Conveying equipment

Abstract

This technology improves the efficiency of transport vehicles in merging areas and facilitates increased transport efficiency in transport facilities. [Solution] In the transport equipment, when the control system permits a transport vehicle 1 located upstream of or at a target stop point St, which is one of a plurality of stop points S, to pass through the merging area 3, it sets the permitted transport vehicle 1p to an occupied state where it occupies the occupied point R, prohibits the passage of any transport vehicles 1 other than the permitted transport vehicle 1p from at least the target stop point St to the occupied point R, and performs traffic control to release the occupied state after the permitted transport vehicle 1p has passed the occupied point R. In the traffic control, if there are multiple transport vehicles 1s on the same route among the plurality of transport vehicles 1 that intend to pass through the merging area 3, the system performs a continuous passage permit process to permit passage through the merging area 3 consecutively for the multiple transport vehicles 1s on the same route.

Description

【Technical Field】 【0006】 , 【0001】 The present invention relates to a conveying facility including a plurality of carrier vehicles, a traveling route on which the plurality of carrier vehicles travel, and a control system for controlling the plurality of carrier vehicles. 【Background Art】 【0002】 An example of such a conveying facility is disclosed in Patent Document 1 below. In the conveying facility of Patent Document 1, in order to avoid interference between carrier vehicles, when one carrier vehicle is passing through a merging area including a merging point of the traveling route, exclusive control is performed to prohibit other carrier vehicles from entering the merging area (see FIG. 3(b) of Patent Document 1). 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2006-313463 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 In the conveying facility of Patent Document 1, due to the above exclusive control, a plurality of carrier vehicles cannot pass through the merging area simultaneously. Therefore, the passing efficiency of the carrier vehicles in the merging area is low, and consequently, the conveying efficiency in the conveying facility is low. 【0005】 Therefore, it is desired to realize a technology that can improve the passing efficiency of carrier vehicles in the merging area and easily improve the conveying efficiency in the conveying facility. 【Means for Solving the Problems】 【0006】 In view of the above, the characteristic configuration of the conveying facility is a plurality of carrier vehicles, ​​​​The aforementioned travel path comprises a merging area including a merging point where multiple paths converge, multiple entry sections for the transport vehicle to enter the merging area, and an exit section for the transport vehicle to exit the merging area. A stopping point is set in each of the multiple aforementioned entry sections. A designated area for occupancy is set in the aforementioned exit section. The control system is configured to perform traffic control such that, when it permits a transport vehicle located at a target stop point which is one of a plurality of stop points, or upstream of the target stop point, to pass through the merging area, the permitted transport vehicle, which is the transport vehicle permitted to pass, is placed in an occupied state at the occupied point, and while in the occupied state, it prohibits the passage of transport vehicles other than the permitted transport vehicle from at least the target stop point to the occupied point occupied by the permitted transport vehicle, and releases the occupied state after the permitted transport vehicle has passed the occupied point. The control system, in its traffic control, executes a continuous traffic permission process to allow multiple transport vehicles to pass through the merging area consecutively if, among the multiple transport vehicles attempting to pass through the merging area, there are multiple transport vehicles on the same route whose stopping point and occupied point are the same. 【0007】 This feature configuration allows for shorter intervals between multiple transport vehicles traveling the same route when passing through a merging area, thanks to the continuous passage permit process. This makes it easier to increase the number of transport vehicles passing through the merging area per unit time. Consequently, it is easier to improve the efficiency of transport vehicle traffic in the merging area and the overall transport efficiency of the transport equipment. [Brief explanation of the drawing] 【0008】 [Figure 1] Diagram showing a transport equipment according to an embodiment. [Figure 2] Control block diagram of the conveying equipment according to the embodiment [Figure 3] This figure shows the first example of traffic control by a control system. [Figure 4]Figure showing the first example of passage control by a control system [Figure 5] Figure showing the first example of passage control by a control system [Figure 6] Figure showing the first example of passage control by a control system [Figure 7] Figure showing the first example of passage control by a control system [Figure 8] Figure showing the first example of passage control by a control system [Figure 9] Figure showing the second example of passage control by a control system [Figure 10] Figure showing the second example of passage control by a control system [Figure 11] Figure showing the second example of passage control by a control system [Figure 12] Figure showing the second example of passage control by a control system [Figure 13] Figure showing the second example of passage control by a control system [Figure 14] Figure showing the second example of passage control by a control system [Figure 15] Figure showing the third example of passage control by a control system [Figure 16] Figure showing the third example of passage control by a control system [Figure 17] Figure showing the third example of passage control by a control system [Figure 18] Figure showing the third example of passage control by a control system [Figure 19] Figure showing the third example of passage control by a control system [Figure 20] Figure showing the third example of passage control by a control system [Figure 21] Figure showing the fourth example of passage control by a control system [Figure 22] Figure showing the fourth example of passage control by a control system [Figure 23] Figure showing the fourth example of passage control by a control system [Figure 24] Figure showing the fourth example of passage control by a control system [Modes for carrying out the invention] 【0009】 In the following description, the conveying equipment 100 according to this embodiment will be explained with reference to the drawings. 【0010】 As shown in Figure 1, the transport equipment 100 comprises a plurality of transport vehicles 1 and a travel path 2 on which the plurality of transport vehicles 1 travel. 【0011】 In this embodiment, the travel path 2 is composed of rails suspended from the ceiling. In other words, in this embodiment, the transport vehicle 1 is an overhead transport vehicle. The transport vehicle 1 transports, for example, FOUPs (Front Opening Unified Pods) containing semiconductor substrates as items. 【0012】 As shown in Figure 2, the transport equipment 100 includes a control system 9 that controls multiple transport vehicles 1. In this embodiment, the control system 9 includes a storage unit 91 that stores various information. The configuration of the control system 9 can be changed as appropriate. 【0013】 In this embodiment, each of the multiple transport vehicles 1 is equipped with a driving unit 11, a transfer unit 12, and a communication unit 13. 【0014】 The running unit 11 is equipped with multiple wheels that roll on rails that constitute the running path 2. At least one of the multiple wheels is rotationally driven by a running motor, causing the running unit 11 to move along the running path 2. 【0015】 The transfer unit 12 transfers an item between predetermined transfer target locations. While a detailed explanation is omitted, the transfer unit 12 includes, for example, a holding unit for holding the item, a lifting unit for moving the holding unit up and down relative to the travel unit 11, a horizontal movement unit for moving the holding unit horizontally relative to the travel unit 11, and a swivel unit for rotating the holding unit around a rotation axis along the vertical direction relative to the travel unit 11. However, the transfer unit 12 only needs to have the necessary configuration for transferring an item between the transfer target locations, and is not limited to the configuration described above. 【0016】 The communication unit 13 is configured to communicate with the control system 9. The communication unit 13 receives commands from the control system 9 for the travel unit 11 and the transfer unit 12. The communication unit 13 also transmits various notifications to the control system 9. 【0017】 As shown in Figure 3, the travel path 2 includes a merging area 3 that includes a merging point P1 where multiple paths converge, multiple entry sections 4 for the transport vehicle 1 to enter the merging area 3, and at least one exit section 5 for the transport vehicle 1 to exit the merging area 3. A stopping point S is set in each of the multiple entry sections 4. An occupied point R is set in each of the at least one exit section 5. In this embodiment, a stopping point S is set at the connection point between the entry section 4 and the merging area 3. And an occupied point R is set at the connection point between the exit section 5 and the merging area 3. 【0018】 The control system 9 is configured to perform traffic control on transport vehicles 1 that intend to pass through the merging area 3. The traffic control is a control that, when permitting a transport vehicle 1 located at a target stop point St, which is one of the multiple stop points S, or upstream of the target stop point St, to pass through the merging area 3, places the permitted transport vehicle 1p, which is the transport vehicle 1 that is permitted to pass, into an occupied state at the occupied point R, and prohibits the passage of transport vehicles 1 other than the permitted transport vehicle 1p from at least the target stop point St to the occupied point R occupied by the permitted transport vehicle 1p, and releases the occupied state after the permitted transport vehicle 1p has passed the occupied point R. 【0019】 Figures 3 to 8 show a first example of the layout of the merging area 3, entry section 4, and exit section 5. In this example, there is one merging area 3, two entry sections 4, and one exit section 5. 