Conveying equipment

Abstract

The present invention provides a transport system that makes it easier to shorten the travel distance of the moving object and to improve the efficiency of transporting goods by the moving object. [Solution] The control system causes the mobile body to perform an outbound transport task in which the mobile body transports an item from the outbound unit to the destination, and an inbound transport task in which the mobile body transports an item from the source to the inbound unit. Designating one of these tasks as the first task and the other as the second task, the control system performs an assignment process to assign the first task to the mobile body, a waiting process after the assignment process to cause the mobile body to wait for a waiting period before executing the first task, an assignment determination process during the waiting period to determine whether or not to assign the second task to the mobile body, a continuous transport process in which, if it is determined that the second task should be assigned to the mobile body, the mobile body executes the inbound transport task and the outbound transport task in succession, and a single transport process in which, if it is determined that the second task should not be assigned to the mobile body, the mobile body executes the first task after the waiting period has elapsed.

Description

Technical Field

[0007] ,

[0001] The present invention relates to a conveying facility including a moving body that conveys articles, a storage device that stores a plurality of articles, and a control system that controls the moving body.

Background Art

[0002] An example of such a conveying facility is disclosed in Patent Document 1 below. In the following description of the background art, the reference numerals in Patent Document 1 are cited in parentheses.

[0003] In the conveying facility (1) of Patent Document 1, the storage device (3) includes a storage section (32A) for storing articles (20) and a delivery section (32B) for delivering articles (20).

[0004] The moving body (2) is configured to be able to execute a storage conveyance task of delivering the articles (20) received at the conveyance source to the storage section (32A) and a delivery conveyance task of receiving the articles (20) from the delivery section (32B) and conveying them to the conveyance destination.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0008] In light of the above, the characteristic configuration of the conveying equipment is: A mobile vehicle for transporting goods, A storage device comprising an receiving section and an retrieval section for storing multiple such items, A transport device comprising a control system for controlling the moving body, The storage device is configured to receive the articles from the mobile body in the receiving section and store them, and to hand over the stored articles from the dispensing section to the mobile body. The control system is configured to cause the mobile body to perform an outbound transport task in which the mobile body receives the items from the outbound section and transports them to the destination, and an inbound transport task in which the mobile body hands over the items received at the source to the inbound section. One of the aforementioned outbound transport task and the aforementioned inbound transport task shall be designated as the first task, and the other as the second task. The control system is The assignment process for assigning the first task to the mobile body, After the execution of the aforementioned assignment process, a waiting process is performed to cause the mobile unit to wait for the execution of the first task for a predetermined waiting period. During the aforementioned waiting time, an assignment determination process is performed to determine whether or not to assign the second task to the mobile body, In the assignment determination process, if it is determined that the second task should be assigned to the mobile body, a continuous transport process is performed to cause the mobile body to execute the receiving transport task and the outbound transport task in succession. The configuration is such that, if the assignment determination process determines that the second task should not be assigned to the mobile body, after the waiting time has elapsed, a single transport process is performed to cause the mobile body to execute the first task.

[0009] This configuration allows the mobile unit to perform inbound and outbound transport tasks consecutively when executing continuous transport processes. This makes it easier to shorten the travel distance of the mobile unit and improve the efficiency of transporting goods by the unit. On the other hand, because the waiting time for the execution of the first task is limited during the standby process, it is possible to avoid the first task remaining idle for extended periods, even when performing a single transport process. This minimizes the decrease in the efficiency of transporting goods by the mobile unit. [Brief explanation of the drawing]

[0010] [Figure 1] Diagram showing the overall configuration of the conveying equipment according to this embodiment. [Figure 2] Diagram showing the configuration of the moving body of the conveying equipment according to this embodiment. [Figure 3] Control block diagram of the conveying equipment according to the embodiment [Figure 4] This diagram shows an example of controlling a mobile object using a control system. [Figure 5] This diagram shows an example of controlling a mobile object using a control system. [Figure 6] This diagram shows an example of controlling a mobile object using a control system. [Figure 7] This diagram shows an example of controlling a mobile object using a control system. [Figure 8] This diagram shows an example of controlling a mobile object using a control system. [Figure 9] A flowchart illustrating an example of controlling a mobile object using a control system. [Modes for carrying out the invention]

[0011] In the following description, the conveying equipment 100 according to this embodiment will be explained with reference to the drawings.

