Conveying installation

Abstract

To provide a conveying facility capable of easily and efficiently conveying articles in the whole facility.SOLUTION: A transport facility 100 includes a plurality of transport vehicles 5 that move in a movable area 1 to transport articles, and a control system that controls the transport vehicles 5. The movable area 1 is provided with a plurality of chargeable points 4 for charging the transport vehicle 5, and a plurality of transferrable points 3 for the transport vehicle 5 to deliver an article. The control system executes relay conveyance processing. In the relay transport process, a relay point T is selected from the plurality of transferable points 3, and a charging point C at which the first transport vehicle 5A is charged is selected from the plurality of chargeable points 4. A transferrable point 3 which is within the conveyance route R of the carrier 5 and is closest to the delivery point G is set as a relay point T. The charging spot C is selected from among the chargeable spots 4 located within the selection range A2 from the relay spot T.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveyance facility including a plurality of conveyance vehicles that move within a movable area to convey articles, and a control system that controls these conveyance vehicles. [Background technology]

[0002] An example of such a conveying facility is disclosed in International Publication No. 2023 / 079797 (Patent Document 1). In the following description of this background art, the reference numerals and names in Patent Document 1 will be cited in parentheses.

[0003] The conveyance facility (conveyance system 1) described in Patent Document 1 includes a plurality of conveyance vehicles (carriages 6) that move along a movable path (track 2) to convey an item (26), and a control system (controller 10). The control system (controller 10) controls the plurality of conveyance vehicles (carriages 6) to travel along a conveyance path (travel route) set from the movable path (track 2). The conveyance path (travel route) is set in consideration of efficient conveyance of the item (26) throughout the conveyance facility (conveyance system 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2023 / 079797 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conveyance facility (conveyance system 1) described in Patent Document 1, multiple conveyance vehicles (carriages 6) are configured to receive power through contactless power supply, and therefore the conveyance paths (travel routes) are set without taking into consideration the travel of the conveyance vehicles (carriages 6) that travel using power stored in a power storage device. Such conveyance vehicles (carriages 6) cannot travel if the power stored in the power storage device is insufficient, so it is necessary to set a conveyance path (travel route) that allows the conveyance vehicles (carriages 6) to travel using the amount of power stored in the power storage device. Therefore, in a configuration that includes conveyance vehicles (carriages 6) that travel using power stored in a power storage device, setting a conveyance path (travel route) as disclosed in Patent Document 1 may not improve the conveyance efficiency of the entire facility.

[0006] Therefore, in a configuration including a transport vehicle that moves using power stored in a power storage device, it is desirable to realize a technology that makes it easy to transport goods efficiently throughout the entire facility. [Means for solving the problem]

[0007] In view of the above, the conveying equipment: A conveyance facility including a plurality of conveyance vehicles that move within a movable area to convey articles, and a control system that controls the plurality of conveyance vehicles, the transport vehicle is configured to include a power storage device and move using the power stored in the power storage device; the movable area is provided with a plurality of charging points where charging devices that charge the power storage device are arranged, and a plurality of transfer points where transfer ports where the transport vehicle delivers and receives the article are arranged, The control system includes: A transport command process for generating a transport task specifying a receiving point for receiving a target item and a delivery point for delivering the target item, and assigning the transport task to one of the plurality of transport vehicles, in order to transport the target item, which is the item to be transported; a relay transport process in which, when it is determined that a first transport vehicle, which is the transport vehicle executing the transport task, cannot reach the delivery point due to insufficient stored power in the power storage device equipped in the first transport vehicle, a relay point is selected from the plurality of transfer possible points, and a charging point for charging the power storage device equipped in the first transport vehicle is selected from the plurality of charge possible points, and the first transport vehicle is moved to the relay point to deliver the target item to the transfer port of the relay point; a takeover transport process in which, when the relay point is selected, a second transport vehicle that is different from the first transport vehicle is selected, the second transport vehicle is moved to the relay point to receive the target item from the transfer port of the relay point, and then the second transport vehicle is moved toward the delivery point; configured to run In the relay transport process, the control system selects as the relay point the transferable point that is within the transport route, which is the travel route of the transport vehicle from the receiving point to the delivery point, and is closest to the delivery point, while satisfying the condition that the amount of stored electricity in the storage device equipped in the first transport vehicle allows the first transport vehicle to reach the charging point via the relay point.

[0008] According to this characteristic configuration, even if a single transport vehicle performing a transport task cannot transport the target item to the delivery point due to insufficient power storage in the power storage device of the transport vehicle, the target item can be transported to the delivery point using multiple transport vehicles. Furthermore, according to this configuration, the target item can be transported as close to the delivery point as possible by making maximum use of the power stored in the power storage device of the first transport vehicle. Therefore, it is easy to keep the consumption of power stored in the power storage device of the second transport vehicle low, and ultimately it is easy to transport items efficiently throughout the entire transport facility.

[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] FIG. 1 is a diagram illustrating an example of a layout of a transport facility according to an embodiment. [Figure 2] A side view showing an example of a transport vehicle. [Figure 3] A front view showing an example of a transport vehicle. [Figure 4] Control block diagram according to an embodiment [Figure 5] Explanation of relay transport processing [Figure 6] Illustration of transfer process [Figure 7] Illustration of relay transport processing example 1 [Figure 8] Illustration of relay transport processing example 2 [Figure 9] Illustration of relay transport processing example 3 [Figure 10] Illustration of relay transport processing example 4 DETAILED DESCRIPTION OF THE INVENTION

[0011] 1. Overview of the transport equipment A conveyance facility 100 according to this embodiment will be described with reference to the drawings. As shown in FIGS. 1 and 4, the conveyance facility 100 includes a plurality of guided vehicles 5 that move within a movable area 1 to convey an article 11 (see FIG. 2), and a control system 6 that controls the guided vehicles 5. Various technical features of the control system 6 disclosed herein can also be applied to a method for controlling the guided vehicles 5 and a program for controlling the guided vehicles 5 (a program for causing a computer to function as the control system 6). This specification also discloses such methods and programs, as well as a storage medium (e.g., a computer-readable storage medium such as an optical disk flash memory) on which such a program is stored. The article 11 is, for example, a FOUP (Front Opening Unified Pod) that contains semiconductor wafers.

[0012] 2. Movable area The movable area 1 is provided with a movable route 2 along which the transport vehicle 5 can move, a plurality of movable transfer points 3 to which the article 11 transported by the transport vehicle 5 can be transferred, and a plurality of movable charging points 4 at which the power storage device 53 (details of which will be described later) of the transport vehicle 5 can be charged. The movable area 1 is configured as, for example, a warehouse for storing the article 11, a finished product assembly factory where the transported article 11 is assembled to manufacture a finished product, or a processing factory where the transported article 11 is subjected to various processes to manufacture a finished product.