【0020】 In the example shown in Figures 3 to 8, the travel path 2 comprises a first straight section 2a, a second straight section 2b, and a first connecting section 2c. Each of the first straight section 2a and the second straight section 2b is formed to extend in a straight line. The first straight section 2a and the second straight section 2b are arranged parallel to each other. The first connecting section 2c extends from the downstream end of the first straight section 2a toward the second straight section 2b and is formed to merge with the second straight section 2b at a merging point P1 located midway through the second straight section 2b. 【0021】 In the example shown in Figures 3 to 8, a first stopping point S1 is set as a stopping point S in the first straight section 2a. Then, a second stopping point S2 is set as a stopping point S upstream of the connection point (merging point P1) with the first connecting section 2c in the second straight section 2b, and a first occupied point R1 is set downstream as an occupied point R. Thus, in this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels from the first stopping point S1, through the first straight section 2a, the first connecting section 2c, and the second straight section 2b in order toward the first occupied point R1; and a path in which the transport vehicle 1 travels straight along the second straight section 2b from the second stopping point S2 toward the first occupied point R1. 【0022】 In the example shown in Figures 3 to 8, the portion of the first straight section 2a upstream of the first stopping point S1 and the portion of the second straight section 2b upstream of the second stopping point S2 each correspond to the entry section 4. The portion of the second straight section 2b downstream of the first occupied point R1 corresponds to the exit section 5. Furthermore, the portion of the first straight section 2a downstream of the first stopping point S1, the portion of the second straight section 2b from the second stopping point S2 to the first occupied point R1, and the first connection section 2c correspond to the merging area 3. 【0023】 The following describes a first example of traffic control by the control system 9 with reference to Figures 3 to 8. In this example, three transport vehicles 1 travel along the travel path 2, and these three transport vehicles 1 are designated as the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C in the order they reach the merging area 3. In this example, the first transport vehicle A and the second transport vehicle B travel along the travel path 2, proceeding straight along the second straight section 2b from the second stopping point S2 towards the first occupied point R1. The third transport vehicle C travels along the travel path 2, proceeding from the first stopping point S1, passing through the first straight section 2a, the first connecting section 2c, and the second straight section 2b in that order, towards the first occupied point R1. 【0024】 As shown in Figure 3, first, the first transport vehicle A travels along the second straight section 2b so as to approach the second stopping point S2. Then, at or upstream of the second stopping point S2, the first transport vehicle A transmits a permission request notification N1 from the communication unit 13 to the control system 9, requesting permission to pass through the merging area 3. 【0025】 As shown in Figure 4, in response to the permission request notification N1 from the first transport vehicle A, the control system 9 designates the first transport vehicle A as an authorized transport vehicle 1p and permits its passage from the second stopping point S2 to the first occupied point R1 (see dashed arrow in Figure 4), thus establishing an occupied state where the first transport vehicle A occupies the first occupied point R1. The control system 9 then prohibits the passage of all transport vehicles 1 except the first transport vehicle A from the second stopping point S2 to the first occupied point R1. In this example, the control system 9 also prohibits the passage of transport vehicle 1 from the first stopping point S1 to the first occupied point R1. In Figures 3 to 8, black squares indicate occupied points R that are in an occupied state, and white squares indicate occupied points R that are not in an occupied state. 【0026】 Here, the memory unit 91 of the control system 9 is configured to store passage permission information for multiple authorized transport vehicles 1p. The passage permission information includes information indicating the stopping point S (target stopping point St) and the occupied point R that the authorized transport vehicle 1p intends to pass through. In this example, the passage permission information includes the identification number of the authorized transport vehicle 1p, the addresses of the stopping point S (target stopping point St) and the occupied point R that the authorized transport vehicle 1p intends to pass through, and information on whether or not the authorized transport vehicle 1p has sent an entry notification N2, which will be described later. The passage permission information is stored for each occupied point R. Furthermore, if there are multiple authorized transport vehicles 1p for one occupied point R, passage permission information is stored for each of the multiple authorized transport vehicles 1p. In Figures 3 to 8, "×" indicates that the authorized transport vehicle 1p has not sent an entry notification N2, and "○" indicates that the authorized transport vehicle 1p has sent an entry notification N2. 【0027】 As shown in Figure 4, after authorizing the first transport vehicle A to pass from the second stopping point S2 to the first occupied point R1, the control system 9 stores in the storage unit 91 the following as permission information for the first occupied point R1: the identification number of the first transport vehicle A as the authorized transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the second stopping point S2 as the stopping point S (target stopping point St) that the first transport vehicle A is trying to pass through, and the address of the first occupied point R1 as the occupied point R that the first transport vehicle A is trying to pass through. 【0028】 Subsequently, as shown in Figure 5, the communication unit 13 of the first transport vehicle A transmits an entry notification N2 to the control system 9, provided that the first transport vehicle A has traveled a set distance d from the second stopping point S2. In response to the entry notification N2 from the first transport vehicle A, the control system 9 stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as permission to pass for the first occupied point R1. Here, the set distance d can be set as appropriate depending on the configuration of the path that the transport vehicle 1 is trying to travel. The timing of the permission transport vehicle 1p (in this case, the first transport vehicle A) transmitting the entry notification N2 may be immediately after the permission transport vehicle 1p has traveled a set distance d from the target stopping point St (in this case, the second stopping point S2), or it may be after other conditions have been met. 【0029】 Furthermore, as a follower of the first transport vehicle A, the second transport vehicle B travels along the second straight section 2b to approach the second stopping point S2, while the third transport vehicle C travels along the first straight section 2a to approach the first stopping point S1. Then, the communication unit 13 of the second transport vehicle B transmits a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also transmits a permission request notification N1 to the control system 9. 【0030】 At this time, since the first transport vehicle A is in an occupied state, occupying the first occupied point R1, passage from the second stopping point S2 (which is the target stopping point St) to the first occupied point R1 is prohibited for transport vehicles 1 other than the first transport vehicle A, which is the authorized transport vehicle 1p. However, in traffic control, if there are multiple transport vehicles 1s on the same route among the multiple transport vehicles 1 that are attempting to pass through the merging area 3, the control system 9 executes a continuous passage permission process to allow passage through the merging area 3 for the multiple transport vehicles 1s on the same route. In this embodiment, when the control system 9 executes the continuous passage permission process, in response to receiving an entry notification N2, it allows passage through the merging area 3 for the transport vehicles 1 following the authorized transport vehicle 1p that sent the entry notification N2 among the multiple transport vehicles 1s on the same route. 【0031】 In this example, the first transport vehicle A and the second transport vehicle B are the same route transport vehicle 1s. The control system 9 has received an entry notification N2 from the first transport vehicle A, and in response to the permission request notification N1 from the second transport vehicle B, it designates the second transport vehicle B, which is the transport vehicle 1 following the first transport vehicle A, as an authorized transport vehicle 1p, and permits the second transport vehicle B to pass from the second stopping point S2 to the first occupied point R1. The control system 9 then stores in the storage unit 91 the following information as permission information for the first occupied point R1: the identification number of the second transport vehicle B as the authorized transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the second stopping point S2 as the stopping point S (target stopping point St) that the second transport vehicle B is trying to pass, and the address of the first occupied point R1 as the occupied point R that the second transport vehicle B is trying to pass. 【0032】 Furthermore, each of the multiple transport vehicles 1 is equipped with a collision avoidance sensor that detects other transport vehicles 1 located in front of it. Therefore, collisions between a subsequent transport vehicle 1 (in this case, the second transport vehicle B) in the same route transport vehicle 1s and another transport vehicle 1 (in this case, the first transport vehicle A) located in front of it can be avoided by the collision avoidance sensor. 【0033】 In this example, when the control system 9 occupies the first occupancy point R1, it also prohibits the passage of transport vehicles 1, excluding authorized transport vehicle 1p, from the first stopping point S1 to the first occupancy point R1. In other words, until the occupancy of the first occupancy point R1 is released, the passage of the third transport vehicle C from the first stopping point S1 to the first occupancy point R1 is prohibited. 