Automatic transport system

Abstract

This automatic transport system (100) has a guide path (1), a transport car (2), and a program for calculating a travel route for the transport car (2). Each of a plurality of branch points (15–18) and stop locations (3–14) included on the guide path (1) is given a location code (24–39) that is specified by a combination of three numbers that correspond to maximum degrees on flow paths included in the guide path (1). Each of the three numbers that specify the location codes are determined on the basis of the flow paths on which the corresponding branch points or stop locations are included and the order of the branch points or stop locations from start points of the flow paths.

Description

[Technical field]

[0001] The present disclosure relates to an automated transport system having a transport vehicle that transports an object. [Background technology]

[0002] In order for a guided vehicle to travel automatically on a guideway, a travel route is required that indicates at which branching points the vehicle should change course and at which stopping positions it should stop. Conventionally, there are two known methods: one in which the system stores the travel route from each stopping position to other stopping positions in advance, and the other uses an algorithm such as Dijkstra's algorithm that calculates the travel route from each stopping position to other stopping positions each time.

[0003] In the former method, when the layout of the taxiway is changed or expanded, the laborious task of additionally storing a new travel route is required. In the latter method, the processing load is heavy, so it is difficult to make a control device with low processing power execute the latter method. As a means for solving these problems, a method has been proposed in which a number associated with a number assigned to a branch point is assigned to a stop position on a taxiway after the branch (see, for example, Patent Document 1), and a method has been proposed in which a travel route of a transport vehicle is calculated based on a number assigned to a branch point (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 62-288907 [Patent Document 2] Japanese Unexamined Patent Publication No. 112376 / 1976 Summary of the Invention [Problem to be solved by the invention]

[0005] The techniques disclosed in Patent Documents 1 and 2 make it possible to calculate driving routes with a lighter processing load so that control equipment with low processing power can easily execute the calculation, while eliminating the need to store additional new driving routes when changing or expanding the layout of a taxiway.

[0006] However, in Patent Document 1, the retreat of the transport vehicle is not taken into consideration, and therefore, in the method disclosed in Patent Document 1, the transport vehicle needs to take a detour to head to a stopping position that it has passed. In the method disclosed in Patent Document 2, the more branches in the guideway there are, the more digits are given to the numbers at the branching points, and the more information on the stopping positions must be stored separately, which requires a large memory capacity.

[0007] Thus, in the past, there was a problem in that it was difficult to build an automated transport system that allows a transport vehicle to move forward and backward without the need to take the time to store additional travel routes when changing or expanding the layout of a guideway, using control equipment with a small memory capacity and low processing power, such as a PLC (Programmable Logic Controller).

[0008] The present disclosure has been made in consideration of the above, and aims to obtain an automated transport system that requires little effort in changing or expanding the layout of the guideway, allows transport vehicles to move forward and backward, does not require a large memory capacity, and can be constructed using control equipment with low processing power. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, the automatic transport system according to the present disclosure includes a guideway including a plurality of branch points and a plurality of stop positions, a transport vehicle that moves along the guideway to transport an object, and a program for calculating a travel route of the transport vehicle. The guideway includes one primary flow path, one or more secondary flow paths connected to the primary flow path, and one or more k-th order flow paths. k is a natural number of three or more. The primary flow path includes one or more branch points and a plurality of stop positions. The secondary flow path is connected to a branch point included in the primary flow path. The k-th order flow path includes one or more stop positions and is connected to a branch point included in a flow path of an order corresponding to the number obtained by subtracting one from k, which is included in the guideway. Each of the plurality of branch points and the plurality of stop positions included in the guideway is assigned a position code that is specified by a combination of k numbers, the number of which corresponds to the maximum order of the flow paths included in the guideway. Each of the k numbers that specify the position code is determined based on the flow path including the branch point or stop position corresponding to the position code and the order of the branch point or the stop position from the start point of the flow path. The combination of numbers that identifies each location code is different from the combination of numbers that identifies other location codes. . The program is a program for calculating a travel route from one stop position to another stop position included in the taxiway based on a plurality of position codes. The guided vehicle moves along the taxiway based on the travel route calculated based on the program. One of the routes included in the taxiway is a looped route. Two location codes are assigned to the stop positions. Effect of the Invention