[0013] In this embodiment, the movable path 2 is physically defined. The transport vehicle 5 illustrated in FIGS. 2 and 3 is a rail-guided transport vehicle. In this example, the movable path 2 is physically defined by a pair of rails 20 arranged in parallel with a gap between them. In the example illustrated in FIGS. 2 and 3, the rails 20 defining the movable path 2 are suspended from the ceiling 1c. Therefore, in this example, the transport vehicle 5 is a ceiling-mounted transport vehicle that moves along the movable path 2 formed along the ceiling 1c. A forward direction F is set for each portion of the movable path 2 illustrated in FIG. 1. In the forward direction F, the side on which the transport vehicle 5 travels may be referred to as the downstream side, and the side opposite the downstream side may be referred to as the upstream side. Hereinafter, for ease of explanation, it is assumed that the transport vehicle 5 moves only from the upstream side to the downstream side in the forward direction F through each portion of the movable path 2. Note that the transport vehicle 5 may also move through each portion of the movable path 2 from the downstream side to the upstream side in the forward direction F.

[0014] The movable path 2 includes a straight section forming a linear path, a curved section 25 forming a curved path, a junction section 26 where multiple paths merge into one path, and a branch section 27 where one path branches off into multiple paths. In this specification, the movable path 2 refers to the entire path along which the transported vehicle 5 travels. The movable path 2 is composed of a collection of multiple paths (point-to-point paths connecting points). Here, as shown in FIGS. 1 to 3 , the direction along which the transported vehicle 5 travels and along the movable path 2 (here, the direction along the extension direction of the rails 20) is defined as the front-rear direction X, and the direction perpendicular to both the front-rear direction X and the up-down direction Z (vertical direction) is defined as the left-right direction Y. As shown in FIGS. 2 and 3 , the pair of rails 20 are arranged with a gap in the left-right direction Y.

[0015] In the example shown in FIG. 1 , the movable path 2 includes, in its straight line portion, a main straight line portion 21, a sub-straight line portion 22 branching off from the main straight line portion 21, and a return straight line portion 23 branching off from the main straight line portion 21. The sub-straight line portion 22 has a forward direction F that is the same as that of the main straight line portion 21. The sub-straight line portion 22 is provided, for example, to prevent multiple guided vehicles 5 from concentrating on the main straight line portion 21. The return straight line portion 23 is a straight line portion branching off from the main straight line portion 21, and has a forward direction F that is opposite to that of the main straight line portion 21. The return straight line portion 23 is provided, for example, to return the guided vehicle 5 to the upstream side of the main straight line portion 21 when the guided vehicle 5 reaches the downstream side of the main straight line portion 21. In addition, the movable path 2 illustrated in FIG. 1 also includes a branch straight line portion 24 branching off from the main straight line portion 21 and merging at a different point from the main straight line portion 21.

[0016] As shown in FIG. 1, the transferable points 3 are set along the movable path 2. At the transferable points 3, transfer ports are provided where the transport vehicles 5 transfer and receive the items 11. The transfer ports are provided with item support sections 31 (see FIG. 2) that support the items 11, and the items 11 are transferred between the transport vehicles 5 and the item support sections 31 at the transfer ports. The item support sections 31 may be, for example, a load port of a processing device that processes the items 11 (including the contents contained in the items 11), an in / out port of a storage device that stores the items 11, or a storage shelf that stores the items 11. Here, "storage" includes temporary storage. Therefore, the item support sections 31 include buffers that temporarily evacuate the items 11 from the movable path 2. In addition, the item support sections 31 may also include conveyors or other transfer devices that transport the items 11 to the transferable points 3. In the example shown in FIG. 1, the transferable points 3 are set on all straight sections. The position where the transferable point 3 is set is not limited to a straight section.

[0017] As shown in FIG. 1 , the chargeable points 4 are set within a certain range along the travelable route 2. The power storage device 53 included in the transported vehicle 5 is charged when the transported vehicle 5 enters the chargeable point 4. A charging device 41 is disposed at the chargeable point 4 to charge the power storage device 53 (described later) included in the transported vehicle 5. The charging device 41 is configured to be able to charge the power storage device 53 included in the transported vehicle 5. The charging method for the transported vehicle 5 at the chargeable point 4 may be either a contactless method or a contact method. In this embodiment, the charging device 41 charges the power storage device 53 included in the transported vehicle 5 that has stopped at the chargeable point 4. In the example shown in FIG. 1 , the chargeable points 4 are set on the main straight section 21, the secondary straight section 22, the return straight section 23, and the branch straight section 24. Note that the positions at which the chargeable points 4 are set are not limited to the main straight section 21, the secondary straight section 22, the return straight section 23, and the branch straight section 24. Furthermore, the charging possible point 4 may overlap with the transfer possible point 3.

[0018] In the example shown in FIG. 1, for ease of explanation, either the transferable points 3 or the chargingable points 4 are set at regular intervals. Hereinafter, a section between adjacent transferable points 3 or chargingable points 4 will be referred to as one section. Note that the transferable points 3 or chargingable points 4 do not necessarily have to be set at regular intervals, and the distance between adjacent transferable points 3 or chargingable points 4 may vary depending on the location.

[0019] 3.Transport vehicle The external structure of the transport vehicle 5 will be described with reference to Figs. 2 and 3. The transport vehicle 5 illustrated in Fig. 2 includes a running unit 51 and a main body 52. ​​The running unit 51 includes running wheels 511 that roll on the running surfaces of the rails 20, and a running drive unit 512 (for example, an electric motor such as a servo motor) that rotates the running wheels 511. The running wheels 511 are rotationally driven by the running drive unit 512, causing the running unit 51 to run along the rails 20, and thereby the transport vehicle 5 moves along the movable path 2. In this example, the running unit 51 includes guide wheels 513 that roll on the guide surfaces of the rails 20, and the running unit 51 runs along the rails 20 with the guide wheels 513 in contact with and guided by the guide surfaces.

[0020] The travel drive unit 512 may be a collection of drive units that drive a plurality of drive targets. For example, the travel unit 51 may be equipped with a switching mechanism that switches the traveling direction of the transport vehicle 5 at the branching unit 27 (see FIG. 1 ), and the travel drive unit 512 may drive the switching mechanism in addition to the running wheels 511. The switching mechanism is, for example, a mechanism that switches the position of the guided part provided on the travel unit 51 between a position where the guided part contacts a guide rail provided along the movable path 2 from one side in the left-right direction Y, and a position where the guided part contacts the guide rail from the other side in the left-right direction Y.

[0021] The main body 52 is connected to the running part 51. Here, the main body 52 is arranged on the lower side Z2 of the running part 51. The main body 52 is equipped with a holding part 521 that holds the item 11. The item 11 is transported by the transport vehicle 5 while held by the holding part 521. The main body 52 is equipped with a transfer drive part (e.g., an electric motor such as a servo motor) not shown in the figure for performing the transfer operation of the item 11 between the transport vehicle 5 and the transfer target location (e.g., an item support part 31 described below). The holding part 521 is driven by the transfer drive part to perform a holding operation to hold the item 11 and a holding release operation to release the hold of the item 11.