【0034】 Here, the control system 9 is configured to store permission waiting information for the transport vehicle 1w that sent permission request notification N1 and is not permitted to pass through the merging area 3. The permission waiting information includes information indicating the occupied point R that the permission waiting transport vehicle 1w is trying to pass through, and information indicating the elapsed time (waiting time) since the permission waiting transport vehicle 1w sent permission request notification N1. In this example, it includes the identification number of the first permission waiting transport vehicle 1wf, which is the permission waiting transport vehicle 1w with the longest elapsed time since sending permission request notification N1 among the permission waiting transport vehicles 1w that pass through the same stopping point S, the address of the occupied point R that the first permission waiting transport vehicle 1wf is trying to pass through, and the elapsed time since the first permission waiting transport vehicle 1wf sent permission request notification N1. The permission waiting information is stored for each occupied point R. 【0035】 In this example, in response to the permission request notification N1 from the third transport vehicle C, the control system 9 does not permit the third transport vehicle C to pass from the first stopping point S1 to the first occupied point R1, but instead stores in the storage unit 91 the following information as permission waiting information for the first occupied point R1: the identification number of the third transport vehicle C as the first permission waiting transport vehicle 1wf, the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the first occupied point R1 as the occupied point R that the third transport vehicle C is trying to pass through. 【0036】 Subsequently, as shown in Figure 6, the communication unit 13 of the second transport vehicle B transmits an entry notification N2 to the control system 9, provided that the second transport vehicle B has advanced a set distance d from the second stopping point S2. In response to the entry notification N2 from the second transport vehicle B, the control system 9 stores in the storage unit 91 information that the second transport vehicle B has transmitted the entry notification N2 as passage permission information for the first occupied point R1. 【0037】 Furthermore, the third transport vehicle C, designated as the first transport vehicle awaiting permission 1wf, is prohibited from passing from the first stopping point S1 to the first occupied point R1, and therefore stops at the first stopping point S1. The control system 9 then updates the permission waiting information for the third transport vehicle C stored in the memory unit 91 (in this case, the elapsed time since the third transport vehicle C sent the permission request notification N1). In this example, the transport vehicle awaiting permission 1w continues to send permission request notifications N1 to the control system 9 continuously or intermittently until it is permitted by the control system 9 to pass through the merging area 3. 【0038】 As shown in Figure 7, the control system 9 releases the occupation status of the first occupation point R1 after the first transport vehicle A and the second transport vehicle B, acting as authorized transport vehicles 1p, have passed the first occupation point R1. The control system 9 then deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. The control system 9 also updates the permission waiting information for the third transport vehicle C stored in the memory unit 91 (in this case, the elapsed time since the third transport vehicle C sent the permission request notification N1). 【0039】 Next, as shown in Figure 8, in response to the permission request notification N1 from the third transport vehicle C, which is the first transport vehicle awaiting permission 1wf, the control system 9 designates the third transport vehicle C as the permitted transport vehicle 1p and permits it to pass from the first stopping point S1 to the first occupied point R1 (see dashed arrow in Figure 8), and sets the third transport vehicle C to occupy the first occupied point R1. The control system 9 then stores in the storage unit 91 the following information as permission information for the first occupied point R1: the identification number of the third transport vehicle C as the permitted transport vehicle 1p, information that the third transport vehicle C has not sent an entry notification N2, the address of the first stopping point S1 as the stopping point S (target stopping point St) that the third transport vehicle C is trying to pass through, and the address of the first occupied point R1 as the occupied point R that the third transport vehicle C is trying to pass through. The subsequent operation of the control system 9 will not be explained. 【0040】 Figures 9 to 14 show a second example of the layout of the merging area 3, entry section 4, and exit section 5. In this example, there is one merging area 3, two entry sections 4, and two exit sections 5. 【0041】 In the example shown in Figures 9 to 14, the travel path 2 comprises a third straight section 2d, a fourth straight section 2e, and a second connecting section 2f. Both the third straight section 2d and the fourth straight section 2e are formed to extend in a straight line. The third straight section 2d and the fourth straight section 2e are arranged parallel to each other. The second connecting section 2f is formed to branch off from the third straight section 2d at a branching point P2 located midway through the third straight section 2d, and to merge with the fourth straight section 2e at a merging point P1 located midway through the fourth straight section 2e. 【0042】 In the example shown in Figures 9 to 14, a third stopping point S3 is set upstream of the connection point (branching point P2) between the third straight section 2d and the second connecting section 2f, and a third occupied point R3 is set downstream of the connection point R. Similarly, a fourth stopping point S4 is set upstream of the connection point (merging point P1) between the fourth straight section 2e and the second connecting section 2f, and a fourth occupied point R4 is set downstream of the connection point R. Thus, in this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels straight along the third straight section 2d from the third stopping point S3 toward the third occupied point R3; a path in which the transport vehicle 1 travels from the third stopping point S3, through the third straight section 2d, the second connecting section 2f, and the fourth straight section 2e in order toward the fourth occupied point R4; and a path in which the transport vehicle 1 travels straight along the fourth straight section 2e from the fourth stopping point S4 toward the fourth occupied point R4. 【0043】 In the examples shown in Figures 9 to 14, the portion of the third straight section 2d upstream of the third stopping point S3 and the portion of the fourth straight section 2e upstream of the fourth stopping point S4 each correspond to the entry section 4. The portion of the third straight section 2d downstream of the third occupied point R3 and the portion of the fourth straight section 2e downstream of the fourth occupied point R4 each correspond to the exit section 5. Furthermore, the portion of the third straight section 2d from the third stopping point S3 to the third occupied point R3, the portion of the fourth straight section 2e from the fourth stopping point S4 to the fourth occupied point R4, and the second connection section 2f correspond to the merging area 3. 【0044】 The following describes a second example of traffic control by the control system 9 with reference to Figures 9 to 14. In this example, four transport vehicles 1 travel along the travel path 2, and these four transport vehicles 1 are designated as the first transport vehicle A, the second transport vehicle B, the third transport vehicle C, and the fourth transport vehicle D in the order they reach the merging area 3. In this example, the first transport vehicle A and the second transport vehicle B travel along the travel path 2 from the third stopping point S3, passing through the third straight section 2d, the second connecting section 2f, and the fourth straight section 2e in order, towards the fourth occupied point R4. The third transport vehicle C travels along the travel path 2 from the fourth stopping point S4, proceeding straight along the fourth straight section 2e towards the fourth occupied point R4, and the fourth transport vehicle D travels along the travel path 2 from the third stopping point S3, proceeding straight along the third straight section 2d towards the third occupied point R3. 【0045】 As shown in Figure 9, first, the first transport vehicle A travels along the third straight section 2d so as to approach the third stopping point S3. Then, at or upstream of the third stopping point S3, the first transport vehicle A transmits a permission request notification N1 from the communication unit 13 to the control system 9. 【0046】 As shown in Figure 10, in response to the permission request notification N1 from the first transport vehicle A, the control system 9 designates the first transport vehicle A as the permitted transport vehicle 1p and permits its passage from the third stopping point S3 to the fourth occupied point R4 (see dashed arrow in Figure 10), and sets the fourth occupied point R4 to be occupied by the first transport vehicle A. The control system 9 then prohibits the passage of all transport vehicles 1 except the first transport vehicle A from the third stopping point S3 to the fourth occupied point R4. In this example, when the permitted transport vehicle 1p (here, the first transport vehicle A) travels along the path branched off at branching point P2 (here, the second connection point 2f and the fourth straight section 2e), the control system 9 sets the occupied point R (here, the fourth occupied point R4) located on that path, as well as the occupied point R (here, the third occupied point R3) located on the path that goes straight through branching point P2 (here, the third straight section 2d). In other words, in this example, the control system 9 also prohibits the passage of the transport vehicle 1 from the third stopping point S3 to the third occupied point R3. This prevents interference between the following transport vehicle 1 and the preceding transport vehicle 1 if, for example, the preceding transport vehicle 1 stops immediately after passing the branching point P2, while the following transport vehicle 1 travels along a path branched off at branching point P2 and the following transport vehicle 1 travels along a path that goes straight through branching point P2. When an authorized transport vehicle 1p (in this case, the first transport vehicle A) travels along a path that goes straight through branching point P2 (in this case, the third straight section 2d), it is preferable to occupy only the occupied point R (in this case, the third occupied point R3) located along that path. 