[0010] The automated transport system of the present disclosure has the advantages of requiring less effort in changing or expanding the layout of the guideway, allowing the transport vehicle to move forward and backward, not requiring a large amount of memory capacity, and being able to be constructed using control equipment with low processing power. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a layout of a guideway in an automatic transport system according to a first embodiment; [Diagram 2]FIG. 1 is a diagram showing a processor and a memory included in an automatic transport system according to a first embodiment. [Diagram 3] 1 is a flowchart showing the procedure of the operation of the automatic guided transport system according to the first embodiment when the guided transport vehicle travels. [Figure 4] 1 is a flowchart showing the procedure of the operation of the processor according to the first embodiment when calculating a travel route of a transport vehicle. [Diagram 5] FIG. 13 is a diagram showing the layout of a guideway in the automatic transport system according to the second embodiment; [Figure 6] 11 is a flowchart showing the procedure of the operation of the processor according to the second embodiment when calculating a travel route of a transport vehicle. [Figure 7] FIG. 13 is a diagram showing the layout of a guideway in the automatic transport system according to the third embodiment. [Figure 8] 11 is a flowchart showing the procedure of the operation of the processor according to the third embodiment when calculating a travel route of a transport vehicle. [Figure 9] FIG. 13 is a diagram showing the layout of a guideway in an automatic transport system according to a fourth embodiment. [Figure 10] 11 is a flowchart showing the procedure of the operation of the processor according to the fourth embodiment when calculating the travel route of the transport vehicle. [Figure 11] FIG. 13 is a diagram showing the layout of a guideway in an automatic transport system according to a fifth embodiment. [Figure 12] FIG. 13 is a diagram showing the layout of a guideway in an automatic transport system according to a sixth embodiment. [Figure 13] 13 is a flowchart showing a first operation procedure of the processor according to the sixth embodiment when calculating a travel route of a guided vehicle. [Figure 14] 13 is a flowchart showing a second operation procedure of the processor according to the sixth embodiment when calculating a travel route of a transport vehicle. [Figure 15] 13 is a flowchart showing a first operation procedure of a processor according to a seventh embodiment when the processor calculates a position code from a position number. [Figure 16]23 is a flowchart showing a second operation procedure of the processor when the processor according to the seventh embodiment calculates a location code from a location number. [Figure 17] FIG. 13 is a diagram showing the layout of a guideway in an automatic transport system according to an eighth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic transport system according to an embodiment will be described in detail below with reference to the drawings.

[0013] Embodiment 1 FIG. 1 is a diagram showing the layout of a guideway 1 of an automatic transport system 100 according to the first embodiment. As described above, the automatic transport system 100 has the guideway 1. The automatic transport system 100 further has a transport vehicle 2 that moves along the guideway 1 to transport an object. FIG. 1 also shows the transport vehicle 2. In FIG. 1, the guideway 1 and the transport vehicle 2 are shown in a schematic manner. The guideway 1 has a plurality of stopping positions 3-14 and a plurality of branch points 15-18. The transport vehicle 2 moves forward or backward along the guideway 1, and stops at any of the plurality of stopping positions 3-14 to transfer the object.

[0014] Between a stopping position or a branching point and another stopping position or a branching point adjacent to the stopping position or the branching point, there is a single path along which the guided vehicle 2 can move forward or backward. A stopping position is a position where the total number of adjacent stopping positions or branching points is two or less. A branching point is a position where the total number of adjacent stopping positions or branching points is three or more.

[0015] At the stopping positions and branching points, the transport vehicle 2 can change direction by spinning by itself, or by rotating the branching point with the transport vehicle 2 on board. The transport vehicle 2 can travel from the stopping position or branching point and travel to any other stopping position or branching point adjacent to the stopping position or branching point.

[0016] The induction path 1 includes a primary flow path 19, a secondary flow path 20 connected to the primary flow path 19, a secondary flow path 21 connected to the primary flow path 19, a tertiary flow path 22 connected to the secondary flow path 20, and a secondary flow path 23 connected to the secondary flow path 24. 0 and a tertiary flow path 23 connected to the primary flow path 19. That is, the taxiway 1 is composed of five flow paths. Each of the primary flow path 19 and the secondary flow path 20 includes two branch points and a plurality of stopping positions. The secondary flow path 21 includes a plurality of stopping positions. Each of the tertiary flow path 22 and the tertiary flow path 23 includes a plurality of stopping positions.