[0022] The transfer driver may be a set of drivers that drive a plurality of drive targets. In the example shown in FIG. 2, the main body 52 includes an elevator 522 that raises and lowers the holder 521 and a moving device 524 that moves the holder 521 in the left-right direction Y. The transfer driver is configured to drive the elevator 522 and the moving device 524 in addition to the holder 521. In this example, the elevator 522 raises the holder 521 by winding a take-up member 523 (e.g., a belt or wire) that suspends the holder 521 onto a rotating body (e.g., a drum) (not shown). On the other hand, the elevator 522 is configured to lower the holder 521 by unwinding the take-up member 523 from the rotating body. In addition, in this example, the moving device 524 is configured to move the elevator 522 in the left-right direction Y, thereby moving the holder 521 supported by the elevator 522 in the left-right direction Y. The main body 52 may include a rotation device that rotates the holding portion 521 around a vertical axis along the vertical direction Z, and the rotation device may be driven by the transfer drive unit.

[0023] When transferring an article 11 between the transport vehicle 5 and a transfer port, the transport vehicle 5 moves to a transferable point 3 where the target transfer port is located. When the transport vehicle 5 moves, the holding unit 521 is positioned at a reference height H1 (see FIG. 2). The reference height H1 is the height at which the holding unit 521 and the article 11 held by the holding unit 521 are accommodated in the main body 52. ​​The reference height H1 is set at a position Z1 above a transfer height H2, which will be described later. After the transport vehicle 5 reaches the transferable point 3, the transport vehicle 5 transfers the article 11 between the transport vehicle 5 and the article support unit 31. If the article support unit 31 is not positioned directly below the movable path 2 but is positioned offset in the left-right direction Y from the movable path 2, the transport vehicle 5 moves the holding unit 521 in the left-right direction Y using the moving device 524 to a position directly above the article support unit 31, and then performs the transfer operation of the article 11.

[0024] In order to transfer the article 11 from the transport vehicle 5 to the article support section 31, the holding section 521 performs a lowering operation while holding the article 11, a holding release operation to release the hold of the article 11, and a lifting operation while not holding the article 11, in the order described below. In the lowering operation, the holding section 521 is lowered by the lifting device 522 from the reference height H1 to the transfer height H2 while holding the article 11. The transfer height H2 (see FIG. 2) is a height set according to the height of the article support section 31. In the holding release operation, the holding section 521 releases its hold on the article 11. In the lifting operation, the holding section 521 is raised by the lifting device 522 from the transfer height H2 to the reference height H1 while not holding the article 11.

[0025] Meanwhile, in order to transfer the article 11 from the article support section 31 to the transport vehicle 5, the holding section 521 performs a lowering operation in which it is not holding the article 11, a holding operation in which it holds the article 11, and a lifting operation in which it is holding the article 11, in the order described below. In the lowering operation, the holding section 521 is lowered by the lifting device 522 from the reference height H1 to the transfer height H2 while not holding the article 11. In the holding operation, the holding section 521 holds the article 11. In the lifting operation, the holding section 521 is lifted by the lifting device 522 from the transfer height H2 to the reference height H1 while holding the article 11.

[0026] The internal structure of the transport vehicle 5 will be described with reference to Fig. 4. As shown in Fig. 4, the transport vehicle 5 includes a power storage device 53 that is charged by a charging device 41, a drive device 54 that is driven by the power stored in the power storage device 53, and a control device 55 that controls the drive device 54. The transport vehicle 5 is configured to move using the power stored in the power storage device 53. In this embodiment, the travel drive unit 512 consumes the power stored in the power storage device 53 to drive and rotate the running wheels 511, causing the running unit 51 to travel along the movable path 2.

[0027] The power storage device 53 is a device that stores electric power. The power storage device 53 is configured to be capable of charging and discharging. The power storage device 53 is, for example, a battery, a capacitor, or a combination of a battery and a capacitor. The power storage device 53 is provided with a power storage amount sensor for detecting the amount of stored power. The power storage amount sensor includes, for example, one or both of a voltage sensor and a current sensor.

[0028] In the transport vehicle 5 illustrated in FIG. 3 , the power storage device 53 is configured to receive a supply of power contactlessly from a power supply line 42 arranged along the movable path 2 at the chargeable point 4. In this embodiment, the power storage device 53 includes a power receiving device 53R for receiving a supply of power contactlessly from the power supply line 42. An example of the power receiving device 53R is a pickup coil. In this example, the charging device 41 includes the power supply line 42 and a power supply device 43 that supplies power to the power supply line 42. In the pickup coil, which is an example of the power receiving device 53R, AC power is induced by a magnetic field generated around the power supply line 42 to which AC current is supplied from the power supply device 43. This AC power is converted into DC power, for example, and stored in the power storage device 53.

[0029] The drive device 54 is configured to generate a driving force for movement, which is a driving force required for the transport vehicle 5 to move along the movable path 2. In this embodiment, the transport vehicle 5 moves the article 11 between the transport vehicle 5 and the transferable point 3. The transport vehicle 5 moves the article 11. Alternatively, the transport vehicle 5 may move the article 11 between the transportable point 3 and the transferable point 3 by a transfer port provided at the transferable point 3 moving the article 11.

[0030] The control device 55 controls the drive device 54. The control device 55 controls the drive device 54 (for example, the travel drive unit 512 described above) to cause the transport vehicle 5 to perform a movement operation to move along the movable path 2. In this embodiment, the control device 55 can also control the drive device 54 (for example, the transfer drive unit described above) to cause the transport vehicle 5 to perform a transfer operation of the item 11 between the transport vehicle 5 and the transferable point 3. The control device 55 and a higher-level control device 61 described later include, for example, an arithmetic processing device such as a CPU (Central Processing Unit) and peripheral circuits such as a memory. Each function of the control device 55 and the higher-level control device 61 is realized, for example, by cooperation between hardware such as an arithmetic processing unit and a program executed on the hardware.

[0031] 4. Control System The control system 6 controls the multiple guided vehicles 5. As shown in FIG. 4, in this embodiment, the control system 6 includes a host control device 61. The host control device 61 may be a collection of multiple devices that can communicate with each other. The host control device 61 is connected to a control device 55 included in the guided vehicles 5 so that the control device 55 can communicate with the guided vehicles 5, and the control device 55 controls the operation of the guided vehicles 5 in response to commands from the host control device 61.

[0032] 4.1.Transport command processing and transport execution processing The control system 6 (in this embodiment, the upper control device 61) performs a transport command process to instruct one of multiple transport vehicles 5 to transport a target item 10, which is an item 11 to be transported, and a transport execution process to have the transport vehicle 5 transport the target item 10 based on the transport command process.

