preceding guided vehicle A is stopped at or near an intersection 90 (branch point) downstream of the first stop point S1, even if the following guided vehicle C attempts to travel a different route from the preceding guided vehicle A, the following guided vehicle C and the preceding guided vehicle A may interfere with each other. Therefore, the section control system 2 does not give the following guided vehicle C permission to pass and issues a stop command. In other words, when the following stop point SF and the preceding stop point SL are the same, the section control system 2 does not give the following guided vehicle 1F permission to pass through the following pass point RF and issues a stop command to stop the following guided vehicle 1F at the following stop point SF.

[0042] Note that the following guided vehicle C is also not permitted to travel in the direction indicated by the dashed arrow in FIG. 5. Even in this case, both the following stop point SF and the preceding stop point SL are the first stop point S1, and they are still the same. Rather, in this case, the following guided vehicle C will travel the same route as the preceding guided vehicle A, increasing the possibility of interference with the preceding guided vehicle A. Therefore, the section control system 2 does not grant the following guided vehicle C permission to pass and issues a stop command. In other words, when the following stop point SF and the preceding stop point SL are the same, and when the following pass point RF and the preceding pass point RL are the same, the section control system 2 does not grant the following guided vehicle 1F permission to pass the following pass point RF and issues a stop command to stop the following guided vehicle 1F at the following stop point SF.

[0043] In this way, the section control system 2 controls the following guided vehicle 1F in the specific section Z. As a result, when the leading guided vehicle 1L is present in the specific section Z, the following guided vehicle 1F is not necessarily stopped, but is given permission to pass depending on the situation, thereby realizing smooth passage of multiple guided vehicles 1 in the specific section Z.

[0044] In this embodiment, the section control system 2 is configured to execute a recording process and a comparison process.

[0045] The recording process is a process of recording the stop point S, which is the entry point into the specific section Z for each of the multiple transport vehicles 1, and the pass point R, which is the exit point from the specific section Z, in the order in which the multiple transport vehicles 1 enter the specific section Z. The information recorded is recorded in the memory unit 20 (see FIG. 2). In this example, the recording process determines whether each transport vehicle 1 is a leading transport vehicle 1L or a trailing transport vehicle 1F based on the entry order of each transport vehicle 1 into the specific section Z, and also determines the leading stop point SL, trailing stop point SF, leading pass point RL, and trailing pass point RF.

[0046] The comparison process is a process of comparing the similarities and differences of the stop points S and the pass points R for the multiple guided vehicles 1 recorded by the recording process. In this example, the preceding stop point SL, the following stop point SF, the preceding pass point RL, and the following pass point RF are recorded in the memory unit 20 by the recording process. In the comparison process executed thereafter, the similarities and differences between the preceding stop point SL and the following stop point SF, and the similarities and differences between the preceding pass point RL and the following pass point RF are compared.

[0047] The section control system 2 determines whether to grant or deny passage permission based on the order of entry into the specific section Z and the processing result of the comparison process.

[0048] In this embodiment, when the occupancy condition is satisfied, the section control system 2 allows the guided vehicle 1 making the passing permission request to occupy the passing point R related to the passing permission request.

[0049] The conditions for occupancy are (1) There is no other transport vehicle 1 other than the transport vehicle 1 making the passing permission request within the specific section Z (first condition); (2) When there are multiple guided vehicles 1 within the specific section Z, the guided vehicle 1 making the passing permission request is the preceding guided vehicle 1L that has entered the specific section Z first (second condition); (3) When there are multiple guided vehicles 1 within the specific section Z and the guided vehicle 1 making the passing permission request is a following guided vehicle 1F, the following stop point SF and the preceding stop point SL are different, and the following pass point RF and the preceding pass point RL are different (third condition); The condition is that one of the following is met.

[0050] Although detailed illustration is omitted, when the first condition is satisfied, there is only one guided vehicle 1 in the specific section Z, and therefore interference between the guided vehicles 1 cannot occur. Therefore, the section control system 2 gives the guided vehicle 1 permission to pass.

[0051] 4 and 5, the second condition is satisfied for the transport vehicle A. That is, although there is another transport vehicle 1 (transport vehicle B or transport vehicle C) in the specific section Z, the transport vehicle A is the preceding transport vehicle 1L that entered the specific section Z first. Therefore, the second condition is satisfied, and the section control system 2 gives the transport vehicle A permission to pass.

[0052] 4, the third condition is satisfied for the transport vehicle B. That is, there is a transport vehicle A that has entered the specific section Z before the transport vehicle B, and the transport vehicle B is the following transport vehicle 1F, but the following stop point SF and the preceding stop point SL are different, and the following pass point RF and the preceding pass point RL are different. Therefore, the third condition is satisfied, and the section control system 2 gives the transport vehicle B permission to pass.

[0053] 5, none of the first to third conditions is satisfied for the guided vehicle C. Therefore, the section control system 2 does not give the guided vehicle C a passage permit and issues a stop command to the guided vehicle C.

[0054] Other Embodiments Next, other embodiments will be described.

[0055] (1) In the above embodiment, an example was described in which there are two entry locations to the specific section Z, the first stopping point S1 and the second stopping point S2, and two exit locations from the specific section Z, the first passing point R1 and the second passing point R2. However, without being limited to this example, there may be three or more entry locations to the specific section Z (i.e., three or more stopping points S). In addition, there may be three or more exit locations from the specific section Z (i.e., three or more passing points R).