[0012] As shown in FIG. 1, the conveying facility 100 includes a moving body 1 and a storage device 2. In the present embodiment, the conveying facility 100 includes a plurality of moving bodies 1 and a plurality of storage devices 2. Further, in the present embodiment, the conveying facility 100 further includes a plurality of processing devices 3.

[0013] The moving body 1 is configured to convey an article W. In the present embodiment, the moving body 1 is configured to move in a preset moving direction M along a preset moving path R. In the present embodiment, the moving path R is constituted by a rail 4 suspended from the ceiling. And the moving body 1 is a ceiling conveyor that is guided by the rail 4 and travels along the traveling path P to convey the article W. In the present embodiment, the article W is a FOUP (Front Opening Unified Pod) that houses wafers.

[0014] The storage device 2 is a device for storing a plurality of articles W. The storage device 2 includes a storage section 21 and a shipping section 22. In the present embodiment, in the storage device 2, the shipping section 22 is arranged on the downstream side in the moving direction M with respect to the storage section 21.

[0015] The storage device 2 is configured to receive the article W from the moving body 1 at the storage section 21 and store it, and to deliver the stored article W from the shipping section 22 to the moving body 1. Therefore, the moving body 1 stops at a preset storage position P1 on the moving path R and transfers the article W to and from the storage section 21, and stops at a preset shipping position P2 on the moving path R to transfer the article W to and from the shipping section 22.

[0016] The processing device 3 is a device for performing processing on the article W. In the present embodiment, the processing device 3 takes out a wafer from the FOUP and performs various processes such as thin film formation, photolithography, and etching on the wafer.

[0017] In this embodiment, the processing unit 3 is equipped with a load port 31. The processing unit 3 receives the FOUP from the mobile body 1 at the load port 31 and then performs the above processing on the wafer removed from the FOUP. The processing unit 3 then transfers the processed wafer from the load port 31 to the mobile body 1. Therefore, in this embodiment, the mobile body 1 is configured to stop at a pre-set transfer position P3 on the movement path R and transfer the item W between it and the processing unit 3 (in this case, the load port 31).

[0018] As shown in Figure 2, in this embodiment, the mobile body 1 comprises a travel section 11 and a transfer section 12.

[0019] The running section 11 is equipped with a plurality of running wheels 11a that roll on the rail 4. In this embodiment, at least some of the running wheels 11a rotate due to the driving force of a running motor (not shown).

[0020] The transfer unit 12 transfers the item W between the receiving unit 21, the shipping unit 22, and the transfer target locations, including the load port 31. While a detailed explanation is omitted, the transfer unit 12 includes, for example, a holding unit for holding the item W, a lifting unit for moving the holding unit up and down relative to the traveling unit 11, a horizontal movement unit for moving the holding unit horizontally relative to the traveling unit 11, and a swivel unit for rotating the holding unit around a rotation axis along the vertical direction relative to the traveling unit 11. However, the transfer unit 12 only needs to have the necessary configuration for transferring the item W between the transfer target locations and is not limited to the above configuration.

[0021] In this embodiment, the movement path R comprises a first layer path R1, a second layer path R2 located above the first layer path R1, and a connecting path R3 (see Figure 4, etc.) connecting the first layer path R1 and the second layer path R2. In this embodiment, the first layer path R1 is the path taken by the mobile body 1 assigned tasks with relatively short travel distances. The second layer path R2 is the path taken by the mobile body 1 assigned tasks with relatively long travel distances. The connecting path R3 is composed of a lifter for raising and lowering the mobile body 1, or rails inclined with respect to the horizontal direction.

[0022] Although not shown in the diagram, in this embodiment, the number of transfer positions P3 set in the second layer path R2 is less than the number of transfer positions P3 set in the first layer path R1. In this example, no transfer positions P3 are set in the second layer path R2.

[0023] As shown in Figure 3, the transport equipment 100 is equipped with a control system 9 for controlling the moving body 1. In this embodiment, the control system 9 includes a first control device 91 provided at a predetermined location in the transport equipment 100 and a second control device 92 provided on each of the multiple moving bodies 1. The first control device 91 and the multiple second control devices 92 are configured to communicate wirelessly with each other.