[0033] In order to perform the transport command processing and the transport execution processing, the control system 6 grasps the current position of each of the multiple transport vehicles 5. In this embodiment, the transport vehicles 5 are configured to recognize their own current positions, and the host control device 61 acquires information on the current positions of the transport vehicles 5 from the transport vehicles 5. Although details are omitted, for example, detectable objects that hold position information are provided at multiple positions along the movable path 2. Examples of the detectable objects include one-dimensional codes, two-dimensional codes, and RF (Radio Frequency) tags. The transport vehicles 5 can be configured to recognize their own current positions by reading the position information held by the detectable objects. The transport vehicles 5 recognize their own current positions based on, for example, the read position information and the distance traveled since the position information was read. The transport vehicles 5 can also be configured to recognize their own current positions based on the output of a positioning device such as a GNSS (Global Navigation Satellite System) receiver.

[0034] 4.2.Transport command processing In the transport command process, a transport task for transporting the target item 10 is generated and assigned to one of the multiple transport vehicles 5. In the transport task, a receiving point S where the target item 10 is received and a delivery point G where the target item 10 is handed over are specified from among multiple possible transfer points 3. In the example shown in FIG. 1, the receiving point S and the delivery point G are set at the possible transfer points 3 within the main straight section 21. The delivery point G is set at a position four sections downstream from the receiving point S. In the following description, the act of one or more transport vehicles 5 receiving the target item 10 at the receiving point S and then handing over the target item 10 at the delivery point G may simply be referred to as transport by the transport vehicle 5.

[0035] The transport task may be generated by the upper control device 61 or by another device capable of communicating with the upper control device 61. The upper control device 61 then instructs the transport vehicle 5 to which the transport task has been assigned to execute the transport task, and the control device 55 provided in the transport vehicle 5 that has received the instruction controls the transport vehicle 5 to perform an operation for executing the transport task.

[0036] Preferably, the transport task is assigned to a transport vehicle 5 located near the receiving point S. For example, it is preferable to assign the transport task to a transport vehicle 5 located upstream of the receiving point S. Alternatively, the amount of power expected to be consumed by the transport vehicle 5 to receive the target item 10 at the receiving point S and transport it to the delivery point G can be set as the predicted power consumption. The transport task can be assigned only to transport vehicles 5 having a power storage capacity of the power storage device 53 equal to or greater than the predicted power consumption. Even in this case, a power shortage in the transport vehicle 5 due to traffic congestion or the like may necessitate the relay handover process described below. In the example shown in FIG. 1 , the transport vehicle 5 located within the main straight section 21 and upstream of the receiving point S is the first transport vehicle 5A, transporting the target item 10. In this way, the first transport vehicle 5A, the transport vehicle 5 performing the assigned transport task, travels a shorter distance from its position at the time the transport task was assigned to the delivery point G via the receiving point S. Therefore, the control system 6 can easily improve the transport efficiency of the entire facility.

[0037] 4.3.Transportation execution process The transport execution process includes an electric energy acquisition process for acquiring the amount of electricity stored in the power storage device 53 provided in the transport vehicle 5, and a transport route setting process for setting the transport route R, which is the route along which the transport vehicle 5 moves from the receiving point S to the handover point G. In this embodiment, the transport route setting process includes a process in which the control system 6 moves the transport vehicle 5 along the set transport route R. The electric energy acquisition process and the transport route setting process will be described in detail below.

[0038] In the power amount acquisition process, the stored power amounts of the power storage devices 53 equipped in multiple guided vehicles 5 including the first guided vehicle 5A are acquired. The control system 6 acquires the stored power amounts of the power storage devices 53 equipped in one or more guided vehicles 5 other than the first guided vehicle 5A. Preferably, the control system 6 acquires the stored power amounts of the power storage devices 53 equipped in guided vehicles 5 arranged in positions within or near the transport route R. In this way, the processing load on the control system 6 can be reduced. On the other hand, the control system 6 may acquire the stored power amounts of the power storage devices 53 equipped in all guided vehicles 5. In this way, the transport route R can be flexibly set taking into account the stored power amounts of the power storage devices 53 equipped in all guided vehicles 5.

[0039] In the power amount acquisition process, stored power amount information indicating the amount of power stored in the power storage device 53 is acquired. The stored power amount is expressed, for example, as a ratio (percentage) of the remaining capacity to the fully charged capacity. In this case, the amount of power stored in a fully charged state is 100%, and the amount of power stored in a fully discharged state is 0%. In this embodiment, for ease of explanation, it is assumed that an amount of power equivalent to 10% of the fully charged capacity of the power storage device 53 is consumed each time the transport vehicle 5 travels one section. Note that this does not mean that the transport vehicle 5 necessarily consumes an amount of power equivalent to 10% of the fully charged capacity of the power storage device 53. Hereinafter, for ease of explanation, the ratio of the remaining capacity to the fully charged capacity will be expressed only as a ratio. In other words, the amount of power equivalent to 10% of the fully charged capacity of the power storage device 53 may be simply referred to as 10% of the amount of power.

[0040] The amount of electricity stored in the power storage device 53 is estimated, for example, based on the output voltage of the power storage device 53, or based on an integrated value of the amount of electricity charged to the power storage device 53 and an integrated value of the amount of electricity discharged from the power storage device 53. The amount of electricity stored in the power storage device 53 is also estimated by combining these. When the amount of electricity stored in the power storage device 53 is estimated by the control device 55 of the transport vehicle 5, the control device 55 transmits stored electricity amount information indicating the estimated amount of electricity stored to the upper control device 61. When the amount of electricity stored in the power storage device 53 is estimated by the upper control device 61, the upper control device 61 acquires information necessary for estimating the amount of electricity stored in the power storage device 53 (for example, information on the value detected by the above-mentioned stored electricity amount sensor) from the transport vehicle 5.

[0041] In the transport route setting process, a route connecting the receiving point S and the delivery point G specified by the transport task is set as the transport route R. In addition to setting the shortest route from the receiving point S to the delivery point G as the transport route R, the control system 6 can also select the transport route R from multiple candidates. In detail, in the example shown in FIG. 1, two candidates for the transport route R can be assumed: a route that is the shortest route from the receiving point S to the delivery point G and that passes only through the main straight section 21, and a route that reaches the delivery point G via the sub-straight section 22. In the example shown in FIG. 1, a route that passes only through the main straight section 21 is set as the transport route R.

[0042] The control system 6 executes either normal processing when the first transport vehicle 5A is caused to transport the target item 10 alone, or relay handover processing when the target item 10 is transported by multiple transport vehicles 5 including the first transport vehicle 5A. The normal processing sets a transport route R when the first transport vehicle 5A is caused to transport the target item 10 alone. In the normal processing, since the first transport vehicle 5A transports the target item 10 alone, it is possible to easily set, for example, a route that has the shortest travel distance or travel time for the first transport vehicle 5A from among multiple candidate transport routes R. For these reasons, it is preferable that the normal processing be executed preferentially.

