A transport system, a method for controlling the transport system, a control program, and a recording medium.

Abstract

To efficiently transport objects. [Solution] The transport system (1) comprises a trolley (30) capable of transporting multiple objects and a trolley controller (20) that performs an assignment process to assign objects F to the trolley (30) before transport. The trolley controller (20) performs an assignment process when the area in which the trolley (30) can move is divided into multiple areas, such that the destination area for each of the multiple objects F that the trolley (30) transports simultaneously is the same. When the assigned trolley (30) is empty, it is assigned to transport multiple objects using that trolley (30).

Description

Technical Field

[0001] The present invention relates to a transport system or the like that transports an object to be transported using a carriage that travels along a track.

Background Art

[0002] A transport system is known that travels a carriage along a track provided on a ceiling to transport an object to be transported. For example, Patent Document 1 describes a carriage that is attached to a ceiling via a track and has a plurality of loading means. The carriage described in Patent Document 1 is of a suspended type that can individually load and unload an object to be transported with each of the plurality of loading means.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technology described in the above Patent Document 1 transports an object to be transported using a plurality of loading means individually. In a carriage capable of loading a plurality of objects to be transported, the efficiency of transportation depends on the source and destination of the objects to be transported being loaded. However, Patent Document 1 does not mention the source and destination of the objects to be transported. Therefore, there is room for improvement in terms of improving the efficiency of transportation.

[0005] One aspect of the present invention has been made in view of the above problems, and an object thereof is to realize a transport system or the like that efficiently transports an object to be transported in a transport system including a carriage capable of loading a plurality of objects to be transported.

Means for Solving the Problems

[0006] To solve the aforementioned problems, a transport system according to one aspect of the present invention comprises a trolley capable of transporting a plurality of objects, and a control device that performs an assignment process to assign objects to be transported to the trolley before transport. The control device performs the assignment process such that when the area in which the trolley can move is divided into a plurality of areas, the destination area for each of the plurality of objects to be transported by the trolley simultaneously is the same, and when the assigned trolley is empty, it assigns the trolley to transport the plurality of objects.

[0007] Furthermore, in order to solve the above-mentioned problems, a control method for a transport system according to one aspect of the present invention is a control method for a transport system including a plurality of trolleys capable of transporting a plurality of objects, comprising: an acquisition step of acquiring transport information including the source and destination of the objects to be transported before transport; and an assignment step of using the transport information to assign the objects to be transported before transport to the trolleys, when the area in which the trolleys can move is divided into a plurality of areas, such that the destination area for each of the plurality of objects to be transported simultaneously by the trolleys is the same, wherein if the trolley assigned in the assignment step is empty, the trolley is further assigned to transport the plurality of objects to be transported. [Effects of the Invention]

[0008] According to one aspect of the present invention, trolleys can be assigned so that the destinations of the objects being transported are all in the same area, thereby enabling efficient transport. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows the layout of the trolley track in a transport system according to an embodiment of the present invention. [Figure 2] This figure shows an example of the structure of the above-mentioned trolley. [Figure 3] This is a functional block diagram showing an overview of the transport system. [Figure 4] This figure shows an example of trolley data stored in the memory unit. [Figure 5] This is a flowchart showing the processing flow in a transport system. [Figure 6] This flowchart shows the detailed flow of the process for determining the transport trolley. [Figure 7] This flowchart shows the process of transmitting the position of the trolley. [Figure 8] This is a diagram illustrating an example of how to transport objects. [Modes for carrying out the invention]

[0010] [Overview] The following describes in detail one embodiment of the present invention. First, the overall overview of the transport system 1 will be described with reference to Figure 1. Figure 1 is a diagram showing the layout of the track 40 of the trolley 30 in the transport system 1.

[0011] The transport system 1 transports objects F to be transported between transport areas (referred to as bays in this embodiment) where multiple processing units 50 performing the same or nearly identical processing are located, for example in a semiconductor processing plant, using a trolley 30 that can travel along a track 40. The transport area can also be described as being divided into multiple areas on which the trolley 30 can move.