[0017] The secondary flow path 20 is a flow path branched from the branch point 15 included in the primary flow path 19, and the secondary flow path 21 is a flow path branched from the branch point 16 included in the primary flow path 19. In other words, the secondary flow path 20 is connected to the branch point 15 included in the primary flow path 19, and the secondary flow path 21 is connected to the branch point 16 included in the primary flow path 19. The tertiary flow path 22 is a flow path branched from the branch point 17 included in the secondary flow path 20, and the tertiary flow path 23 is a flow path branched from the branch point 18 included in the secondary flow path 20. In other words, the tertiary flow path 22 is connected to the branch point 17 included in the secondary flow path 20, and the tertiary flow path 23 is connected to the branch point 18 included in the secondary flow path 20. A flow path is a one-way path connecting a start point and an end point, or a one-way path connecting a start point and an end point of a path branching from a branch point. Each flow path has an order such as a primary, secondary, or tertiary order.

[0018] The primary flow path 19 is a path connecting the starting point, stop position 3, and the end point, stop position 5. The secondary flow path 20 is a path connecting the branch point 15 and the stop position 8, which is the end point of the path branching from the primary flow path 19 from the branch point 15 in the direction of the stop position 6. The secondary flow path 21 is a path connecting the branch point 16 and the stop position 10, which is the end point of the path branching from the primary flow path 19 from the branch point 16 in the direction of the stop position 9. The tertiary flow path 22 is a path connecting the branch point 17 and the stop position 12, which is the end point of the path branching from the secondary flow path 20 from the branch point 17 in the direction of the stop position 11. The tertiary flow path 23 is a path connecting the branch point 18 and the stop position 14, which is the end point of the path branching from the secondary flow path 20 from the branch point 18 in the direction of the stop position 13.

[0019] The order of a flow path is determined by which flow path it branches off from. For example, a flow path branching off from a primary flow path has a secondary order, and a flow path branching off from a secondary flow path has a tertiary order. The order of the flow path with the highest order among the multiple flow paths that make up taxiway 1 is defined as the maximum order of the flow path. Taxiway 1 shown in Figure 1 only has tertiary flow paths, so the maximum order of a flow path in taxiway 1 shown in Figure 1 is 3.

[0020] All branch points and stop positions included in the taxiway 1 are assigned a location code that is specified by a combination of three numbers, the number of which corresponds to the maximum order of the flow path included in the taxiway 1. A combination of three numbers is defined as one location code, and 16 location codes are assigned to the multiple stop positions 3-14 and multiple branch points 15-18. Each of the 16 location codes is assigned one of the codes 24-39. In each of the 16 location codes 24-39, the first number from the left is defined as the primary flow path position number, the second number from the left is defined as the secondary flow path position number, and the third number from the left is defined as the tertiary flow path position number.

[0021] A method for determining the position code will be described below. A position code 24 of (1,0,0) is assigned to the stop position 3, which is the start point of the primary flow path 19. The stop positions and branch points included in the primary flow path 19 are assigned position codes in which only the primary flow path position number of the position code of the previous stop position or branch point is incremented by 1 each time the primary flow path 19 proceeds from the start point to the end point.

[0022] A stop position 6 immediately after the branch of the secondary flow path 20 branching off from the branch point 15 is assigned a position code 29 in which only the secondary flow path position number of the position code 26 assigned to the branch point 15 is increased by 1. A stop position and a branch point included in the secondary flow path 20 are assigned a position code in which only the secondary flow path position number of the position code of the previous stop position or branch point is increased by 1 each time the secondary flow path 20 proceeds from the start point to the end point. Similarly, a stop position 9 immediately after the branch of the secondary flow path 21 branching off from the branch point 16 is assigned a position code 34 in which only the secondary flow path position number of the position code 27 assigned to the branch point 16 is increased by 1, and a stop position and a branch point included in the secondary flow path 21 are assigned a position code in which only the secondary flow path position number of the position code of the previous stop position or branch point is increased by 1 each time the secondary flow path 21 proceeds from the start point to the end point.

[0023] The stop position 11 immediately after the branch of the tertiary flow path 22 branching off from the branch point 17 is assigned a position code 36 in which only the tertiary flow path position number of the position code 30 assigned to the branch point 17 is increased by 1. The stop positions and branch points included in the tertiary flow path 22 are assigned a position code in which only the tertiary flow path position number of the position code of the previous stop position or branch point is increased by 1 each time the tertiary flow path 22 proceeds from the start point to the end point. Similarly, the stop position 13 immediately after the branch of the tertiary flow path 23 branching off from the branch point 18 is assigned a position code 38 in which only the tertiary flow path position number of the position code 32 assigned to the branch point 18 is increased by 1, and the stop positions and branch points included in the tertiary flow path 23 are assigned a position code in which only the tertiary flow path position number of the position code of the previous stop position or branch point is increased by 1 each time the tertiary flow path 23 proceeds from the start point to the end point.