[0043] 4.4. Relay takeover process The relay handover process is performed when the first transport vehicle 5A cannot transport the target item 10 alone or when transporting the target item 10 using multiple transport vehicles 5 is more advantageous than transporting the target item 10 using a single transport vehicle 5. In this embodiment, the control system 6 executes the relay handover process when it determines that the first transport vehicle 5A cannot reach the delivery point G due to insufficient power storage in its power storage device 53. In this case, the control system 6 causes the first transport vehicle 5A and one or more transport vehicles 5 other than the first transport vehicle 5A to transport the target item 10. In this embodiment, the first transport vehicle 5A and the second transport vehicle 5B, which is a transport vehicle 5 different from the first transport vehicle 5A, transport the target item 10. The first transport vehicle 5A and the second transport vehicle 5B transport the target item 10 by moving along the transport route R.

[0044] The control system 6 determines whether or not to execute the relay handover process at an appropriate timing. In this embodiment, the control system 6 determines whether or not to execute the relay handover process when allocating a transport task. With this configuration, the need for the relay handover process is determined early, making it easier to secure the second transport vehicle 5B when the relay handover process is executed. The control system 6 may also determine whether or not to execute the relay handover process when the first transport vehicle 5A receives the target item 10 at the receiving point S. By determining whether or not to execute the relay handover process at such timing, the transport route R can be set based on the amount of power stored in the first transport vehicle 5A immediately before transporting the target item 10. The first transport vehicle 5A can properly transport the target item 10. Furthermore, the control system 6 may also determine whether or not to execute the relay handover process after the first transport vehicle 5A receives the target item 10 at the receiving point S. If the need for the relay handover process is determined at such a timing, the relay handover process is executed if the amount of stored power in the power storage device 53 of the first transport vehicle 5A becomes insufficient unintentionally. Therefore, the target item 10 is transported appropriately by the second transport vehicle 5B.

[0045] The relay handover process is executed instead of normal processing when the relay transportation criteria are met. Here, since the relay handover process is a process in which the target item 10 is transported by multiple transport vehicles 5, the relay transportation criteria are determined based on the transportation status of the multiple transport vehicles 5 including the first transport vehicle 5A. The transportation status includes the amount of electricity stored in the power storage device 53 provided in each of the multiple transport vehicles 5 that are candidates for the first transport vehicle 5A, the amount of electricity stored in the power storage device 53 provided in the first transport vehicle 5A, or the time required to transport the target item 10. Three specific examples of when the relay transportation criteria are met are described below. Note that the specific examples shown below may be used alone as the relay transportation criteria, or they may be combined to form the relay transportation criteria.

[0046] A specific example of the first relay transportation criterion is a case where the amount of stored power in the power storage device 53 provided in each of multiple transport vehicles 5 that are candidates for the first transport vehicle 5A is used as the transportation status. In this case, the control system 6 sets the relay transportation criterion as to whether or not there is a transport vehicle 5 that is a candidate for the first transport vehicle 5A and that has a power storage device 53 with a power storage capacity that can transport the target item 10 alone to the delivery point G. When the relay transportation criterion is set in this way, if there is no transport vehicle 5 that has a power storage device 53 with a power storage capacity that can transport the target item alone, the control system 6 determines that the relay transportation criterion is met and executes the relay handover process. This example corresponds to a case where the first transport vehicle 5A cannot transport the target item 10 alone.

[0047] A specific example of the second relay transportation criterion is when the amount of electricity stored in the power storage device 53 of the first transport vehicle 5A is used as the transportation status. In this case, the control system 6 sets the relay handover criterion based on whether the amount of electricity stored in the power storage device 53 of the first transport vehicle 5A is sufficient to transport the target item 10. When the amount of electricity stored in the power storage device 53 of the first transport vehicle 5A falls below an amount sufficient to transport the target item 10, the control system 6 determines that the relay transportation criterion is met and executes the relay handover process. For example, the relay handover process is executed when multiple transport vehicles 5 are congested and the amount of electricity stored in the power storage device 53 of the first transport vehicle 5A falls below an amount that allows the first transport vehicle 5A to move to the delivery point G. This example corresponds to a case where the first transport vehicle 5A cannot transport the target item 10 alone.

[0048] A specific example of the third relay transportation criterion is when the time required to transport the target item 10 is used as the transportation status. In this case, the control system 6 calculates and compares the normal time, which is the time required for transportation when normal processing is performed, with the relay handover time, which is the time required for transportation when relay handover processing is performed. As a result, if the relay transportation handover time is shorter than the normal time, the control system 6 determines that the relay transportation criterion is met and executes the relay handover processing. This example corresponds to a case where transporting the target item 10 with multiple transport vehicles 5 is more advantageous than transporting the target item 10 with a single transport vehicle 5.

[0049] The relay handover process includes a relay transport process, shown in Figures 1, 5 and 6, in which the first transport vehicle 5A transports the target item 10 to the relay point T, and a handover transport process in which the target item 10 transported to the relay point T is handed over to the second transport vehicle 5B for transport.

[0050] In the relay transport process, as shown in FIGS. 1 and 5, the control system 6 moves the first transport vehicle 5A to a relay point T and transfers the target item 10 to a transfer port at the relay point T. The relay point T is selected from a plurality of possible transfer points 3. In addition, in the relay transport process, a charging point C where the power storage device 53 provided on the first transport vehicle 5A is charged is selected from a plurality of possible charge points 4. As shown in FIG. 6, the first transport vehicle 5A transfers the target item 10 to the transfer port at the relay point T, and then moves toward the charging point C. The power storage device 53 provided on the first transport vehicle 5A is charged after the first transport vehicle 5A reaches the charging point C. Note that after the first transport vehicle 5A transfers the target item 10 to the transfer port at the relay point T, the first transport vehicle 5A may transport another target item 10 without moving toward the charging point C. In this way, the power stored in the power storage device 53 provided on the first transport vehicle 5A can be consumed efficiently.

[0051] In the handover transport process, the second transport vehicle 5B transports the target item 10 to the delivery point G. When the relay point T is selected in the handover transport process, the control system 6 moves the second transport vehicle 5B to the relay point T to receive the target item 10 from the transfer port of the relay point T, as shown in Figures 5 and 6, and then moves the second transport vehicle 5B toward the delivery point G.

[0052] Hereinafter, the details of the relay transport processing and the takeover transport processing will be explained with specific examples. In the relay takeover processing, the control system 6 basically executes a basic example of the relay transport processing, which is an example of the relay transport processing. The control system 6 may also execute a relay transport processing example or a takeover transport processing example other than the basic example of the relay transport processing in combination with the basic example of the relay transport processing. Note that the control system 6 may also execute a combination of a relay transport processing example and a takeover transport processing example other than the basic example of the relay transport processing as long as no contradiction occurs.