[0056] (2) In the above embodiment, an example has been described in which the transport vehicle 1 is an overhead transport vehicle. However, the present invention is not limited to such an example, and the transport vehicle 1 may be, for example, an AGV (automated guided vehicle) or a rail-guided vehicle. When the transport vehicle 1 is an AGV, the travel route 9 is a virtual route configured using magnetic tape or a two-dimensional code installed on the floor.

[0057] (3) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. 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.

[0058] [Summary of this embodiment] The summary of this embodiment will be described below.

[0059] A transport vehicle, a travel route along which the transport vehicle travels; a section control system that issues a pass permission and a stop command to the transport vehicle traveling in a specific section set on the travel route and controls the transport vehicle, a stop point where the transport vehicle stops in response to the stop command and a passing point where the transport vehicle passes after obtaining the passing permission are set in the specific section; The stop points include a first stop point and a second stop point, each of which has a different entrance location to the specific section; The passing points include a first passing point and a second passing point, each of which has a different exit location from the specific section; the first passing point and the second passing point are each located downstream of the travel route with respect to both the first stopping point and the second stopping point, The section control system comprises: After the passage permission for the first pass point or the second pass point is given to the leading transport vehicle, which is the transport vehicle that has entered the specific section ahead of the leading transport vehicle, when a passage permission request for the first pass point or the second pass point is received from a following transport vehicle, which is another transport vehicle that enters the specific section after the leading transport vehicle, The stopping point and the passing point through which the preceding transport vehicle passes are defined as a preceding stopping point and a preceding passing point, respectively, and the stopping point and the passing point through which the following transport vehicle passes are defined as a following stopping point and a following passing point, respectively, When the subsequent stopping point and the preceding stopping point are different and the subsequent passing point and the preceding passing point are different, the subsequent guided vehicle is given the passage permission for the subsequent passing point.

[0060] According to this configuration, when the subsequent stop point and the preceding stop point are different and the subsequent pass point and the preceding pass point are different, the section control system gives the subsequent guided vehicle permission to pass through the subsequent pass point. Therefore, not only the preceding guided vehicle but also the subsequent guided vehicle can pass through the specific section, allowing multiple guided vehicles that exist simultaneously in the specific section to pass smoothly. As described above, according to this configuration, smooth passage of multiple guided vehicles can be achieved in a section that includes multiple nearby intersections.

[0061] The section control system comprises: a recording process of recording the stopping point, which is the entry point into the specific section for each of the plurality of transporting vehicles, and the passing point, which is the exit point from the specific section, in the order in which the plurality of transporting vehicles enter the specific section; a comparison process for comparing the stop points and the passing points of the plurality of guided vehicles recorded by the recording process; Run Preferably, the section control system determines whether to grant or deny the passage permission based on the order of entry into the specific section and the processing result of the comparison processing.

[0062] According to this configuration, the approval or denial of permission to pass through a specific section can be determined using three indicators: the order of entry into the specific section, the location of entry into the specific section, and the location of exit from the specific section. Therefore, it is possible to determine whether or not permission to pass through is approved with a relatively simple control configuration. [Industrial Applicability]

[0063] The technology disclosed herein can be used in a conveying facility that includes a conveying vehicle, a route along which the conveying vehicle travels, and a section control system that controls the conveying vehicle by issuing passage permission and stop commands to the conveying vehicle traveling along a specific section set on the route. [Explanation of symbols]

[0064] 100:Transportation equipment 1: Transport vehicle 1F: Trailing transport vehicle 1L: Leading transport vehicle 2: Section control system 9: Driving route Z: Specific section R: Passing point R1: 1st passing point R2: 2nd passing point RF: Subsequent pass point RL: Advance passing point S: Stopping point S1: 1st stopping point S2 :Second stopping point SF: Subsequent stop point SL: Advance stopping point

Claims

1. A transport vehicle, a travel route along which the transport vehicle travels; a section control system that issues a passage permission and a stop command to the transport vehicle traveling in a specific section set on the travel route and controls the transport vehicle, a stop point where the transport vehicle stops in response to the stop command and a passing point where the transport vehicle passes after obtaining the passing permission are set in the specific section; The stop points include a first stop point and a second stop point, each of which has a different entrance location to the specific section; The passing points include a first passing point and a second passing point, each of which has a different exit location from the specific section; the first passing point and the second passing point are each located downstream of the travel route with respect to both the first stopping point and the second stopping point, The section control system comprises: After the passage permission for the first pass point or the second pass point is given to the leading transport vehicle, which is the transport vehicle that has entered the specific section ahead of the leading transport vehicle, when a passage permission request for the first pass point or the second pass point is made from a following transport vehicle, which is another transport vehicle that enters the specific section after the leading transport vehicle, The stopping point and the passing point through which the preceding transport vehicle passes are defined as a preceding stopping point and a preceding passing point, respectively, and the stopping point and the passing point through which the following transport vehicle passes are defined as a following stopping point and a following passing point, respectively, When the subsequent stopping point and the preceding stopping point are different and the subsequent passing point and the preceding passing point are different, the subsequent transport vehicle is given the permission to pass through the subsequent passing point.

2. The section control system comprises: a recording process of recording the stopping points, which are the entry points into the specific section for each of the plurality of transporting vehicles, and the passing points, which are the exit points from the specific section, in the order in which the plurality of transporting vehicles enter the specific section; a comparison process for comparing the stop points and the passing points of the plurality of guided vehicles recorded by the recording process; Run The conveying facility according to claim 1 , wherein the section control system determines whether to grant or deny the passage permission based on the order of entry into the specific section and a processing result of the comparison process.

Images