[0024] The first control device 91 transmits control commands to each of the multiple second control devices 92. Based on the control commands from the first control device 91, the second control devices 92 control the traveling section 11 and the transfer section 12 of the mobile body 1.

[0025] As shown in Figure 4, in this embodiment, the storage unit 21 includes a first storage unit 21A that transfers articles W to and from the mobile body 1 located on the first layer path R1, and a second storage unit 21B that transfers articles W to and from the mobile body 1 located on the second layer path R2. Therefore, in this embodiment, the storage position P1 includes a first storage position P11 for the mobile body 1 to transfer articles W to and from the first storage unit 21A, and a second storage position P12 for the mobile body 1 to transfer articles W to and from the second storage unit 21B.

[0026] Furthermore, in this embodiment, the retrieval unit 22 includes a first retrieval unit 22A that transfers articles W to and from the mobile body 1 located on the first layer path R1, and a second retrieval unit 22B that transfers articles W to and from the mobile body 1 located on the second layer path R2. Therefore, in this embodiment, the retrieval position P2 includes a first retrieval position P21 for the mobile body 1 to transfer articles W to and from the first retrieval unit 22A, and a second retrieval position P22 for the mobile body 1 to transfer articles W to and from the second retrieval unit 22B.

[0027] The control system 9 is configured to cause the mobile body 1 to perform an outbound transport task in which the mobile body 1 receives an item W from the outbound unit 22 and transports it to a destination, and an inbound transport task in which the mobile body 1 hands over the item W received at the source to the inbound unit 21. The destination in the outbound transport task and the source in the inbound transport task are, for example, the load port 31 of the processing device 3 or a conveyor, etc., which are used for the transfer of the item W between the mobile body 1 and the source. The destination in the outbound transport task also includes the inbound unit 21 of another storage device 2 (a different storage device 2 from the storage device 2 that has the outbound unit 22 from which the mobile body 1 receives the item W in the outbound transport task). The source in the inbound transport task also includes the outbound unit 22 of another storage device 2.

[0028] In the following, an example of control of the mobile body 1 by the control system 9 will be described with reference to Figures 4 to 9. In the following description, one of the outbound transport task and the inbound transport task will be referred to as the "first task," and the other as the "second task."

[0029] As shown in Figure 4, at the start of control, no task is assigned to the mobile body 1. The mobile body 1 is located on the first layer path R1. Also, the mobile body 1 is not holding the item W.

[0030] The control system 9 first performs an assignment process to assign a first task to the mobile body 1. In the example shown in Figure 5, the first task in the assignment process is the outbound transport task to the second outbound unit 22B. Note that the state in which a task is assigned to the mobile body 1 refers to the state before the task is actually executed.

[0031] In this example, the control system 9 is configured to assign outbound transport tasks and inbound transport tasks to the mobile body 1 in a way that minimizes the costs set for each operation of the mobile body 1, including the movement of the mobile body 1 and the transfer of goods W to the inbound and outbound sections 21 and 22. The above costs include costs corresponding to the distance traveled by the mobile body 1, costs corresponding to the transfer operation of the mobile body 1, costs corresponding to the structure and shape of the travel path R, and costs corresponding to the presence and state of other mobile bodies 1.

[0032] In the example shown in Figure 5, the cost of the outbound transport task to the first outbound unit 22A (here, 20) is lower than the cost of the outbound transport task to the second outbound unit 22B (here, 26). Therefore, the control system 9 would normally assign the outbound transport task to the first outbound unit 22A to the mobile unit 1. However, in the assignment process of this example, the control system 9 assigns the outbound transport task to the second outbound unit 22B as the first task to the mobile unit 1 without considering the cost. In this example, the reason why the cost of the outbound transport task to the first outbound unit 22A is lower than the cost of the outbound transport task to the second outbound unit 22B is because the cost for the mobile unit 1 to travel along the connecting path R3 is set relatively high.

[0033] Furthermore, if the transport distance of the item W by the outbound transport task assigned to the mobile unit 1 is less than the determination distance D, that is, if the distance that the mobile unit 1 transports the item W in the outbound transport task is relatively short, it is preferable to designate the outbound transport task for the first outbound unit 22A as the first task in the assignment process. The determination distance D is determined, for example, based on the case where the mobile unit 1 moves to another area or building by the outbound transport task.