[0053] [Basic example of relay transport processing] 1 and 5, the control system 6 performs a process of selecting a relay point T and a charging point C while satisfying a travelable condition. The travelable condition is that the first transport vehicle 5A can reach the charging point C via the relay point T due to the amount of electricity stored in the power storage device 53 provided in the first transport vehicle 5A. For example, as shown in FIG. 1, if the amount of electricity stored in the power storage device 53 provided in the first transport vehicle 5A that has received the target item 10 at the receiving point S is 30%, the relay point T and the charging point C are set within a range of three sections downstream from the current position of the first transport vehicle 5A.

[0054] As shown in Fig. 1, in the relay transport process, the relay point T is selected as a transferable point 3 that satisfies the movement conditions and is located on the transport route R and is closest to the delivery point G. In the example shown in Fig. 1, the transferable point 3 that is set one section downstream from the current position of the first transport vehicle 5A is set as the relay point T.

[0055] The charging point C is selected from among the charging points 4 within a selection range A2 from the relay point T. The selection range A2 is set to a range that includes positions within the conveying route R and positions off the conveying route R, provided that the movement conditions are met. In the example shown in FIG. 1, the selection range A2 is a range that includes the charging points 4 set on the secondary straight section 22 and the branching straight section 24. In the example shown in FIG. 5, the charging point 4 set on the branching straight section 24 is set as the charging point C of the first conveying vehicle 5A. Then, after the first conveying vehicle 5A delivers the target item 10 to the transfer port at the relay point T, it moves toward the charging point C.

[0056] [Example of transfer process] The second transport vehicle 5B that has delivered the target item 10 at the delivery point G may be unable to travel due to insufficient stored power at or near the delivery point G. The handover transport process described in this example is performed to prevent the second transport vehicle 5B from running out of stored power at or near the delivery point G and to allow the second transport vehicle 5B to be appropriately charged at the charging point 4.

[0057] 1 and 6, the control system 6 selects, as the second transport vehicle 5B, a transport vehicle 5 equipped with a power storage device 53 whose stored power amount is equal to or greater than the handover reference value. The handover reference value is the amount of power that the second transport vehicle 5B can use to transport the target item 10 from the relay point T to the delivery point G, and then travel from the delivery point G to the nearest chargeable point 4. In the example shown in FIG. 1, the distance from the relay point T to the delivery point G is three sections, and the distance from the delivery point G to the nearest chargeable point 4 is one section. Therefore, the handover reference value is set to the amount of power that can travel four sections, which is the distance from the relay point T to the nearest chargeable point 4 to the delivery point G, i.e., 40% of the amount of power.

[0058] Preferably, the handover reference value is set to an amount of power required for the second transporting vehicle 5B to travel from its current position to the relay point T when the control system 6 selects the second transporting vehicle 5B. In the example shown in FIG. 1, the distance from the current position of the second transporting vehicle 5B to the relay point T is two sections. Therefore, the handover reference value is set to an amount of power sufficient to travel six sections, which is the distance from the current position of the second transporting vehicle 5B shown in FIG. 1 to the nearest chargeable point 4 to the delivery point G, i.e., 60% of the amount of power. According to this configuration, the second transporting vehicle 5B can transport the target item 10 from the relay point T to the delivery point G without charging from the time of selection. In the example shown in FIG. 1, the amount of power stored in the power storage device 53 provided in the second transporting vehicle 5B is 100%. 6, by the time the second transport vehicle 5B moves along the main straight section 21 and reaches the delivery point G, the amount of electricity stored in the power storage device 53 provided on the second transport vehicle 5B is 50%. Therefore, the second transport vehicle 5B can appropriately reach the chargeable point 4 nearest to the delivery point G.

[0059] [Relay transport processing example 1] If a relay point T is set at a location where there is a high volume of transport vehicles 5 passing by, a situation may arise in which the target item 10 delivered at the relay point T obstructs the passage of subsequent transport vehicles 5. Relay transport processing example 1 is an example of relay transport processing to prevent such a situation from occurring.

[0060] In the relay transport process, as shown in FIG. 7, when there are multiple possible transfer points 3 that can be selected as the relay point T, the control system 6 excludes possible transfer points 3 located on a route where the traffic volume of the transport vehicles 5 is equal to or greater than a set value from the candidates for the relay point T. The traffic volume is defined by the average number of passing vehicles per unit time, the percentage of time during which congestion involving multiple transport vehicles 5 occurs, the frequency of congestion, etc. By setting the set value for traffic volume in this manner, for example, a possible transfer point 3 located on a route other than a main route, which is a route on the movable route 2 where the number of transport vehicles 5 passing through is higher on average than other routes, is set as the relay point T. In the example shown in FIG. 7, the main straight section 21 is the main route. Therefore, the control system 6 sets a route that passes through the sub-straight section 22, which is not a main route, as the transport route R. Then, the control system 6 selects the possible transfer point 3 located on the transport route R that is closest to the delivery point G as the relay point T. In the example shown in FIG. 7, the control system 6 sets the transferable point 3 existing on the secondary straight section 22 as the relay point T.

[0061] [Relay transport processing example 2] If the charging point C is set at a location where there is a large amount of traffic of the transport vehicles 5, a situation may occur in which the transport vehicle 5 being charged at the charging point C obstructs the passage of the following transport vehicles 5. Relay transport processing example 2 is an example of a relay transport processing for preventing such a situation from occurring.

[0062] In the relay transport process, as shown in FIG. 8 , when there are multiple chargeable points 4 that can be selected as chargeable points C, the control system 6 selects, from among them, a chargeable point 4 that is located on a route where the traffic volume of the transported vehicle 5 is equal to or less than a set value as chargeable point C. In the example shown in FIG. 8 , as in the relay transport process example 1, the main straight section 21 is the trunk route. Therefore, in the example shown in FIG. 8 , the control system 6 assumes that the transport route R, relay point T, and selection range A2 are the same as in the example shown in FIG. 1 , and sets, as chargeable point C, a chargeable point 4 that is located on the sub-straight section 22 or the branch straight section 24 and that is not part of the trunk route. In the example shown in FIG. 8 , the chargeable point 4 that is located on the branch straight section 24 is set as chargeable point C.

[0063] [Relay transport processing example 3] If a charging point C is set at a point on the route of the transport vehicle 5 heading from the relay point T to the delivery point G, a situation may arise in which the transport vehicle 5 being charged at the charging point C obstructs the passage of a subsequent transport vehicle 5 that has received the target item 10 at the relay point T. Relay transport processing example 3 is an example of a relay transport processing for preventing such a situation from occurring.