[0012] In the example shown in Figure 1, the transport area consists of six bays, from the first bay 101 to the sixth bay 106. The track 40 is arranged along the ceiling. The track 40 includes an inter-bay circular track 41 (first circular track) arranged to transport the object F between bays, and an intra-bay circular track 42 (second circular track) arranged to transport the object F within a bay.

[0013] More specifically, the inter-bay orbit 41 includes an inter-bay orbit 41A capable of transporting the object F between the first bay 101, the second bay 102, and the third bay 103; an inter-bay orbit 41B capable of transporting the object F between the first bay 101, the second bay 102, the third bay 103, the fourth bay 104, the fifth bay 105, and the sixth bay 106; and an inter-bay orbit 41C capable of transporting the object F between the fourth bay 104, the fifth bay 105, and the sixth bay 106.

[0014] Furthermore, the bay orbit 42 includes an bay orbit 42A capable of transporting the object F within the first bay 101, an bay orbit 42B capable of transporting the object F within the second bay 102, an bay orbit 42C capable of transporting the object F within the third bay 103, an bay orbit 42D capable of transporting the object F within the fourth bay 104, an bay orbit 42E capable of transporting the object F within the fifth bay 105, and an bay orbit 42F capable of transporting the object F within the sixth bay 106.

[0015] Furthermore, the bay-internal loop tracks 42A, 42B, and 42C are connected to the inter-bay loop tracks 41A and 41B. The bay-internal loop tracks 42D, 42E, and 42F are connected to the inter-bay loop tracks 41B and 41C. This allows the trolley 30 to move between the inter-bay loop track 41 and the bay-internal loop track 42. In other words, the trolley 30 can move efficiently between bays and within bays.

[0016] The trolley 30 can transport the object F from the source to the destination by traveling along the track 40. In other words, the trolley 30 can move between bays by traveling along the inter-bay circular track 41 included in the track 40, and can move within a bay by traveling along the in-bay circular track 42.

[0017] Each of the bays from the first bay 101 to the sixth bay 106 includes a plurality of processing devices 50 that perform the same or similar processes. Each of the processing devices 50 is provided with one or more device ports 51, and the conveyance target object F processed by the processing device 50 is placed on the device port 51 of the processing device 50.

[0018] As a result, the conveyance target objects F that perform the same or similar processes may be conveyed to the same bay, and the conveyance efficiency can be increased as compared with the case where the processing devices 50 that perform the same or similar processes straddle a plurality of bays.

[0019] The conveyance system 1 also includes an overhead storage shelf 60 for storing the conveyance target object F. In the example shown in FIG. 1, the overhead storage shelf 60 is provided along the inter-bay circular orbits 41A, 41B, and 41C.

[0020] The carriage 30 travels in one direction along the track 40 to convey the conveyance target object F. The details of the carriage 30 will be described with reference to FIG. 2. FIG. 2 is a diagram showing the structure of the carriage 30. 201 and 202 in FIG. 2 each show an example of the carriage 30. The example shown in 201 of FIG. 2 shows an example in which the carriage 30 includes two transfer units 31. In the example shown in 201, the carriage 30 includes two transfer units 31, and the transfer units 31 are provided with a lifting unit 311 and a gripping unit 312. The lifting unit 311 raises and lowers the gripping unit 312 in the vertical direction. The gripping unit 312 grips the conveyance target object F.

[0021] When transporting or transferring an object F, the trolley 30 first stops at the position of the object F. Then, the lifting unit 311 lowers the gripping unit 312, and the gripping unit 312 grips the object F. After that, with the object F being gripped by the gripping unit 312, the lifting unit 311 raises the gripping unit 312. In this state, the trolley 30 transports the object F. Upon arrival at the destination, the lifting unit 311 lowers the gripping unit 312, places the object F on it, and raises the gripping unit 312. In this way, the trolley 30 can transfer the object F from the source to the destination. Note that in Figure 2, unit 201 is equipped with two transfer units 31, so the object F can be transported and transferred using each transfer unit 31.

[0022] Figure 2, part 202, shows another example of the trolley 30, which is a trolley 30'. The trolley 30' comprises one transfer section 31 and one shelf 32. The transfer section 31 is movable horizontally, and the object to be transported F, gripped by the gripping section 312, can be moved horizontally within the trolley 30' and placed on the shelf 32. This makes it possible to transport and transfer two objects to be transported F even if there is only one transfer section 31. Here, the example of two objects to be transported F by the trolley 30 has been used, but it is not limited to this. The trolley 30 may transport three or more objects F.