[0034] As shown in Figure 6, after the assignment process is completed, the control system 9 performs a waiting process that causes the mobile body 1 to wait for a predetermined waiting time T before executing the first task (in this case, the task of transporting goods to the second dispensing unit 22B).

[0035] Furthermore, when the first task is a warehousing and transport task, and the destination of the goods W transported by the warehousing and transport task is another storage device 2, it is preferable that the waiting time T be set to be longer than when the destination is a processing device 3.

[0036] Furthermore, in the allocation process, it is preferable to execute a waiting process when the first task is an outbound transport task to the second outbound unit 22B or an inbound transport task to the second inbound unit 21B, but not to execute a waiting process when the first task is an outbound transport task to the first outbound unit 22A or an inbound transport task to the first inbound unit 21A.

[0037] During the waiting time T, the control system 9 performs an assignment determination process to determine whether or not to assign a second task to the mobile body 1. In the example shown in Figure 6, the assignment determination process determines that the receiving and transporting task to the second receiving unit 21B is the second task.

[0038] During the waiting time T, the control system 9 determines which tasks to assign to the mobile body 1 based on cost, as described above. In this example, during the waiting time T, the control system 9 performs a cost adjustment process that lowers the cost required to perform the second task (in this case, the receiving and transporting task to the second receiving unit 21B) compared to the time excluding the waiting time T (in this case, halving the cost required to perform the receiving and transporting task to the second receiving unit 21B from 30 to 15). This increases the likelihood that the second task (in this case, the receiving and transporting task to the second receiving unit 21B) will be assigned to the mobile body 1 during the waiting time T. In the cost adjustment process, one or more of the various costs described above may be reduced.

[0039] In the example shown in Figure 6, the control system 9 assigns the task of receiving and transporting to the second receiving section 21B as the second task to the mobile body 1 during the waiting time T.

[0040] As shown in Figures 7 and 8, when the control system 9 determines in the assignment determination process that it should assign the second task to the mobile body 1, it executes a continuous transport process that causes the mobile body 1 to execute the receiving transport task and the shipping transport task consecutively. In the illustrated example, in the continuous transport process, the control system 9 causes the mobile body 1 to execute the receiving transport task to the second receiving unit 21B, and then to execute the shipping transport task to the second shipping unit 22B. Although not shown in the illustration, in the receiving transport task to the second receiving unit 21B, the mobile body 1 moves to the transport source and receives the goods W from the transport source. It is preferable to execute the continuous transport process without waiting for the waiting time T to elapse.

[0041] On the other hand, although not shown in the diagram, the control system 9 executes a single transport process if, in the assignment determination process, it determines that it will not assign the second task (in this case, the transport task to the second receiving unit 21B) to the mobile body 1. The single transport process is a process in which the mobile body 1 executes the first task after a waiting time T has elapsed. In this example, in the single transport process, the first task is either the transport task to the first dispensing unit 22A or the transport task to the second dispensing unit 22B. In other words, although the transport task to the second dispensing unit 22B is assigned to the mobile body 1 as the first task in the assignment process, in the single transport process, the transport task to the first dispensing unit 22A or the transport task to the second dispensing unit 22B is reassigned to the mobile body 1 as the first task. In the single transport process, it is preferable to assign the first task based on the above cost.

[0042] Thus, the control system 9 is configured to perform assignment processing, waiting processing, assignment determination processing, continuous transport processing, and single transport processing.

[0043] Figure 9 is a flowchart showing an example of control of the mobile body 1 by the control system 9.

[0044] As shown in Figure 9, the control system 9 first determines whether the transport distance of the item W by the outbound transport task assigned to the mobile body 1 is greater than or equal to the determination distance D (step #1).

[0045] If the transport distance of the item W in the outbound transport task is less than the determination distance D, that is, if the distance that the mobile body 1 transports the item W in the outbound transport task is relatively short (Step #1: No), the control system 9 assigns the outbound transport task to the first outbound unit 22A to the mobile body 1 (Step #2). Then, the control system 9 causes the mobile body 1 to execute the outbound transport task to the first outbound unit 22A (Step #3).