[0064] In the relay transport process, as shown in FIG. 9, the control system 6 excludes points on the route of the transport vehicle 5 heading from the relay point T to the delivery point G from candidates for the charging point C. In the example shown in FIG. 9, assuming that the transport route R, the relay point T, and the selection range A2 are the same as those in the example shown in FIG. 1, the charging point 4 set within the main straight section 21 and upstream of the delivery point G, i.e., the charging point 4 within the transport route R, is excluded from candidates for the charging point C. Then, the charging point C is selected from the charging points 4 present in the secondary straight section 22 and the branching straight section 24. In the example shown in FIG. 9, the charging point 4 present within the secondary straight section 22 is set as the charging point C. The first transport vehicle 5A is charged at the charging point C.

[0065] [Relay transport processing example 4] Selecting the relay point T from multiple candidates may facilitate efficient transport of the item 11 throughout the entire conveying facility 100. Relay conveying process example 4 is an example of a relay conveying process to deal with such a case. For ease of explanation, in the movable area 1 shown in FIG. 10, a charging possible point 4 is set at a point one section upstream of the delivery point G on the main straight section 21, unlike the transfer possible point 3 set in the example shown in FIG. 1.

[0066] In the relay transport process, the control system 6 selects one of the possible transfer points 3 within a set range A1 from the transport route R as the relay point T, as shown in FIG. 10. The set range A1 is set to a range that includes positions within the transport route R, on the premise that the movement conditions are satisfied. The set range A1 illustrated in FIG. 10 includes the possible transfer points 3 that are set up to two sections downstream from the current position of the first transport vehicle 5A on the main straight section 21. In the example shown in FIG. 10, the possible transfer point 3 that is set up to two sections downstream from the current position of the first transport vehicle 5A is set as the relay point T.

[0067] 5. Other embodiments Next, other embodiments of the conveying facility 100 will be described.

[0068] (1) In the present embodiment, the movable path 2 has been described as being physically defined. However, the movable path 2 may be virtually defined. The transport vehicle 5 that moves along the virtually defined movable path 2 may be, for example, a trackless transport vehicle such as an AGV (Automated Guided Vehicle). In this case, a detectable object that can be detected by the transport vehicle 5, such as a magnetic tape, a two-dimensional code, or an RF tag, may be provided on the floor or the like, and the movable path 2 may be virtually defined by the detectable object. In this case, the movable path 2 may be virtually defined, for example, along the detectable object or connecting multiple detectable objects.

[0069] (2) In the present embodiment, the rails 20 that define the movable path 2 are described as being suspended from the ceiling 1c. However, the rails 20 that define the movable path 2 are not limited to being suspended from the ceiling 1c, and may be formed on the floor surface, etc. In addition, in the present embodiment, the movable path 2 is described as being defined by the rails 20. However, instead of this configuration, the movable path 2 may also be physically defined by the shape of the passageway through which the transport vehicle 5 moves. In this case, the movable path 2 is physically defined, for example, by a structure that partitions the passageway.

[0070] (3) In the present embodiment, the control system 6 has been described as being configured with the host control device 61 and the control devices 55 (the control devices 55 provided in each transport vehicle 5). However, the control system 6 may be configured with only the host control device 61. Alternatively, the control system 6 may be configured without the host control device 61, so that the control devices 55 of each transport vehicle 5 connected to each other so as to be able to communicate with each other work together.

[0071] (4) In the present embodiment, the chargeable point 4 is described as being configured such that the charging device 41 charges the power storage device 53 of the stopped transport vehicle 5. However, the charging device 41 may be configured to charge the power storage device 53 of the moving transport vehicle 5. Furthermore, the chargeable point 4 may be configured to replace the power storage device 53 of the stopped transport vehicle 5 with another power storage device 53. In such a case, the chargeable point 4 is configured to charge the power storage device 53 removed from the transport vehicle 5. The charged power storage device 53 is attached to a transport vehicle 5 that has newly stopped at the chargeable point 4.

[0072] (5) In the present embodiment, it has been described that a plurality of chargeable points 4 are provided in the movable area 1. However, the movable area 1 may be provided with a power supply area where power is supplied to the power storage device 53 or the traveling drive unit 512, and a non-power supply area where power is not supplied. In this case, a power supply line 42 is provided in the power supply area. The transport vehicle 5 moves while receiving power from the power supply line 42.

[0073] (6) In the present embodiment, the control system 6 performs the relay transport process and the takeover transport process once each. However, the number of times the relay transport process and the takeover transport process are performed is not limited to once, and they may be performed a number of times according to the amount of electricity stored in the power storage device 53 of the transport vehicle 5 assigned to the relay transport process. That is, when the control system 6 determines that the second transport vehicle 5B cannot reach the delivery point G due to insufficient stored electricity in the power storage device 53 of the second transport vehicle 5B, the control system 6 may perform the relay transport process and the takeover transport process separately. In this case, the control system 6 performs the relay transport process on the second transport vehicle 5B and also performs the takeover transport process on a third transport vehicle different from the second transport vehicle 5B. When performing the takeover transport process on the third transport vehicle, the control system 6 may move the third transport vehicle along the transport route R set when setting the transport task. Alternatively, the control system 6 may set a separate transport route R different from the transport route R set when setting the transport task and move the third transport vehicle along the newly set transport route R.

[0074] (7) In the present embodiment, when there are multiple possible transfer points 3 that can be selected as the relay point T in the relay transport process, the control system 6 excludes the possible transfer points 3 that are located within a route where the traffic volume of the transport vehicle 5 is equal to or greater than a set value from the candidates for the relay point T. Here, when the traffic volume of the transport vehicle 5 is equal to or greater than a set value in the entire area of ​​the transport route R, the control system 6 may, for example, not exclude the possible transfer points 3 that are located within a route where the traffic volume of the transport vehicle 5 is equal to or greater than the set value from the candidates for the relay point T, but may select the possible transfer point 3 that is located within the transport route R and that is closest to the delivery point G as the relay point T.

[0075] (8) 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.

[0076] 6. Summary of this embodiment The above-described embodiments of the conveying equipment will be summarized below.

[0077] The conveyance facility includes a plurality of conveyance vehicles that move within a movable area to convey articles, and a control system that controls the plurality of conveyance vehicles, the transport vehicle is configured to include a power storage device and move using the power stored in the power storage device; the movable area is provided with a plurality of charging points where charging devices that charge the power storage device are arranged, and a plurality of transfer points where transfer ports where the transport vehicle delivers and receives the article are arranged, The control system includes: A transport command process for generating a transport task specifying a receiving point for receiving a target item and a delivery point for delivering the target item, and assigning the transport task to one of the plurality of transport vehicles, in order to transport the target item, which is the item to be transported; a relay transport process in which, when it is determined that a first transport vehicle, which is the transport vehicle executing the transport task, cannot reach the delivery point due to insufficient stored power in the power storage device equipped in the first transport vehicle, a relay point is selected from the plurality of transfer possible points, and a charging point for charging the power storage device equipped in the first transport vehicle is selected from the plurality of charge possible points, and the first transport vehicle is moved to the relay point to deliver the target item to the transfer port of the relay point; a takeover transport process in which, when the relay point is selected, a second transport vehicle that is different from the first transport vehicle is selected, the second transport vehicle is moved to the relay point to receive the target item from the transfer port of the relay point, and then the second transport vehicle is moved toward the delivery point; configured to run In the relay transport process, the control system selects as the relay point the transferable point that is within the transport route, which is the travel route of the transport vehicle from the receiving point to the delivery point, and is closest to the delivery point, while satisfying the condition that the amount of stored electricity in the storage device equipped in the first transport vehicle allows the first transport vehicle to reach the charging point via the relay point.