【0047】 In the following explanation, of the two occupied points R located on the route connected to branch point P2 through which authorized transport vehicle 1p passes, the one that authorized transport vehicle 1p actually passes through will be referred to as the "primary occupied point," and the one that authorized transport vehicle 1p does not actually pass through will be referred to as the "secondary occupied point." In this example, the fourth occupied point R4, through which the first transport vehicle A (as authorized transport vehicle 1p) actually passes, corresponds to the primary occupied point, and the third occupied point R3 corresponds to the secondary occupied point. 【0048】 After permitting the first transport vehicle A to pass from the third stopping point S3 to the fourth occupied point R4, the control system 9 stores in the storage unit 91 the following information as permission information for the fourth occupied point R4 as the primary occupied point: the identification number of the first transport vehicle A as the permitted transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the third stopping point S3 as the stopping point S (target stopping point St) that the first transport vehicle A is trying to pass through, and the address of the fourth occupied point R4 as the occupied point R (primary occupied point) that the first transport vehicle A is trying to pass through. Furthermore, the control system 9 stores in the storage unit 91 the following as permission information for passage to the third occupied point R3 as a secondary occupied point: the identification number of the first transport vehicle A as the permitted transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the third stop point S3 as the stop point S (target stop point St) that the first transport vehicle A is about to pass through, and the address of the fourth occupied point R4 as the occupied point R (main occupied point) that the first transport vehicle A is about to pass through. 【0049】 Subsequently, as shown in Figure 11, the communication unit 13 of the first transport vehicle A transmits an entry notification N2 to the control system 9, provided that the first transport vehicle A has traveled a set distance d from the third stopping point S3. In response to the entry notification N2 from the first transport vehicle A, the control system 9 stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as passage permission information for the fourth occupied point R4. Furthermore, the control system 9 also stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as passage permission information for the third occupied point R3. 【0050】 Furthermore, as a follower of the first transport vehicle A, the second transport vehicle B travels along the third straight section 2d to approach the third stopping point S3, and the third transport vehicle C travels along the fourth straight section 2e to approach the fourth stopping point S4. Then, the communication unit 13 of the second transport vehicle B transmits a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also transmits a permission request notification N1 to the control system 9. 【0051】 At this time, since the first transport vehicle A is in an occupied state, occupying the fourth occupied point R4 as the primary occupied point, passage of transport vehicles 1 from the third stop point S3 to the fourth occupied point R4, which is the target stopping point St, is prohibited, excluding the first transport vehicle A as the authorized transport vehicle 1p. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same route. The control system 9 has received an entry notification N2 from the first transport vehicle A, and in response to the permission request notification N1 from the second transport vehicle B, it designates the second transport vehicle B, which is the transport vehicle 1 following the first transport vehicle A, as the authorized transport vehicle 1p, and permits the passage of the second transport vehicle B from the third stop point S3 to the fourth occupied point R4. The control system 9 then stores in the storage unit 91 the following as permission information for passage to the fourth occupied point R4: the identification number of the second transport vehicle B as the permitted transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the third stop point S3 as the stop point S (target stop point St) that the second transport vehicle B intends to pass through, and the address of the fourth occupied point R4 as the occupied point R that the second transport vehicle B intends to pass through. Furthermore, the control system 9 also stores in the storage unit 91 the following as permission information for passage to the third occupied point R3: the identification number of the second transport vehicle B as the permitted transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the third stop point S3 as the stop point S (target stop point St) that the second transport vehicle B intends to pass through, and the address of the fourth occupied point R4 as the occupied point R that the second transport vehicle B intends to pass through. 【0052】 In this example, when the control system 9 occupies the fourth occupancy point R4, it also prohibits the transport vehicle 1 from passing from the fourth stopping point S4 to the fourth occupancy point R4. In other words, until the occupancy of the fourth occupancy point R4 is released, the third transport vehicle C is prohibited from passing from the fourth stopping point S4 to the fourth occupancy point R4. 【0053】 In response to the permission request notification N1 from the third transport vehicle C, the control system 9 does not permit the third transport vehicle C to pass from the fourth stopping point S4 to the fourth occupied point R4, but instead stores in the storage unit 91 the following information as permission waiting information for the fourth occupied point R4: the identification number of the third transport vehicle C as the first permission waiting transport vehicle 1wf at the fourth stopping point S4, the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the fourth occupied point R4 as the occupied point R that the third transport vehicle C is trying to pass through. 【0054】 Subsequently, as shown in Figure 12, the communication unit 13 of the second transport vehicle B transmits an entry notification N2 to the control system 9, provided that the second transport vehicle B has traveled a set distance d from the third stopping point S3. In response to the entry notification N2 from the second transport vehicle B, the control system 9 stores in the storage unit 91 information that the second transport vehicle B has transmitted the entry notification N2 as passage permission information for the fourth occupied point R4. Furthermore, the control system 9 stores in the storage unit 91 information that the second transport vehicle B has transmitted the entry notification N2 as passage permission information for the third occupied point R3. 【0055】 Furthermore, the third transport vehicle C, designated as the first transport vehicle awaiting permission 1wf, is prohibited from passing from the fourth stopping point S4 to the fourth occupied point R4, and therefore stops at the fourth stopping point S4. The control system 9 then updates the permission waiting information for the third transport vehicle C stored in the memory unit 91 (in this case, the elapsed time since the third transport vehicle C sent the permission request notification N1). 【0056】 Furthermore, the fourth transport vehicle D travels along the third straight section 2d as a follower of the second transport vehicle B, approaching the third stopping point S3. Then, the communication unit 13 of the fourth transport vehicle D transmits a permission request notification N1 to the control system 9. 【0057】 At this time, since the first transport vehicle A is in an occupied state, occupying the third occupied point R3 as a secondary occupied point, the passage of transport vehicle 1 from the third stopping point S3 to the third occupied point R3 is prohibited. Therefore, in response to the permission request notification N1 from the fourth transport vehicle D, the control system 9 does not permit the passage of the fourth transport vehicle D from the third stopping point S3 to the third occupied point R3, but instead stores in the storage unit 91 the identification number of the fourth transport vehicle D as the first permission-waiting transport vehicle 1wf at the third stopping point S3, the elapsed time since the fourth transport vehicle D sent the permission request notification N1, and the address of the third occupied point R3 as the occupied point R that the fourth transport vehicle D is trying to pass through, as permission-waiting information for the third occupied point R3. 【0058】 As shown in Figure 13, when the second transport vehicle B, which is the authorized transport vehicle 1p located at the rear of the transport vehicles 1s along the same route, reaches the fourth occupied point R4, or after the first transport vehicle A and the second transport vehicle B, as authorized transport vehicles 1p, have passed the fourth occupied point R4, the control system 9 releases the occupied status of both the fourth occupied point R4 as the primary occupied point and the third occupied point R3 as the secondary occupied point. The control system 9 then deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. The control system 9 also updates the permission waiting information for the third transport vehicle C (here, the elapsed time since the third transport vehicle C sent the permission request notification N1) and the permission waiting information for the fourth transport vehicle D (here, the elapsed time since the fourth transport vehicle D sent the permission request notification N1) stored in the memory unit 91. 【0059】 Next, as shown in Figure 14, in response to the permission request notification N1 from the third transport vehicle C, which is the first transport vehicle awaiting permission at the fourth stopping point S4, the control system 9 designates the third transport vehicle C as the permitted transport vehicle 1p and permits it to pass from the fourth stopping point S4 to the fourth occupied point R4 (see the lower dashed arrow in Figure 14), and sets the fourth occupied point R4 to be occupied by the third transport vehicle C. The control system 9 then stores in the storage unit 91 the following information as permission information for the fourth occupied point R4: the identification number of the third transport vehicle C as the permitted transport vehicle 1p, information that the third transport vehicle C has not sent an entry notification N2, the address of the fourth stopping point S4 as the stopping point S (target stopping point St) that the third transport vehicle C is trying to pass through, and the address of the fourth occupied point R4 as the occupied point R that the third transport vehicle C is trying to pass through. 