[0023] The transport system 1 also includes a transport controller (control device) 10 and a trolley controller (control device) 20. The transport controller 10 executes the overall control processing for the transport process in the transport system 1. The transport controller 10 also performs the process of specifying the device port 51 on which to place the object to be transported F, in response to an inquiry from the trolley controller 20. The trolley controller 20 controls the trolley 30 in accordance with the instructions of the transport controller 10. The transport controller 10 and the trolley controller 20 are electronic control units consisting of, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0024] Refer to Figure 3 for a detailed explanation of the trolley controller 20. Figure 3 is a functional block diagram showing an overview of the transport system 1. As shown in Figure 3, the trolley controller 20 includes a transport information acquisition unit 21, a transport trolley determination unit 22, a travel control unit 23, a device port designation unit 24, and a storage unit 25.

[0025] The transport information acquisition unit 21 acquires instructions from the transport controller 10 regarding the transport of a new object F. Instructions regarding transport include, for example, information about the source and destination of transport. A new object F is an object F that has not yet been transported and to which a transport trolley 30 has not been assigned.

[0026] The transport trolley determination unit 22 determines the transport trolley 30 that will transport the object F based on the transport instructions acquired by the transport information acquisition unit 21. Specifically, when the transport information acquisition unit 21 acquires transport information, the transport trolley determination unit 22 determines the transport trolley to be either an empty trolley 30, i.e., a trolley 30 that has not transported any object F, or a trolley 30 that is closest to the source of transport among the trolleys 30 that share the same destination bay as the object F and are on the transport path of the object F that is already being transported. The processing flow by the transport trolley determination unit 22 will be described later.

[0027] As a result, additional transported objects F can be acquired along the transport path of already transported objects F, allowing for the transport of additional objects F without reducing the transport efficiency of already transported objects F.

[0028] In other words, the transport trolley determination unit 22 performs the process of assigning the object to be transported F to the trolley 30 before transport. Alternatively, the trolley controller 20 performs the process of assigning the object to be transported F to the trolley 30 before transport.

[0029] The travel control unit 23 controls the travel of the trolley 30 and the transfer unit 31. More specifically, the travel control unit 23 controls the trolley 30 to travel to the source and destination, controls the pickup of the object F to be transported at the source, and controls the placement of the object F to be transported at the destination.

[0030] The device port designation unit 24 performs the process of designating a device port 51 on which to place the object F being transported by the trolley 30. More specifically, when the trolley 30 approaches the destination bay, the device port designation unit 24 queries the transport controller 10 for the device port 51. The transport controller 10 then instructs the trolley 30, via the travel control unit 23, to place the object F on the designated device port 51. Whether the trolley 30 has approached the destination bay can be determined by whether the trolley 30 has entered a predetermined distance from the destination bay.

[0031] This avoids the inconvenience of assigning the device port 51 to an object F that is far from the device port 51, even though the device port 51 is available, and failing to assign it to a nearby object F.

[0032] The storage unit 25 stores the trolley data 251. Figure 4 shows an example of the trolley data 251. The trolley data 251 in Figure 4 shows an example of data for the trolley 30 shown in 201 of Figure 2. The trolley data 251' in Figure 4 shows an example of data for the trolley 30' shown in 202 of Figure 2.

[0033] Furthermore, the memory unit 25 may store map information including the layout of the bays 101 to 6 bays 106 and the orbits 40 that orbit within each bay, as well as information on the processing units 50 located in each bay.