[0046] On the other hand, if the transport distance of the item W in the outbound transport task is greater than or equal to the determination distance D, that is, if the distance that the mobile body 1 transports the item W in the outbound transport task is relatively long (Step #1: Yes), the control system 9 assigns the outbound transport task to the second outbound unit 22B to the mobile body 1 (Step #4). Then, the control system 9 performs a cost adjustment process on the cost required to execute the inbound transport task to the second inbound unit 21B (Step #5).

[0047] Next, the control system 9 determines whether or not to assign the storage transport task to the second storage unit 21B to the mobile unit 1 (step #6).

[0048] If the control system 9 determines at this time that it will not assign the receiving transport task to the second receiving unit 21B to the mobile unit 1 (step #6: No), it will then determine whether the waiting time T has elapsed since assigning the receiving transport task to the second receiving unit 22B to the mobile unit 1 (step #7).

[0049] If the waiting time T has elapsed (Step #7: Yes), the control system 9 assigns a dispatch and transport task to the first dispatch unit 22A or to the second dispatch unit 22B to the mobile unit 1, and causes the mobile unit 1 to execute the assigned dispatch and transport task (Step #3). On the other hand, if the waiting time T has not elapsed (Step #7: No), the control system 9 returns to Step #6 above.

[0050] If the control system 9 determines that it is appropriate to assign the receiving transport task to the second receiving section 21B to the mobile unit 1 (step #6: Yes), it assigns the receiving transport task to the second receiving section 21B to the mobile unit 1 (step #8). Then, the control system 9 has the mobile unit 1 perform the receiving transport task to the second receiving section 21B (step #9), and then has the mobile unit 1 perform the outbound transport task to the second outbound section 22B (step #10).

[0051] In the flowchart above, steps #2 and #4 correspond to the allocation process, step #7 corresponds to the waiting process, step #6 corresponds to the allocation determination process, steps #8, #9, and #10 correspond to the continuous transport process, and step #3 corresponds to the single transport process.

[0052] [Other Embodiments] (1) In the above embodiment, a configuration in which the movement path R comprises a first layer path R1, a second layer path R2 positioned above the first layer path R1, and a connecting path R3 connecting the first layer path R1 and the second layer path R2 was described as an example. However, the configuration is not limited to such a configuration, and the movement path R may be configured to be at the same height. In this configuration, the moving body 1 may be an AGV (Automated Guided Vehicle) or an RGV (Rail Guided Vehicle), etc. Also, the moving body 1 may be an unmanned aerial vehicle.

[0053] (2) In the above embodiment, a configuration was described as in which the second receiving section 21B, which is the target of the receiving transport task, and the second shipping section 22B, which is the target of the shipping transport task, belong to the same storage device 2 in the continuous transport process. However, the configuration is not limited to such a configuration. For example, if two storage devices 2 are adjacent to each other, in the continuous transport process, the second receiving section 21B of the storage device 2 on the upstream side in the direction of movement M may be the target of the receiving transport task, and the second shipping section 22B of the storage device 2 on the downstream side in the direction of movement M may be the target of the shipping transport task.

[0054] (3) In the above embodiment, a configuration in which the mobile body 1 performs an inbound transport task and then an outbound transport task in a continuous transport process was described as an example. However, the configuration is not limited to such a configuration, and the mobile body 1 may also perform an outbound transport task and then an inbound transport task. In this configuration, for example, when two storage devices 2 are adjacent to each other, it is preferable that the mobile body 1 performs an outbound transport task to the second outbound section 22B of the storage device 2 on the upstream side of the travel direction M, and then performs an inbound transport task to the second inbound section 21B of the storage device 2 on the downstream side of the travel direction M. Furthermore, when the mobile body 1 performs an outbound transport task to the second outbound section 22B and an inbound transport task to the second inbound section 21B of the same storage device 2, if the destination of the outbound transport task and the source of the inbound transport task are relatively close to the storage device 2, the mobile body 1 may, after completing the outbound transport task, travel in reverse toward the second inbound section 21B to perform the inbound transport task.