[0024] As described above, each of the three numbers that specify a location code is determined based on the flow path that includes the branch point or stop position corresponding to the location code and the order of the branch point or stop position from the start point of the flow path. The combination of numbers that specifies each location code is different from the combination of numbers that specify other location codes.

[0025] The position codes assigned to all the stop positions 3-14 and branch points 15-18 may be specified by attaching a barcode that can be read by the transport vehicle 2 to each stop position and each branch point, but in the first embodiment, the position codes are stored in an internal memory of a control device of the automated transport system 100. The control device is not shown.

[0026] When the transport vehicle 2 is located at a stopping position or a branching point, the stopping position or the branching point is regarded as the current position of the transport vehicle 2, and the position code assigned to the current position is regarded as the position code of the current position of the transport vehicle 2. When the transport vehicle 2 is located at a stopping position or a branching point, it can travel to another stopping position or branching point adjacent to the current position of the transport vehicle 2 by some method such as moving forward, backward, or changing direction.

[0027] The position code of the current location of the transport vehicle 2 may be obtained by the transport vehicle 2 reading barcodes attached to the stopping positions and branching points, but in the first embodiment, the position code is obtained by the control device of the automatic transport system 100. That is, the control device tracks and obtains the position code of the current location of the transport vehicle 2.

[0028] FIG. 2 is a diagram showing a processor 91 and a memory 92 included in the automated guided vehicle 100 according to the first embodiment. FIG. 2 is a schematic diagram showing the processor 91 and the memory 92. The automated guided vehicle 100 has a memory 92 in which a program for calculating a travel route of the guided vehicle 2 is stored. The automated guided vehicle 100 also has a processor 91 that calculates a travel route of the guided vehicle 2 based on the program stored in the memory 92. The program is for calculating a travel route from one stop position to another stop position included in the guided path 1 based on a plurality of position codes. The guided vehicle 2 moves along the guided path 1 based on the travel route calculated based on the program.

[0029] The processor 91 is a CPU (Central Processing Unit), a processing system, an arithmetic system, a microprocessor, or a DSP (Digital Signal Processor). The memory 92 is a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disk).

[0030] Next, a method of moving the transport vehicle 2 from its current location to its destination will be described. The movement of the transport vehicle 2 is performed by the processor 91 comparing the location code of the current location of the transport vehicle 2 with the location code of the destination. If the location code of the current location is (a1, a2, a3) and the location code of the destination is (b1, b2, b3), the automated transport system 100 can drive the transport vehicle 2 from its current location to the destination based on the movement method shown in Fig. 3. Fig. 3 is a flowchart showing the procedure of the operation of the automated transport system 100 according to the first embodiment when the transport vehicle 2 travels.

[0031] First, the processor 91 compares the primary flow path position number a1 of the current location of the transport vehicle 2 with the primary flow path position number b1 of the destination (S1). Specifically, in step S1, the processor 91 determines whether the primary flow path position number a1 of the current location of the transport vehicle 2 matches the primary flow path position number b1 of the destination.

[0032] If the processor 91 determines that the primary flow path position number a1 of the current location of the transport vehicle 2 is different from the primary flow path position number b1 of the destination (No in S1), the transport vehicle 2 must travel along the primary flow path 19 to match the primary flow path position number a1 of the current location of the transport vehicle 2 with the primary flow path position number b1 of the destination. To do this, the transport vehicle 2 must be in the primary flow path 19. Therefore, the processor 91 determines whether the tertiary flow path position number a3 of the current location of the transport vehicle 2 is 0 (S2).

[0033] When the processor 91 determines that the tertiary flow path position number a3 of the current location of the transport vehicle 2 is greater than 0 (No in S2), that is, when the transport vehicle 2 is in the tertiary flow path, the transport vehicle 2 travels to a stop position or branch point to which a position code is assigned in which only the tertiary flow path position number a3 of the current location position code is decreased by 1 (S3). After the operation of step S3 is executed, the processor 91 replaces (a1, a2, a3) with the position code recorded immediately before in the memory 92 (S4), and executes the operation of step S1. Then, the automated transport system 100 repeats the operations from step S1 to step S4 until the tertiary flow path position number a3 of the current location becomes 0. This enables the transport vehicle 2 to leave the tertiary flow path and enter the secondary flow path.