【0060】 Furthermore, in response to the permission request notification N1 from the fourth transport vehicle D, which is the first transport vehicle 1wf awaiting permission at the third stopping point S3, the control system 9 designates the fourth transport vehicle D as the permitted transport vehicle 1p and permits it to pass from the third stopping point S3 to the third occupied point R3 (see the upper dashed arrow in Figure 14), thereby establishing an occupied state where the fourth transport vehicle D occupies the third occupied point R3. The control system 9 then stores in the storage unit 91 the following information as permission information for passage to the third occupied point R3: the identification number of the fourth transport vehicle D as the permitted transport vehicle 1p, information indicating that the fourth transport vehicle D has not sent an entry notification N2, the address of the third stopping point S3 as the stopping point S (target stopping point St) that the fourth transport vehicle D is attempting to pass through, and the address of the third occupied point R3 as the occupied point R that the fourth transport vehicle D is attempting to pass through. The subsequent operation of the control system 9 will not be explained. 【0061】 Figures 15 to 20 show a third example of the layout of the merging area 3, entry section 4, and exit section 5. In this example, there is one merging area 3, two entry sections 4, and two exit sections 5. 【0062】 In the example shown in Figures 15 to 20, the travel path 2 comprises a fifth straight section 2g, a sixth straight section 2h, a third connecting section 2i, and a fourth connecting section 2j. The fifth straight section 2g and the sixth straight section 2h are each formed to extend in a straight line. The fifth straight section 2g and the sixth straight section 2h are arranged parallel to each other. The third connecting section 2i is formed to branch off from the fifth straight section 2g at a branching point P2 located midway through the fifth straight section 2g, and to merge with the sixth straight section 2h at a merging point P1 located midway through the sixth straight section 2h. The fourth connecting section 2j is formed to branch off from the sixth straight section 2h at a branching point P2 located upstream of the merging point P1 in the sixth straight section 2h, and to merge with the fifth straight section 2g at a merging point P1 located downstream of the branching point P2 in the fifth straight section 2g. 【0063】 In the example shown in Figures 15 to 20, the fifth stopping point S5 is set upstream of the connection point (branching point P2) between the fifth straight section 2g and the third connecting section 2i, and the fifth occupied point R5 is set downstream of the connection point (merging point P1) between the fifth straight section 2g and the fourth connecting section 2j. Furthermore, the sixth stopping point S6 is set upstream of the connection point (branching point P2) between the sixth straight section 2h and the fourth connecting section 2j, and the sixth occupied point R6 is set downstream of the connection point (merging point P1) between the sixth straight section 2h and the third connecting section 2i. Thus, in this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels straight along the fifth straight section 2g from the fifth stopping point S5 toward the fifth occupied point R5; a path in which the transport vehicle 1 travels from the fifth stopping point S5, passing sequentially through the fifth straight section 2g, the third connecting section 2i, and the sixth straight section 2h toward the sixth occupied point R6; a path in which the transport vehicle 1 travels straight along the sixth straight section 2h from the sixth stopping point S6 toward the sixth occupied point R6; and a path in which the transport vehicle 1 travels from the sixth stopping point S6, passing sequentially through the sixth straight section 2h, the fourth connecting section 2j, and the fifth straight section 2g toward the fifth occupied point R5. 【0064】 In the example shown in Figures 15 to 20, the portion of the fifth straight section 2g upstream of the fifth stopping point S5 and the portion of the sixth straight section 2h upstream of the sixth stopping point S6 each correspond to the entry section 4. The portion of the fifth straight section 2g downstream of the fifth occupied point R5 and the portion of the sixth straight section 2h downstream of the sixth occupied point R6 each correspond to the exit section 5. Furthermore, the portion of the fifth straight section 2g from the fifth stopping point S5 to the fifth occupied point R5, the portion of the sixth straight section 2h from the sixth stopping point S6 to the sixth occupied point R6, the third connection section 2i, and the fourth connection section 2j correspond to the merging area 3. 【0065】 The following describes a third example of traffic control by the control system 9 with reference to Figures 15 to 20. In this example, four transport vehicles 1 travel along the travel path 2, and these four transport vehicles 1 are designated as the first transport vehicle A, the second transport vehicle B, the third transport vehicle C, and the fourth transport vehicle D in the order they reach the merging area 3. In this example, the first transport vehicle A and the second transport vehicle B travel along the travel path 2 from the fifth stopping point S5, passing through the fifth straight section 2g, the third connecting section 2i, and the sixth straight section 2h in order, towards the sixth occupied point R6. The third transport vehicle C travels along the travel path 2 from the sixth stopping point S6, proceeding straight along the sixth straight section 2h towards the sixth occupied point R6, and the fourth transport vehicle D travels along the travel path 2 from the fifth stopping point S5, proceeding straight along the fifth straight section 2g towards the fifth occupied point R5. 【0066】 As shown in Figure 15, first, the first transport vehicle A travels along the fifth straight section 2g so as to approach the fifth stopping point S5. Then, at or upstream of the fifth stopping point S5, the first transport vehicle A transmits a permission request notification N1 from the communication unit 13 to the control system 9. 【0067】 As shown in Figure 16, in response to the permission request notification N1 from the first transport vehicle A, the control system 9 designates the first transport vehicle A as the permitted transport vehicle 1p and permits its passage from the fifth stopping point S5 to the sixth occupied point R6 (see dashed arrow in Figure 16), and sets the sixth occupied point R6 to be occupied by the first transport vehicle A. The control system 9 then prohibits the passage of all transport vehicles 1, excluding the first transport vehicle A, from the fifth stopping point S5 to the sixth occupied point R6. In this example, when the permitted transport vehicle 1p (in this case, the first transport vehicle A) travels along the path branched off at branching point P2 (in this case, the third connection point 2i and the sixth straight section 2h), the control system 9 sets the occupied point R (in this case, the sixth occupied point R6) located on that path, as well as the occupied point R (in this case, the fifth occupied point R5) located on the path that goes straight through branching point P2 (in this case, the fifth straight section 2g). In other words, in this example, the control system 9 also prohibits the passage of the transport vehicle 1 from the fifth stopping point S5 to the fifth occupied point R5. 【0068】 After permitting the first transport vehicle A to pass from the fifth stopping point S5 to the sixth occupied point R6, the control system 9 stores in the storage unit 91 the following information as permission information for the sixth occupied point R6 as the primary occupied point: the identification number of the first transport vehicle A as the permitted transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the fifth stopping point S5 as the stopping point S (target stopping point St) that the first transport vehicle A is about to pass through, and the address of the sixth occupied point R6 as the occupied point R (primary occupied point) that the first transport vehicle A is about to pass through. Furthermore, the control system 9 stores in the storage unit 91 the following as permission information for passage to the fifth occupied point R5 as a secondary occupied point: the identification number of the first transport vehicle A as the permitted transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the fifth stop point S5 as the stop point S (target stop point St) that the first transport vehicle A is about to pass through, and the address of the sixth occupied point R6 as the occupied point R (main occupied point) that the first transport vehicle A is about to pass through. 【0069】 Subsequently, as shown in Figure 17, the communication unit 13 of the first transport vehicle A transmits an entry notification N2 to the control system 9, provided that the first transport vehicle A has traveled a set distance d from the fifth stopping point S5. In response to the entry notification N2 from the first transport vehicle A, the control system 9 stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as passage permission information for the sixth occupied point R6. Furthermore, the control system 9 also stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as passage permission information for the fifth occupied point R5. 【0070】 Furthermore, as a follower of the first transport vehicle A, the second transport vehicle B travels along the fifth straight section 2g to approach the fifth stopping point S5, and the third transport vehicle C travels along the sixth straight section 2h to approach the sixth stopping point S6. Then, the communication unit 13 of the second transport vehicle B transmits a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also transmits a permission request notification N1 to the control system 9. 【0071】 At this time, since the first transport vehicle A is in an occupied state, occupying the sixth occupied point R6 as the primary occupied point, passage of transport vehicles 1 from the fifth stopping point S5, which is the target stopping point St, to the sixth occupied point R6 is prohibited, excluding the first transport vehicle A, which is the authorized transport vehicle 1p. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same route. And, since the control system 9 has received an entry notification N2 from the first transport vehicle A, in response to the permission request notification N1 from the second transport vehicle B, the control system 9 designates the second transport vehicle B, which is the transport vehicle 1 following the first transport vehicle A, as the authorized transport vehicle 1p, and permits the passage of the second transport vehicle B from the fifth stopping point S5 to the sixth occupied point R6. The control system 9 then stores in the storage unit 91 the following as permission information for passage to the sixth occupied point R6: the identification number of the second transport vehicle B as the permitted transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the fifth stop point S5 as the stop point S (target stop point St) that the second transport vehicle B is about to pass through, and the address of the sixth occupied point R6 as the occupied point R that the second transport vehicle B is about to pass through. Furthermore, the control system 9 also stores in the storage unit 91 the following as permission information for passage to the fifth occupied point R5: the identification number of the second transport vehicle B as the permitted transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the fifth stop point S5 as the stop point S (target stop point St) that the second transport vehicle B is about to pass through, and the address of the sixth occupied point R6 as the occupied point R that the second transport vehicle B is about to pass through. 【0072】 In this example, when the control system 9 occupies the sixth occupancy point R6, it also prohibits the transport vehicle 1 from passing from the sixth stopping point S6 to the sixth occupancy point R6. In other words, until the occupancy of the sixth occupancy point R6 is released, the third transport vehicle C is prohibited from passing from the sixth stopping point S6 to the sixth occupancy point R6. 【0073】 In response to the permission request notification N1 from the third transport vehicle C, the control system 9 does not permit the third transport vehicle C to pass from the sixth stopping point S6 to the sixth occupied point R6, but instead stores in the storage unit 91 the following information as permission waiting information for the sixth occupied point R6: the identification number of the third transport vehicle C as the first permission waiting transport vehicle 1wf at the sixth stopping point S6, the elapsed time since the third transport vehicle C sent the permission request notification N1, and the address of the sixth occupied point R6 as the occupied point R that the third transport vehicle C is trying to pass through. 【0074】 Subsequently, as shown in Figure 18, the communication unit 13 of the second transport vehicle B transmits an entry notification N2 to the control system 9, provided that the second transport vehicle B has traveled a set distance d from the fifth stopping point S5. In response to the entry notification N2 from the second transport vehicle B, the control system 9 stores in the storage unit 91 information that the second transport vehicle B has transmitted the entry notification N2 as passage permission information for the sixth occupied point R6. Furthermore, the control system 9 also stores in the storage unit 91 information that the second transport vehicle B has transmitted the entry notification N2 as passage permission information for the fifth occupied point R5. 【0075】 Furthermore, the third transport vehicle C, designated as the first transport vehicle awaiting permission 1wf, is prohibited from passing from the sixth stopping point S6 to the sixth occupied point R6, and therefore stops at the sixth stopping point S6. The control system 9 then updates the permission waiting information for the third transport vehicle C stored in the memory unit 91 (in this case, the elapsed time since the third transport vehicle C sent the permission request notification N1). 【0076】 Furthermore, the fourth transport vehicle D travels along the fifth straight section 2g as a follower of the second transport vehicle B, approaching the fifth stopping point S5. Then, the communication unit 13 of the fourth transport vehicle D transmits a permission request notification N1 to the control system 9. 【0077】 At this time, since the first transport vehicle A is in an occupied state, occupying the fifth occupied point R5 as a secondary occupied point, the passage of transport vehicle 1 from the fifth stopping point S5 to the fifth occupied point R5 is prohibited. Therefore, in response to the permission request notification N1 from the fourth transport vehicle D, the control system 9 does not permit the passage of the fourth transport vehicle D from the fifth stopping point S5 to the fifth occupied point R5, but instead stores in the storage unit 91 the following information as permission waiting information for the fifth occupied point R5: the identification number of the fourth transport vehicle D as the first permission waiting transport vehicle 1wf at the fifth stopping point S5, the elapsed time since the fourth transport vehicle D sent the permission request notification N1, and the address of the fifth occupied point R5 as the occupied point R that the fourth transport vehicle D is trying to pass through. 【0078】 As shown in Figure 19, when the second transport vehicle B, which is the authorized transport vehicle 1p located at the rear of the transport vehicles 1s along the same route, reaches the sixth occupied point R6, or after the first transport vehicle A and the second transport vehicle B, as authorized transport vehicles 1p, have passed the sixth occupied point R6, the control system 9 releases the occupied status of both the sixth occupied point R6 as the primary occupied point and the fifth occupied point R5 as the secondary occupied point. The control system 9 then deletes the passage permission information for the first transport vehicle A and the second transport vehicle B. The control system 9 also updates the permission waiting information for the third transport vehicle C (here, the elapsed time since the third transport vehicle C sent the permission request notification N1) and the permission waiting information for the fourth transport vehicle D (here, the elapsed time since the fourth transport vehicle D sent the permission request notification N1) stored in the memory unit 91. 【0079】 Next, as shown in Figure 20, in response to the permission request notification N1 from the third transport vehicle C, which is the first transport vehicle 1wf waiting for permission at the sixth stopping point S6, the control system 9 designates the third transport vehicle C as the permitted transport vehicle 1p and permits it to pass from the sixth stopping point S6 to the sixth occupied point R6 (see the lower dashed arrow in Figure 20), and sets the sixth occupied point R6 to be occupied by the third transport vehicle C. The control system 9 then stores in the storage unit 91 the following information as permission information for the sixth occupied point R6: the identification number of the third transport vehicle C as the permitted transport vehicle 1p, information that the third transport vehicle C has not sent an entry notification N2, the address of the sixth stopping point S6 as the stopping point S (target stopping point St) that the third transport vehicle C is trying to pass through, and the address of the sixth occupied point R6 as the occupied point R that the third transport vehicle C is trying to pass through. 【0080】 Furthermore, in response to the permission request notification N1 from the fourth transport vehicle D as the first permission-awaiting transport vehicle 1wf at the fifth stopping point S5, the control system 9 designates the fourth transport vehicle D as the permitted transport vehicle 1p and permits it to pass from the fifth stopping point S5 to the fifth occupied point R5 (see the upper dashed arrow in Figure 20), thereby establishing an occupied state where the fourth transport vehicle D occupies the fifth occupied point R5. The control system 9 then stores in the storage unit 91 the following information as permission information for passage to the fifth occupied point R5: the identification number of the fourth transport vehicle D as the permitted transport vehicle 1p, information indicating that the fourth transport vehicle D has not sent an entry notification N2, the address of the fifth stopping point S5 as the stopping point S (target stopping point St) that the fourth transport vehicle D is attempting to pass through, and the address of the fifth occupied point R5 as the occupied point R that the fourth transport vehicle D is attempting to pass through. The subsequent operation of the control system 9 will not be explained. 【0081】 Figures 21 to 24 show a fourth example of the layout of the merging area 3, entry section 4, and exit section 5. In this example, there is one merging area 3, two entry sections 4, and two exit sections 5. 【0082】 In the example shown in Figures 21 to 24, the travel path 2 comprises a seventh straight section 2k, a first path section 2m, a second path section 2n, and a fifth connecting section 2p. The seventh straight section 2k is formed to extend in a straight line. The first path section 2m branches off from the seventh straight section 2k at a branching point P2 located midway along the seventh straight section 2k and extends in a direction perpendicular to the seventh straight section 2k. The second path section 2n extends in a direction perpendicular to the seventh straight section 2k and is formed to merge with the seventh straight section 2k at a merging point P1 located downstream of the branching point P2 in the seventh straight section 2k, from the side where the first path section 2m is located relative to the seventh straight section 2k. The fifth connection section 2p is formed to branch off from the second path section 2n at a branching point P2 located upstream of the confluence point P1 in the second path section 2n, and to merge with the first path section 2m at a confluence point P1 located downstream of the branching point P2 in the first path section 2m. 【0083】 In the example shown in Figures 21 to 24, the seventh stopping point S7 is set upstream of the connection point (branching point P2) between the seventh straight section 2k and the first route section 2m, and the seventh occupied point R7 is set downstream of the connection point (merging point P1) between the seventh straight section 2k and the second route section 2n. Furthermore, the eighth stopping point S8 is set upstream of the connection point (branching point P2) between the second route section 2n and the fifth connection point 2p, and the eighth occupied point R8 is set downstream of the connection point (merging point P1) between the first route section 2m and the fifth connection point 2p. Thus, in this example, the travel path 2 is formed as follows: a path in which the transport vehicle 1 travels straight along the 7th straight section 2k from the 7th stopping point S7 towards the 7th occupied point R7; a path in which the transport vehicle 1 travels from the 7th stopping point S7, passing sequentially through the 7th straight section 2k and the 1st path section 2m towards the 8th occupied point R8; a path in which the transport vehicle 1 travels from the 8th stopping point S8, passing sequentially through the 2nd path section 2n and the 7th straight section 2k towards the 7th occupied point R7; and a path in which the transport vehicle 1 travels from the 8th stopping point S8, passing sequentially through the 2nd path section 2n, the 5th connecting section 2p, and the 1st path section 2m towards the 8th occupied point R8. 