[0055] (4) In the above embodiment, the control system 9 was described as an example in which it assigns the dispatch and transport task to the second dispatch unit 22B as the first task to the mobile body 1 without considering cost in the assignment process. However, the control system 9 is not limited to such an embodiment, and may, in the assignment process, perform a process to reduce the cost required to execute the first task, and then determine the first task based on the cost.

[0056] (5) In the above embodiment, when performing continuous transport processing, a configuration in which the outbound transport task to the second outbound unit 22B is treated as the first task and the inbound transport task to the second inbound unit 21B is treated as the second task was described as an example. However, the configuration is not limited to such a configuration, and when performing continuous transport processing, the inbound transport task to the second inbound unit 21B may be treated as the first task and the outbound transport task to the second outbound unit 22B may be treated as the second task.

[0057] (6) In the above embodiment, a configuration in which the outlet section 22 is located downstream of the outlet section 21 in the direction of movement M was described as an example. However, the configuration is not limited to such a configuration, and the outlet section 21 and the outlet section 22 may be shared and integrated.

[0058] (7) In the above embodiment, the control system 9 was described as comprising a first control device 91 and a second control device 92 provided on each of the multiple mobile bodies 1, and the first control device 91 issued commands to the multiple second control devices 92 as an example. However, the system is not limited to such a configuration, and for example, the multiple second control devices 92 may operate independently of each other or cooperate with each other.

[0059] (8) 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.

[0060] [Summary of this embodiment] The following section will provide an overview of the conveying equipment described above.

[0061] The conveying equipment is, A mobile vehicle for transporting goods, A storage device comprising an receiving section and an retrieval section for storing multiple such items, A transport device comprising a control system for controlling the moving body, The storage device is configured to receive the articles from the mobile body in the receiving section and store them, and to hand over the stored articles from the dispensing section to the mobile body. The control system is configured to cause the mobile body to perform an outbound transport task in which the mobile body receives the items from the outbound section and transports them to the destination, and an inbound transport task in which the mobile body hands over the items received at the source to the inbound section. One of the aforementioned outbound transport task and the aforementioned inbound transport task shall be designated as the first task, and the other as the second task. The control system is The assignment process for assigning the first task to the mobile body, After the execution of the aforementioned assignment process, a waiting process is performed to cause the mobile unit to wait for the execution of the first task for a predetermined waiting period. During the aforementioned waiting time, an assignment determination process is performed to determine whether or not to assign the second task to the mobile body, In the assignment determination process, if it is determined that the second task should be assigned to the mobile body, a continuous transport process is performed to cause the mobile body to execute the receiving transport task and the outbound transport task in succession. If the assignment determination process determines that the second task should not be assigned to the mobile body, the system is configured to perform a single transport process that causes the mobile body to execute the first task after the waiting time has elapsed.

[0062] With this configuration, when performing continuous transport processing, the mobile unit can execute the receiving transport task and the shipping transport task consecutively. This makes it easier to shorten the travel distance of the mobile unit and improve the efficiency of transporting goods by the mobile unit. On the other hand, because the waiting time for the execution of the first task is limited during the standby process, it is possible to avoid the first task remaining idle for extended periods, even when performing a single transport process. This minimizes the decrease in the efficiency of transporting goods by the mobile unit.

[0063] Here, the moving body is configured to move in a predetermined direction along a predetermined movement path. In the storage device, it is preferable that the dispensing section is located downstream of the receiving section in the direction of movement.

[0064] With this configuration, in continuous transport processing, the mobile unit can deliver items to the receiving unit, move in the direction of travel, and then receive items from the dispatching unit. Therefore, it is easier to shorten the travel distance of the mobile unit and improve the efficiency of item transport by the mobile unit.

[0065] Furthermore, the first task is the outbound transport task, The waiting time is preferably set to be longer when the destination of the goods transported by the outbound transport task is another storage device, compared to when the destination is a processing device that performs processing on the goods.

[0066] With this configuration, when the destination of goods transported by the outbound transport task is another storage device, there is less need to rush the transport of the goods, so by setting a relatively long waiting time, it is easier to improve the efficiency of transporting goods by the mobile unit. On the other hand, when the destination of goods transported by the outbound transport task is a processing device, by setting a relatively short waiting time, it is possible to transport the goods to the processing device quickly, and thus it is easier to improve the operational efficiency of the processing device.