[0034] When the processor 91 determines that the tertiary flow path position number a3 of the current location of the transport vehicle 2 is 0 (Yes in S2), it determines whether or not the secondary flow path position number a2 of the current location of the transport vehicle 2 is 0 (S5). When the processor 91 determines that the secondary flow path position number a2 of the current location of the transport vehicle 2 is greater than 0 (No in S5), that is, when the transport vehicle 2 is in the secondary flow path, more specifically, when the tertiary flow path position number a3 of the current location of the transport vehicle 2 is 0 and the secondary flow path position number a2 is greater than 0, the transport vehicle 2 travels to a stop position or branch point to which a position code is assigned in which only the secondary flow path position number a2 of the current location position code is decreased by 1 (S6).

[0035] After the operation of step S6 is executed, the processor 91 replaces (a1, a2, a3) with the position code most recently recorded in the memory 92 (S4), and executes the operation of step S1. Then, the automated guided vehicle 100 repeats the operations of steps S1, S2, S5, S6, and S4 until the secondary flow path position number a2 of the current location becomes 0. This enables the guided vehicle 2 to leave the secondary flow path and enter the primary flow path 19.

[0036] If the processor 91 determines that the secondary flow path position number a2 of the current location of the transport vehicle 2 is 0 (Yes in S5), that is, if the secondary flow path position number a2 and the tertiary flow path position number a3 of the current location of the transport vehicle 2 are 0 and the transport vehicle 2 is in the primary flow path 19, the processor 91 determines whether the primary flow path position number a1 of the current location of the transport vehicle 2 is greater than or less than the primary flow path position number b1 of the destination (S7).

[0037] When it is determined by the processor 91 that the current primary flow path position number a1 of the transport vehicle 2 is greater than the destination primary flow path position number b1 (a1>b1 in S7), the transport vehicle 2 travels to a stop position or a branch point to which a position code is assigned in which only the primary flow path position number a1 of the current position code is decreased by 1 (S8). When it is determined by the processor 91 that the current primary flow path position number a1 of the transport vehicle 2 is smaller than the destination primary flow path position number b1 (a1<b1 in S7), the transport vehicle 2 travels to a stop position or a branch point to which a position code is assigned in which only the primary flow path position number a1 of the current position code is increased by 1 (S9).

[0038] After the operation of step S8 or step S9 is executed, the processor 91 replaces (a1, a2, a3) with the position code recorded immediately before in the memory 92 (S4), and executes the operation of step S1. Then, the automatic transport system 100 repeats the operations of step S1, step S2, step S5, and step S7, the operation of step S8 or step S9, and the operation of step S4 until the current primary flow path position number a1 and the destination primary flow path position number b1 match each other.

[0039] When the processor 91 determines that the current primary flow path position number a1 of the transport vehicle 2 matches the destination primary flow path position number b1 (Yes in S1), the processor 91 determines whether the current secondary flow path position number a2 of the transport vehicle 2 matches the destination secondary flow path position number b2 (S10).

[0040] When it is determined by the processor 91 that the current secondary flow path position number a2 of the transport vehicle 2 is different from the destination secondary flow path position number b2 (No in S10), the transport vehicle 2 must travel on the secondary flow path to make the current secondary flow path position number a2 of the transport vehicle 2 match the destination secondary flow path position number b2. For this purpose, the transport vehicle 2 needs to be on the secondary flow path or at a branch path immediately before entering the secondary flow path. Therefore, the processor 91 determines whether the current tertiary flow path position number a3 of the transport vehicle 2 is 0 (S11).

[0041] When it is determined by the processor 91 that the current three-way flow path position number a3 of the transport vehicle 2 is greater than 0 (No in S11), that is, when the transport vehicle 2 is in the three-way flow path, the transport vehicle 2 travels to a stop position or a branch point to which a position code is assigned in which only the three-way flow path position number a3 of the current position code is decreased by 1 (S12). After the operation of step S12 is executed, the processor 91 replaces (a1, a2, a3) with the position code recorded immediately before in the memory 92 (S4), and executes the operation of step S1. Then, the automatic transport system 100 repeats the operations of step S1, step S10, step S11, step S12, and step S4 until the current three-way flow path position number a3 becomes 0. Thereby, the transport vehicle 2 can leave the three-way flow path and enter the secondary flow path.