[0034] The trolley data 251 shows the trolley ID, the status of transfer unit A, the status of transfer unit B, the destination, and the current position. The trolley ID is identification information to identify each trolley 30. The status of transfer unit A and the status of transfer unit B indicate whether or not the object to be transported F is being transported by each transfer unit. Here, the section where identification information identifying the object to be transported F (e.g., FOUPaaaa) is written indicates that the object to be transported F is being transported, and the section where no identification information identifying the object to be transported F is written and is left blank indicates that the object to be transported F is not being transported, i.e., it is empty. The destination indicates the bay to which the object to be transported F will be transported. The current position indicates the current position of the trolley 30. The current position may indicate which section the trolley 30 is in by dividing the track 40 into predetermined sections, or it may indicate the position of the trolley 30 in XY coordinates by defining the movement range of the trolley 30 as the XY plane. The current position of each trolley 30 is transmitted from each trolley 30 to the trolley controller 20 at predetermined intervals.

[0035] In the example shown in the trolley data 251 in Figure 4, the first line indicates that trolley 30 with trolley ID "XXX0001" is transporting the object F in both of its two transfer units 31, the destination is "Bay 101", and its current position is "aaaaaaa". Similarly, the second line of trolley data 251 indicates that trolley 30 with trolley ID "XXX0002" is transporting the object F in one of its two transfer units 31, transfer unit B is empty, the destination is "Bay 202", and its current position is "aaaaaab". The same applies to subsequent examples.

[0036] Furthermore, the trolley data 251' shows the trolley ID, the status of the transfer unit, the status of the shelf, the destination, and the current position. The status of the shelf indicates whether or not the object to be transported F is placed on shelf 32. Here, the location where identification information that identifies the object to be transported F (e.g., FOUPhhhh) is written indicates that the object to be transported F is placed on the shelf, and the location where no identification information that identifies the object to be transported F is written and the field is blank indicates that the object to be transported F is not placed on the shelf, i.e., it is empty.

[0037] For example, the first line of the trolley data 251' indicates that trolley 30 with trolley ID "XXX0001" is transporting object F in both the transfer unit 31 and the shelf 32, the destination is "Bay 101", and the current position is "aaaaaaa". Similarly, the second line of the trolley data 251' indicates that trolley 30 with trolley ID "XXX0002" has an empty transfer unit 31, object F is placed on the shelf 32, the destination is "Bay 202", and the current position is "aaaaaab". The same applies to subsequent rows.

[0038] As described above, the transport system 1 according to this embodiment includes a trolley 30 capable of transporting multiple objects F, and a trolley controller 20 that performs an assignment process to assign the objects F to the trolley 30 before transport. The trolley controller 20 then performs an assignment process so that when the area in which the trolley 30 can move is divided into multiple areas (first bay 101 to sixth bay 106), the destination area for each of the multiple objects F that the trolley 30 transports simultaneously is the same.

[0039] This ensures that the trolleys 30 are assigned to transport objects F that are simultaneously transported, so that their destinations are the same area, thereby improving the efficiency of transport.

[0040] [Processing flow] Next, the processing flow in the transport system 1 will be explained with reference to Figures 5 to 7. Figure 5 is a flowchart showing the processing flow in the transport system 1.

[0041] As shown in Figure 5, first, the transport controller 10 transmits transport information to the trolley controller 20 (S101). Transport information is information related to transport, including the source and destination of the object F to be transported. Upon receiving the transport information, the trolley controller 20 (acquisition step) performs a transport trolley determination process (transport trolley determination process) to determine which trolley 30 will transport the object F (S201, assignment step). Details of the transport trolley determination process will be described later.

[0042] Once the transport trolley determination process determines which trolley 30 will transport the object F, the trolley controller 20 instructs the trolley 30 to pick up the object F (S202).

[0043] Upon receiving a pickup instruction for the object to be transported F from the trolley controller 20, the trolley 30 proceeds to the device port 51 on which the object to be transported F is placed and picks up the object to be transported F (S301). Once the pickup is complete, the trolley reports this to the trolley controller 20 (S302).

[0044] Subsequently, when the trolley 30 moves towards the destination of the object F to be transported and approaches the vicinity of the destination (YES in S203), the device port designation unit 24 of the trolley controller 20 queries the transport controller 10 for the device port 51 on which to place the object F to be transported (S204).

[0045] Upon receiving an inquiry about the device port, the transport controller 10 checks whether the device port 51 of the processing device 50 on which the object to be transported F will be placed is available (S102). If the device port 51 is available, it instructs the trolley controller 20 to place the object to be transported F on the device port 51 (S103). Upon receiving this instruction, the trolley controller 20 controls the trolley 30 to place the object to be transported F on the instructed device port 51 (S205), and the trolley 30 places the object to be transported F on the designated device port 51 according to the control of the trolley controller 20 (S303).