[0067] Furthermore, the control system is configured to use the costs set for each operation of the mobile body, including the movement of the mobile body and the transfer of the articles to the receiving and distributing sections, and to assign the distributing and receiving tasks to the mobile body in such a way that the costs are minimized. The control system preferably performs a cost adjustment process during the waiting time to make the cost required to execute the second task lower than the cost of the time excluding the waiting time.

[0068] This configuration allows for cost adjustment processing to reduce the cost required to execute the second task during the waiting period compared to the time excluding the waiting period, thereby increasing the likelihood that the second task will be assigned to the mobile unit during the waiting period. Consequently, it increases the likelihood of being able to perform continuous transport processing, and ultimately makes it easier to improve the efficiency of transporting goods by the mobile unit.

[0069] Furthermore, the mobile body is configured to move along a predetermined movement path and to stop at a predetermined transfer position on the movement path to transfer the article to and from the processing device. The aforementioned travel path comprises a first layer path, a second layer path located above the first layer path, and a connecting path connecting the first layer path and the second layer path. The receiving section includes a first receiving section that transfers the articles between the moving body in the first layer path and the receiving section, and a second receiving section that transfers the articles between the moving body in the second layer path, The retrieval unit includes a first retrieval unit that transfers the articles between the moving body on the first layer path and the retrieval unit that transfers the articles between the moving body on the second layer path, The number of transfer positions set in the second layer path is less than the number of transfer positions set in the first layer path. The control system is In the allocation process, if the outbound transport task to the second outbound unit or the inbound transport task to the second inbound unit is designated as the first task, the waiting process is executed. In the allocation process described above, if the outbound transport task for the first outbound unit or the inbound transport task for the first inbound unit is designated as the first task, it is preferable not to execute the waiting process described above.

[0070] Generally, the second-layer path, which has fewer transfer positions than the first-layer path, is mainly used by mobile bodies performing transport tasks with relatively long transport distances. Therefore, with this configuration, when performing transport tasks with relatively long transport distances, such as an outbound transport task to a second outbound unit that exchanges goods with a mobile body on the second-layer path, or an inbound transport task to a second inbound unit that exchanges goods with a mobile body on the second-layer path, a waiting process can be executed. On the other hand, when performing transport tasks with relatively short transport distances, such as an outbound transport task to a first outbound unit that exchanges goods with a mobile body on the first-layer path, or an inbound transport task to a first inbound unit that exchanges goods with a mobile body on the first-layer path, a waiting process can be avoided. In other words, when the transport distance is relatively long, the system waits for the assignment of a second task through the waiting process, and if a second task is assigned to a mobile body during the waiting time, continuous transport can be executed, thereby increasing the efficiency of goods transport by the mobile body. Furthermore, when the transport distance is relatively short, the first task can be executed without waiting for the assignment of the second task, thereby enabling rapid transport of goods.

[0071] In the above configuration, the control system is If the transport distance of the goods by the aforementioned outbound transport task is equal to or greater than a predetermined determination distance, In the allocation process described above, the outbound transport task for the second outbound unit is designated as the first task, In the assignment determination process, the receiving and transporting task for the second receiving unit is designated as the second task. In the continuous transport process, the moving body is made to perform the transport task to the second storage unit, and then the transport task to the second storage unit is made to perform the transport task to the second storage unit. In the single transport process, the first task is defined as the transport task to the first transport unit or the transport task to the second transport unit. If the transport distance of the goods by the outbound transport task is less than the determination distance, it is preferable to set the outbound transport task for the first outbound unit as the first task in the allocation process.

[0072] With this configuration, if the distance the mobile body has transported the items is greater than or equal to the determination distance, the continuous transport process can be configured to have the mobile body perform an inbound transport task to the second inbound unit, followed by an outbound transport task to the second outbound unit. In other words, if the distance the mobile body has transported the items is greater than or equal to the determination distance, the likelihood of the mobile body moving along the second layer path can be increased. Here, since the second layer path has fewer transfer positions than the first layer path, when the mobile body moves along the second layer path, it can efficiently transport items over relatively long distances. [Industrial applicability]

[0073] The technology disclosed herein can be used in a transport system comprising a mobile body for transporting articles, a storage device for storing multiple articles, and a control system for controlling the mobile body. [Explanation of Symbols]