【0084】 In the example shown in Figures 21 to 24, the portion upstream of the 7th stopping point S7 in the 7th straight section 2k and the portion upstream of the 8th stopping point S8 in the 2nd route section 2n each correspond to entry section 4. The portion downstream of the 7th occupied point R7 in the 7th straight section 2k and the portion downstream of the 8th occupied point R8 in the 1st route section 2m each correspond to exit section 5. Furthermore, the portion from the 7th stopping point S7 to the 7th occupied point R7 in the 7th straight section 2k, the portion from the branching point P2 to the 8th occupied point R8 in the 1st route section 2m, the portion from the 8th stopping point S8 to the merging point P1 in the 2nd route section 2n, and the 5th connection point 2p correspond to merging area 3. 【0085】 The following describes a fourth example of traffic control by the control system 9 with reference to Figures 21 to 24. In this example, three transport vehicles 1 travel along the travel path 2, and these three transport vehicles 1 are designated as the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C in the order they reach the merging area 3. In this example, the first transport vehicle A and the second transport vehicle B travel along the travel path 2 so as to proceed straight along the seventh straight section 2k from the seventh stopping point S7 towards the seventh occupied point R7. The third transport vehicle C then travels along the travel path 2 so as to proceed towards the eighth occupied point R8, passing through the second path section 2n, the fifth connecting section 2p, and the first path section 2m in that order from the eighth stopping point S8. 【0086】 As shown in Figure 21, first, the first transport vehicle A travels along the seventh straight section 2k so as to approach the seventh stopping point S7. Then, at or upstream of the seventh stopping point S7, the first transport vehicle A transmits a permission request notification N1 from the communication unit 13 to the control system 9. 【0087】 As shown in Figure 22, in response to the permission request notification N1 from the first transport vehicle A, the control system 9 designates the first transport vehicle A as the permitted transport vehicle 1p and permits its passage from the seventh stopping point S7 to the seventh occupied point R7 (see dashed arrow in Figure 22), and sets the seventh occupied point R7 to be occupied by the first transport vehicle A. The control system 9 then prohibits the passage of all transport vehicles 1, excluding the first transport vehicle A, from the seventh stopping point S7 to the seventh occupied point R7. In this example, the control system 9 sets only the primary occupied point (here, the seventh occupied point R7) of the permitted transport vehicle 1p (here, the first transport vehicle A) to be occupied. 【0088】 After permitting the first transport vehicle A to pass from the seventh stopping point S7 to the seventh occupied point R7, the control system 9 stores in the storage unit 91 the following information as permission information for the seventh occupied point R7 as the primary occupied point: the identification number of the first transport vehicle A as the permitted transport vehicle 1p, information that the first transport vehicle A has not sent an entry notification N2, the address of the seventh stopping point S7 as the stopping point S (target stopping point St) that the first transport vehicle A is trying to pass through, and the address of the seventh occupied point R7 as the occupied point R (primary occupied point) that the first transport vehicle A is trying to pass through. 【0089】 Subsequently, as shown in Figure 23, the communication unit 13 of the first transport vehicle A transmits an entry notification N2 to the control system 9, provided that the first transport vehicle A has traveled a set distance d from the seventh stopping point S7. In response to the entry notification N2 from the first transport vehicle A, the control system 9 stores in the storage unit 91 information that the first transport vehicle A has transmitted the entry notification N2 as passage permission information for the seventh occupied point R7. 【0090】 Furthermore, as a follower of the first transport vehicle A, the second transport vehicle B travels along the seventh straight section 2k so as to approach the seventh stopping point S7, while the third transport vehicle C travels along the second path section 2n so as to approach the eighth stopping point S8. Then, the communication unit 13 of the second transport vehicle B transmits a permission request notification N1 to the control system 9, and the communication unit 13 of the third transport vehicle C also transmits a permission request notification N1 to the control system 9. 【0091】 At this time, since the first transport vehicle A is in an occupied state, occupying the seventh occupied point R7 as the primary occupied point, passage from the seventh stopping point S7, which is the target stopping point St, to the seventh occupied point R7 is prohibited for transport vehicles 1 other than the first transport vehicle A, which is the authorized transport vehicle 1p. However, the first transport vehicle A and the second transport vehicle B are transport vehicles 1s on the same route. And, since the control system 9 has received an entry notification N2 from the first transport vehicle A, in response to the permission request notification N1 from the second transport vehicle B, the control system 9 designates the second transport vehicle B, which is the transport vehicle 1 following the first transport vehicle A, as the authorized transport vehicle 1p and permits passage of the second transport vehicle B from the seventh stopping point S7 to the seventh occupied point R7. The control system 9 then stores in the storage unit 91 the following information as permission information for passage to the seventh occupied point R7: the identification number of the second transport vehicle B as the permitted transport vehicle 1p, information that the second transport vehicle B has not sent an entry notification N2, the address of the seventh stopping point S7 as the stopping point S (target stopping point St) that the second transport vehicle B is about to pass through, and the address of the seventh occupied point R7 as the occupied point R that the second transport vehicle B is about to pass through. 【0092】 In this example, if the control system 9 occupies the seventh occupancy point R7, it also prohibits the transport vehicle 1 from passing from the eighth stopping point S8 to the seventh occupancy point R7. On the other hand, if the control system 9 does not occupy the eighth occupancy point R8, it does not prohibit the transport vehicle 1 from passing from the eighth stopping point S8 to the eighth occupancy point R8. 【0093】 As shown in Figure 24, in response to the permission request notification N1 from the third transport vehicle C, the control system 9 designates the third transport vehicle C as an authorized transport vehicle 1p and permits it to travel from the eighth stopping point S8 to the eighth occupied point R8 (see dashed arrow in Figure 24), and the third transport vehicle C is placed in an occupied state at the eighth occupied point R8. The control system 9 then prohibits the passage of all transport vehicles 1, excluding the third transport vehicle C, from the eighth stopping point S8 to the eighth occupied point R8. 【0094】 After the control system 9 permits the third transport vehicle C to pass from the eighth stopping point S8 to the eighth occupied point R8, it stores the following information in the storage unit 91 as permission information for the eighth occupied point R8 as the primary occupied point: the identification number of the third transport vehicle C as the permitted transport vehicle 1p, information that the third transport vehicle C has not sent an entry notification N2, the address of the eighth stopping point S8 as the stopping point S (target stopping point St) that the third transport vehicle C is trying to pass through, and the address of the eighth occupied point R8 as the occupied point R (primary occupied point) that the third transport vehicle C is trying to pass through. The subsequent operation of the control system 9 will be omitted from this explanation. 【0095】 [Other Embodiments] (1) In the above embodiment, the transport vehicle 1 was described as an overhead transport vehicle that travels along a travel path 2 made up of rails suspended from the ceiling. However, the embodiment is not limited to such a configuration, and for example, the transport vehicle 1 may be a tracked transport vehicle that travels along a travel path 2 made up of rails provided on the floor. Alternatively, the transport vehicle 1 may be a trackless transport vehicle that travels along a virtually formed travel path 2. In this case, the travel path 2 can be formed by a plurality of detectable objects (e.g., 2D codes, RF (Radio Frequency) tags, magnetic tapes, etc.). In addition, there may be a configuration in which no such detectable objects are provided, and the travel path 2 is virtually formed by a route calculated based on the recognition results of the surrounding environment. 【0096】 (2) In the above embodiment, a configuration in which the first transport vehicle A and the second transport vehicle B are the same route transport vehicle 1s was described as an example. However, the configuration is not limited to such a configuration, and for example, the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C may all be the same route transport vehicle 1s. In this case, the first transport vehicle A, the second transport vehicle B, and the third transport vehicle C may all be authorized transport vehicles 1p, or the third transport vehicle C may not be authorized transport vehicle 1p, and the first transport vehicle A and the second transport vehicle B may be authorized transport vehicles 1p. 【0097】 (3) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure. 【0098】 [Summary of this embodiment] The following section will provide an overview of the conveying equipment described above. 