[0046] On the other hand, if there is no available port 51 (NO in S102), the transport controller 10 instructs the trolley controller 20 to orbit the bay-internal circular track 42 (S104). Upon receiving this instruction, the trolley controller 20 controls the trolley 30 to orbit within the bay-internal circular track 42 (S205), and the trolley 30 orbits within the bay-internal circular track 42 according to the control of the trolley controller 20 (S303).

[0047] As a result, if there is no available slot in the device port 51, the trolley 30 will circle the internal bay track 42, preventing it from leaving the bay. Therefore, when a slot becomes available in the device port 51, the object to be transported F can be quickly placed in the device port 51. In addition, by circling the internal bay track 42, the trolley 30 is less likely to interfere with other trolleys 30, thus suppressing a decrease in overall transport efficiency.

[0048] After instructing the transport controller 10 to circle within the bay's circular track 42 in step S104, the transport controller 10 waits for a device port 51 to become available. When a device port 51 becomes available (YES in S105), it instructs the trolley controller 20 to place the object to be transported F into the device port 51 (S106). Upon receiving this instruction, the trolley controller 20 controls the trolley 30 to place the object to be transported F into the designated device port 51 (S206). The trolley 30 then places the object to be transported F into the designated device port 51 according to the control of the trolley controller 20 (S304). In other words, the trolley 30 circles within the bay's circular track 42 until a device port 51 becomes available.

[0049] The transport controller 10 then checks whether all of the transport objects F being transported by the trolley 30 that instructed the transport objects F to be placed on have been placed on the device port 51 (S107). If there are still transport objects F remaining (NO in S107), the process returns to step S102. On the other hand, if all of the transport objects F have been placed (YES in S107), the process ends.

[0050] Furthermore, if the trolley 30 enters the destination bay but does not receive instructions regarding the device port 51 from the trolley controller 20, it will circle the internal track 42 of that bay.

[0051] [Transport cart determination process] Next, with reference to Figure 6, the flow of the transport cart determination process in step S201 will be explained. Figure 6 is a flowchart showing the flow of the transport cart determination process. As shown in Figure 6, in the transport cart determination process, first, the transport cart determination unit 22 of the cart controller 20 extracts empty carts, that is, carts 30 that are not transporting any transport objects F, from among the carts 30 running on the track 40 (S211). Next, the transport cart determination unit 22 extracts carts 30 that are transporting only one transport object F, that is, carts 30 that are capable of transporting one more transport object F, that satisfy the following conditions 1 and 2 (transportable carts) (S212). (Condition 1) The source of the new object to be transported exists on the transport path of the object F that is already being transported. (Condition 2) The destination of the object F already being transported and the destination of the new object F to be transported are the same bay.

[0052] Then, the transport trolley determination unit 22 determines the trolley 30 closest to the source of transport from among the empty trolleys extracted in step S211 and the transportable trolleys extracted in step S212 to be the transport trolley 30 that will transport the new object to be transported F (S213).

[0053] If an empty cart is selected as the transport cart, the newly transported object F will be the first object F transported by that cart 30. Also, if a cart 30 that is already transporting another object F is selected as the transport cart, the newly transported object F will be the second object F transported by that cart 30, i.e., an additional object.

[0054] [Notification process for the position of the trolley 30] Furthermore, the trolley 30 periodically notifies the trolley controller 20 of its own position. Figure 7 shows the processing flow of the trolley 30 notifying its own position. As shown in Figure 7, the trolley 30 transmits its own position to the trolley controller 20 (S401). Then, when it passes a predetermined position (YES in S402), it returns to step S401 and transmits its own position to the trolley controller 20 again. In this way, the trolley 30 periodically transmits its own position to the trolley controller 20. Multiple predetermined positions are provided on the track 40, and each time the trolley 30 passes a predetermined position, it transmits the position information of that predetermined position as its own position.

[0055] [Example of transporting object F] Next, we will explain an example of transporting object F with reference to Figure 8. Figure 8 is a diagram illustrating an example of transporting object F.