[0074] 100: Conveying equipment 1: Mobile 2: Storage device 21: Warehousing department 21A; 1st storage section 21B; 2nd storage section 22: Dispatch Department 22A; 1st shipping department 22B;Second shipping department 3: Processing unit 9: Control System R: Travel path R1: First layer path R2: Second layer path R3: Connection path P3: Transfer position D: Judgment distance T: Waiting time M: Direction of movement

Claims

1. A mobile vehicle for transporting goods, A storage device comprising an receiving section and an retrieval section for storing multiple such items, A transport device comprising a control system for controlling the moving body, The storage device is configured to receive and store the articles from the mobile body in the receiving section, and to hand over the stored articles from the dispensing section to the mobile body. The control system is configured to cause the mobile body to perform an outbound transport task in which the mobile body receives the items from the outbound section and transports them to the destination, and an inbound transport task in which the mobile body hands over the items received at the source to the inbound section. One of the aforementioned outbound transport task and the aforementioned inbound transport task shall be designated as the first task, and the other as the second task. The control system is An assignment process to assign the first task to the mobile body, After the execution of the aforementioned assignment process, a waiting process is performed to cause the mobile unit to wait for the execution of the first task for a predetermined waiting period. During the aforementioned waiting time, an assignment determination process is performed to determine whether or not to assign the second task to the mobile body, In the assignment determination process, if it is determined that the second task should be assigned to the mobile body, a continuous transport process is performed to cause the mobile body to execute the receiving transport task and the outbound transport task in succession. A transport device configured to perform a single transport process that causes the mobile body to execute the first task after the waiting time has elapsed, if the assignment determination process determines that the second task should not be assigned to the mobile body.

2. The moving body is configured to move along a predetermined path in a predetermined direction. The transport equipment according to claim 1, wherein the dispensing section is located downstream of the receiving section in the direction of movement of the storage device.

3. The first task is the outbound transport task, The conveying equipment according to claim 1, wherein the waiting time is set to be longer when the destination of the goods by the outbound conveying task is another storage device compared to when the destination is a processing device that processes the goods.

4. The control system is configured to assign the outbound transport task and the inbound transport task to the mobile body in such a way that the cost is minimized, using the costs set for each operation of the mobile body, including the movement of the mobile body and the transfer of the articles to the inbound and outbound sections. The transport equipment according to claim 1, wherein the control system performs a cost adjustment process during the waiting time to make the cost required to perform the second task lower than the cost during the time excluding the waiting time.

5. The mobile body is configured to move along a predetermined movement path and to stop at a predetermined transfer position on the movement path to transfer the article to and from the processing device. The aforementioned travel path comprises a first layer path, a second layer path located above the first layer path, and a connecting path connecting the first layer path and the second layer path. The receiving section includes a first receiving section that transfers the articles between the moving body in the first layer path and the receiving section, and a second receiving section that transfers the articles between the moving body in the second layer path, The retrieval unit includes a first retrieval unit that transfers the articles between the moving body in the first layer path and the retrieval unit that transfers the articles between the moving body in the second layer path, The number of transfer positions set in the second layer path is less than the number of transfer positions set in the first layer path. The control system is In the assignment process, if the outbound transport task for the second outbound unit or the inbound transport task for the second inbound unit is designated as the first task, the waiting process is executed. The transport equipment according to any one of claims 1 to 4, wherein in the allocation process, if the outbound transport task for the first outbound unit or the inbound transport task for the first inbound unit is designated as the first task, the waiting process is not executed.

6. The control system is If the transport distance of the goods by the aforementioned outbound transport task is equal to or greater than a predetermined determination distance, In the allocation process described above, the dispatch and transport task for the second dispatch unit is designated as the first task, In the assignment determination process, the receiving and transporting task for the second receiving unit is set as the second task, In the continuous transport process, the moving body is made to perform the transport task to the second storage unit, and then the transport task to the second storage unit is made to perform the transport task to the second storage unit. In the single transport process, the first task is defined as the transport task to the first transport unit or the transport task to the second transport unit. The transport equipment according to claim 5, wherein, in the allocation process, the transport task for the first dispatch unit is designated as the first task if the transport distance of the goods by the dispatch transport task is less than the determination distance.

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