【0099】 The conveying equipment is, Multiple transport vehicles, A travel path on which multiple transport vehicles travel, A transport system comprising a control system for controlling a plurality of transport vehicles, The aforementioned travel path comprises a merging area including a merging point where multiple paths converge, multiple entry sections for the transport vehicle to enter the merging area, and an exit section for the transport vehicle to exit the merging area. A stopping point is set in each of the multiple aforementioned entry sections. A designated area for occupancy is set in the aforementioned exit section. The control system is configured to perform traffic control such that, when it permits a transport vehicle located at a target stop point which is one of a plurality of stop points, or upstream of the target stop point, to pass through the merging area, the permitted transport vehicle, which is the transport vehicle permitted to pass, is placed in an occupied state at the occupied point, and while in the occupied state, it prohibits the passage of transport vehicles other than the permitted transport vehicle from at least the target stop point to the occupied point occupied by the permitted transport vehicle, and releases the occupied state after the permitted transport vehicle has passed the occupied point. In the traffic control, if there are multiple transport vehicles on the same route among the multiple transport vehicles that intend to pass through the merging area, and these transport vehicles have the same combination of stopping point and occupied point, the control system executes a continuous passage permission process to permit the multiple transport vehicles on the same route to pass through the merging area consecutively. 【0100】 This configuration allows for a reduction in the distance between multiple transport vehicles traveling the same route when they pass through a merging area, thanks to the continuous passage permit process. This makes it easier to increase the number of transport vehicles passing through the merging area per unit of time. Consequently, it is easier to improve the efficiency of transport vehicle traffic in the merging area and the transport efficiency of the transport equipment. 【0101】 Here, the authorized transport vehicle is configured to send an entry notification to the control system on the condition that it has advanced a set distance from the target stopping point. When the control system performs the continuous passage permission process, it is preferable that, upon receiving the entry notification, it permits subsequent transport vehicles on the same route to pass through the merging area in response to the receipt of the entry notification from the permitted transport vehicle that sent the entry notification. 【0102】 This configuration allows multiple transport vehicles following the same route to pass through the merging area consecutively at appropriate intervals. 【0103】 Furthermore, the control system is configured to store passage permission information for a plurality of the authorized transport vehicles. Preferably, the aforementioned passage permit information includes information indicating the stopping point and the occupied point that the permitted transport vehicle intends to pass through. 【0104】 This configuration allows for the rapid granting of passage permits to multiple transport vehicles, compared to, for example, storing passage permit information for only one authorized transport vehicle, and also enables the proper management of those multiple authorized transport vehicles. 【0105】 In a configuration in which the control system stores the traffic permission information, The authorized transport vehicle is configured to send an entry notification to the control system upon reaching a set distance from the target stopping point. When the control system performs the continuous passage permission process, upon receiving the entry notification, it grants permission to the subsequent transport vehicles of the authorized transport vehicle that sent the entry notification to pass through the merging area in the multiple transport vehicles along the same route. Preferably, the aforementioned access permit information further includes information indicating whether or not the access notice has been received from the permitted transport vehicle. 【0106】 This configuration allows for proper management of whether each of the multiple authorized transport vehicles has passed a point at a set distance from the target stopping point. 【0107】 In a configuration in which the control system stores the traffic permission information, Each of the multiple transport vehicles is configured to transmit a permission request notification to the control system requesting permission to pass through the merging area at or upstream of the stopping point. The transport vehicle that has sent the aforementioned permission request notice and is not permitted to pass through the aforementioned merging area is designated as a transport vehicle awaiting permission. The control system is configured to store permission waiting information for the permission waiting transport vehicle, Preferably, the permission-awaiting information includes information indicating the occupied point that the permission-awaiting transport vehicle is about to pass through, and information indicating the elapsed time since the permission-awaiting transport vehicle sent the permission request notification. 【0108】 This configuration makes it easier to grant passage permits to multiple transport vehicles in the appropriate order, taking into account the elapsed time since the permission request notification was sent, when there are multiple transport vehicles awaiting permission. [Industrial applicability] 【0109】 The technology disclosed herein can be used in a transport system comprising multiple transport vehicles, a travel path on which the multiple transport vehicles travel, and a control system for controlling the multiple transport vehicles. [Explanation of Symbols] 【0110】 100: Conveying equipment 1: Transport vehicle 1p: Authorized transport vehicle 1w: Transport vehicle awaiting permission 1s: Vehicle transporting along the same route 2: Route 3: Merging Area 4: Approach section 5: Exit section 9: Control System P1: Merging point P2: Branching point S: Stopping point St: Target stopping point R:Occupied point N1: Permission request notification N2: Entry notification

Claims

[Claim 1] Multiple transport vehicles, A travel path on which multiple transport vehicles travel, A transport system comprising a control system for controlling a plurality of transport vehicles, The aforementioned travel path comprises a merging area including a merging point where multiple paths converge, multiple entry sections for the transport vehicle to enter the merging area, and an exit section for the transport vehicle to exit the merging area. A stopping point is set in each of the multiple aforementioned entry sections. A designated area for occupancy is set in the aforementioned exit section. The control system is configured to perform traffic control such that, when it permits a transport vehicle located at a target stop point which is one of a plurality of stop points, or upstream of the target stop point, to pass through the merging area, the permitted transport vehicle occupies the occupied point, and while the occupied point is in effect, it prohibits the passage of any transport vehicles other than the permitted transport vehicle from at least the target stop point to the occupied point occupied by the permitted transport vehicle, and releases the occupied point after the permitted transport vehicle has passed the occupied point. The control system is a transport facility that, in the traffic control, if there are multiple transport vehicles on the same route among the multiple transport vehicles that are attempting to pass through the merging area, and the combination of the stopping point and the occupied point is the same for all of the transport vehicles that are attempting to pass through the merging area, it executes a continuous passage permission process to grant permission to pass through the merging area to the multiple transport vehicles on the same route in succession. [Claim 2] The authorized transport vehicle is configured to send an entry notification to the control system upon reaching a set distance from the target stopping point. The transport equipment according to claim 1, wherein the control system, when executing the continuous passage permission processing, grants passage through the merging area to the transport vehicles following the permitted transport vehicle that sent the entry notification among the multiple transport vehicles on the same route, in response to receiving the entry notification. [Claim 3] The control system is configured to store passage permission information for a plurality of the authorized transport vehicles. The transport equipment according to claim 1, wherein the aforementioned travel permit information includes information indicating the stopping point and the occupied point that the permitted transport vehicle intends to pass through. [Claim 4] The authorized transport vehicle is configured to send an entry notification to the control system upon reaching a set distance from the target stopping point. When the control system performs the continuous passage permission process, upon receiving the entry notification, it grants permission to the subsequent transport vehicles of the authorized transport vehicle that sent the entry notification to pass through the merging area in the multiple transport vehicles along the same route. The transport equipment according to claim 3, wherein the aforementioned passage permit information further includes information indicating whether or not the entry notification has been received from the permitted transport vehicle. [Claim 5] Each of the multiple transport vehicles is configured to transmit a permission request notification to the control system requesting permission to pass through the merging area at or upstream of the stopping point. The transport vehicle that has sent the aforementioned permission request notice and is not permitted to pass through the aforementioned merging area is designated as a transport vehicle awaiting permission. The control system is configured to store permission waiting information for the permission waiting transport vehicle, The transport equipment according to claim 3, wherein the permission waiting information includes information indicating the occupied point that the permission waiting transport vehicle is about to pass through, and information indicating the elapsed time since the permission waiting transport vehicle sent the permission request notification.

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