[0056] Figure 8 shows an example of transporting an object F placed at the device port 51A in the fourth bay 104 to the processing device 50 in the sixth bay 106. For example, suppose a trolley 30A is transporting one object F, and the destination of the object F is the sixth bay 106. In this case, since the device port 51A is on the transport path of the object F being transported, and the destination, the sixth bay 106, is the same, trolley 30A becomes the transport trolley for the object F placed at the device port 51A. The trolley 30A, now acting as a transport trolley, picks up the object F at the device port 51A, which is on the transport path. Then, the trolley 30A moves from the bay-internal circulating track 42D to the inter-bay circulating track 41C, travels along the inter-bay circulating track 41C, and moves to the bay-internal circulating track 42F that circles the sixth bay 106. Then, it moves to the bay's internal orbit 42F, travels along the bay's internal orbit 42, and places the object F to be transported onto the device port 51 of the processing device 50 in the sixth bay 106, which is the transport destination (dashed arrow 801 in Figure 8).

[0057] Thus, with the transport system 1, the trolley 30A can be used to efficiently transport both the transport object F already being transported and a new transport object F. The transport object F to be picked up may be not only those placed on the device port 51 of the processing device 50, but also those placed on the overhead storage rack 60.

[0058] [Examples of implementation using software] The functions of the transport controller 10 and the trolley controller 20 (hereinafter referred to as "devices") are programs that cause a computer to function as the device, and these programs can be realized by programs that cause a computer to function as each control block of the device (particularly the transport information acquisition unit 21, the transport trolley determination unit 22, the travel control unit 23, and the device port designation unit 24).

[0059] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments above are realized.

[0060] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0061] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0062] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0063] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment. [Explanation of Symbols]

[0064] 1. Conveying System 10. Transport Controller (Control Device) 20. Trolley controller (control device) 21 Transport Information Acquisition Unit 22 Transport Cart Determination Section 23. Driving control unit 24. Device port designation section 25 Memory section 251 Bogie Data 30 carts 31 Transfer Section 311 Lifting section 312 Gripping part 32 shelves 40 orbits 41, 41A, 41B, 41C Inter-area orbit (first orbit) 42, 42A, 42B, 42C, 42D, 42E, 42F: Intra-area orbit (second orbit) 50 Processing Units 51 Device Ports 60 Ceiling storage shelves 101 Bay 1 102 Bay 2 103 Bay 3 104 Bay 4 105 Bay 5 106 Bay 6 F. Objects to be transported

Claims

1. A trolley capable of transporting multiple objects, The system includes a control device that performs an assignment process to assign objects to be transported to the trolley before transport, The control device is A transport system that, when the area in which the trolley can move is divided into multiple areas, performs the assignment process so that the destination area for each of the multiple objects to be transported by the trolley simultaneously is the same, and when the assigned trolley is empty, assigns that trolley to transport the multiple objects to be transported.

2. The control device is When an empty cart is assigned as the trolley for transporting the first object to be transported, The transport system according to claim 1, wherein the trolley is used to transport the first object to be transported, and the allocation is made to simultaneously transport a second object to be transported, which is different from the first object to be transported, and which is headed to the same area as the first object to be transported.

3. The transport system according to claim 1 or 2, wherein the control device selects the trolley closest to the source of the transported object as the trolley to be assigned.

4. The transport system according to claim 2, wherein the control device makes an object whose source is located on the path for transporting the first object to be transported the second object to be transported.

5. The transport system according to claim 1 or 2, wherein the trolley travels along a track, and transmits its position to the control device each time it passes one of several predetermined positions provided on the track.

6. A control method for a transport system including multiple trolleys capable of transporting multiple objects, An acquisition step to acquire transport information including the source and destination of the transported object before transport, The system includes an assignment step in which, when the area in which the trolley can move is divided into multiple areas, the trolley uses the transport information to assign the transport objects to the trolley before transport so that the transport destination area for each of the multiple transport objects that the trolley transports simultaneously is the same, A control method for a transport system, which, when the trolley assigned in the assignment step is empty, further assigns the trolley to transport multiple objects to be transported.

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