[0078] According to this characteristic configuration, even if a single transport vehicle assigned to a transport task cannot transport the target item to the delivery point due to insufficient power storage in the power storage device of that transport vehicle, the target item can be transported to the delivery point using multiple transport vehicles. Furthermore, according to this configuration, the target item can be transported as close to the delivery point as possible by making maximum use of the power stored in the power storage device of the first transport vehicle. Therefore, it is easy to keep the consumption of power stored in the power storage device of the second transport vehicle low, and ultimately it is easy to transport items efficiently throughout the entire transport facility.

[0079] In addition, it is preferable that the control system selects the charging point from the charging-possible points within a selection range from the relay point in the relay transport process.

[0080] Furthermore, with this configuration, there are cases where a charging point can be selected from multiple candidates. In this case, a candidate charging point that consumes relatively less power stored in the power storage device of the first transporting vehicle and allows efficient transport of goods across the entire transport facility can be selected as the charging point.

[0081] Furthermore, in the handover transportation process, it is preferable that the control system selects as the second transport vehicle a transport vehicle equipped with a storage device whose stored power capacity is greater than or equal to the amount sufficient to transport the target item from the relay point to the delivery point and then move from the delivery point to the nearest charging point.

[0082] According to this configuration, the target item can be transported from the receiving point to the handover point by two transport vehicles, the first transport vehicle and the second transport vehicle. Also, it is possible to avoid a situation where the first transport vehicle and the second transport vehicle are stopped before reaching a chargeable point due to a shortage of stored power in the power storage devices provided on both the first transport vehicle and the second transport vehicle.

[0083] Furthermore, in the relay transport process, when there are multiple transferable points that can be selected as the relay point, it is preferable that the control system excludes from among them transferable points that are within a route where the traffic volume of the transport vehicle is equal to or greater than a set value, and selects as the relay point the transferable point that is closest to the delivery point.

[0084] According to this configuration, by stopping the transport vehicle at the relay point to transfer the target item, it is possible to reduce the possibility that the transport vehicle stopping at the relay point will block the passage of other transport vehicles, thereby facilitating efficient transport of items throughout the entire transport facility.

[0085] In addition, in the relay transport process, if there are multiple charging points that can be selected as the charging point, it is preferable that the control system selects, from among them, a charging point that is within a route where the traffic volume of the transport vehicle is less than a set value as the charging point.

[0086] According to this configuration, when a transport vehicle stops at a charging point to charge the power storage device, the possibility that the transport vehicle stopping at the charging point will block the passage of other transport vehicles can be reduced, making it easier to transport goods efficiently throughout the entire transport facility.

[0087] In addition, it is preferable that, in the relay transport process, the control system excludes points on a route of the transport vehicle heading from the relay point to the delivery point from candidates for the charging point.

[0088] This configuration reduces the possibility that the passage of the second transporting vehicle that has taken over the transport process will be blocked by the first transporting vehicle that stops at the charging point, making it easier to transport items efficiently throughout the entire transport facility. [Industrial Applicability]

[0089] The technology disclosed herein can be used in a conveyance facility that includes a plurality of transport vehicles that move within a movable area to transport items, and a control system that controls these transport vehicles. [Explanation of symbols]

[0090] 1: Movable area 3: Possible transfer point 4: Charging points 5: Transport vehicle 5A: First transport vehicle 5B: Second transport vehicle 6: Control system 10: Target items 11: Goods 41: Charging device 53: Power storage device 100:Transportation equipment A2: Selection range C: Charging point G: Delivery point S: Pick-up point T: Relay point

Claims

1. A conveyance facility including a plurality of conveyance vehicles that move within a movable area to convey articles, and a control system that controls the plurality of conveyance vehicles, the transport vehicle is configured to include a power storage device and move using the power stored in the power storage device; the movable area is provided with a plurality of charging points where charging devices that charge the power storage device are arranged, and a plurality of transfer points where transfer ports where the transport vehicle delivers and receives the article are arranged, The control system includes: A transport command process for generating a transport task specifying a receiving point for receiving a target item and a delivery point for handing over the target item in order to transport the target item, and assigning the transport task to one of the plurality of transport vehicles; a relay transport process in which, when it is determined that a first transport vehicle, which is the transport vehicle executing the transport task, cannot reach the delivery point due to an insufficient amount of stored electricity in the power storage device equipped in the first transport vehicle, selects a relay point from the plurality of transfer possible points, selects a charging point from the plurality of charge possible points where the power storage device equipped in the first transport vehicle is charged, moves the first transport vehicle to the relay point, and delivers the target item to the transfer port of the relay point; a takeover transport process in which, when the relay point is selected, a second transport vehicle that is different from the first transport vehicle is selected, the second transport vehicle is moved to the relay point to receive the target item from the transfer port of the relay point, and then the second transport vehicle is moved toward the delivery point; configured to run In the relay transport process, the control system selects as the relay point the transferable point that is within the transport route, which is the travel route of the transport vehicle from the receiving point to the delivery point, and is closest to the delivery point, while satisfying the condition that the amount of stored electricity in the power storage device equipped in the first transport vehicle allows the first transport vehicle to reach the charging point via the relay point.

2. The transport facility according to claim 1 , wherein the control system selects the charging point from among the charging-enabled points within a selection range from the relay point.

3. 3. The transportation facility according to claim 1 or 2, wherein the control system selects as the second transportation vehicle a transportation vehicle equipped with a storage device whose stored power capacity is greater than or equal to the amount sufficient to transport the target item from the relay point to the delivery point and then move from the delivery point to the nearest chargeable point in the handover transportation process.

4. 3. The conveying facility according to claim 1, wherein, in the relay conveying process, when there are multiple transferable points that can be selected as the relay point, the control system excludes from among them transferable points that are within a route where the traffic volume of the conveying vehicle is equal to or greater than a set value from the candidates for the relay point, and selects as the relay point the transferable point that is closest to the delivery point.

5. 3. The transportation facility according to claim 1, wherein, when there are a plurality of charging points that can be selected as the charging point in the relay transportation process, the control system selects, from among them, a charging point that is within a route where the traffic volume of the transportation vehicle is less than a set value, as the charging point.

6. The conveyance facility according to claim 1 or 2, wherein the control system excludes points within a route of the conveyance vehicle heading from the relay point to the delivery point from candidates for the charging point in the relay conveyance process.

Images