[0042] When the processor 91 determines that the current three-way flow path position number a3 of the transport vehicle 2 is 0 (Yes in S11), that is, when the transport vehicle 2 is in the secondary flow path or at a branch path immediately before entering the secondary flow path, the processor 91 determines whether the current secondary flow path position number a2 of the transport vehicle 2 is greater than or less than the destination secondary flow path position number b2 (S13).

[0043] When it is determined by the processor 91 that the current secondary flow path position number a2 of the transport vehicle 2 is greater than the destination secondary flow path position number b2 (a2>b2 in S13), the transport vehicle 2 travels to a stop position or a branch point to which a position code is assigned in which only the secondary flow path position number a2 of the current position code is decreased by 1 (S14). When it is determined by the processor 91 that the current secondary flow path position number a2 of the transport vehicle 2 is less than the destination secondary flow path position number b2 (a2<b2 in S13), the transport vehicle 2 travels to a stop position or a branch point to which a position code is assigned in which only the secondary flow path position number a2 of the current position code is increased by 1 (S15).

[0044] After the operation of step S14 or step S15 is executed, the processor 91 replaces (a1, a2, a3) with the position code recorded immediately before in the memory 92 (S4), and executes the operation of step S1. Then, the automatic conveyance system 100 repeats the operations of step S1, step S10, step S11, and step S13, the operation of step S14 or step S15, and the operation of step S4 until the current secondary flow path position number a2 of the carrier vehicle 2 matches the destination secondary flow path position number b2.

[0045] When the processor 91 determines that the current secondary flow path position number a2 of the carrier vehicle 2 matches the destination secondary flow path position number b2 (Yes in S10), the processor 91 determines whether the current tertiary flow path position number a3 of the carrier vehicle 2 matches the destination tertiary flow path position number b3 (S16).

[0046] When the processor 91 determines that the current tertiary flow path position number a3 of the carrier vehicle 2 is different from the destination tertiary flow path position number b3 (No in S16), the carrier vehicle 2 must travel on the tertiary flow path to make the current tertiary flow path position number a3 of the carrier vehicle 2 match the destination tertiary flow path position number b3. Therefore, the processor 91 determines whether the current tertiary flow path position number a3 of the carrier vehicle 2 is greater than or less than the destination tertiary flow path position number b3 (S17).

[0047] When the processor 91 determines that the current tertiary flow path position number a3 of the carrier vehicle 2 is greater than the destination tertiary flow path position number b3 (a3 > b3 in S17), the carrier vehicle 2 travels to the stop position or branch point to which a position code is assigned in which only the tertiary flow path position number a3 of the current position code is decreased by 1. When the processor 91 determines that the current tertiary flow path position number a3 of the carrier vehicle 2 is less than the destination tertiary flow path position number b3 (a3 < b3 in S17), the carrier vehicle 2 travels to the stop position or branch point to which a position code is assigned in which only the tertiary flow path position number a3 of the current position code is increased by 1.

[0048] After the operation of step S18 or step S19 is executed, the processor 91 replaces (a1, a2, a3) with the position code most recently recorded in the memory 92 (S4), and executes the operation of step S1. Then, the automated transport system 100 repeats the operations of steps S1, S10, S16, and S17, the operation of step S18 or step S19, and the operation of step S4 until the tertiary flow path position number a3 of the current location matches the tertiary flow path position number b3 of the destination.

[0049] By the above operation, the position code (a1, a2, a3) of the current location of the transport vehicle 2 matches the position code (b1, b2, b3) of the destination (Yes in S16), and the transport vehicle 2 travels to the destination specified by the position code (b1, b2, b3) (S20). In this manner, the automated transport system 100 can drive the transport vehicle 2 to the destination.

[0050] Next, a method for calculating the travel route of the transport vehicle 2 will be described. Fig. 4 is a flowchart showing the procedure of the operation of the processor 91 according to the first embodiment when calculating the travel route of the transport vehicle 2. Fig. 4 is a diagram in which the wording "travel to" in steps S3, S6, S8, S9, S12, S14, S15, S18, S19, and S20 in Fig. 3 is replaced with the wording "record".

[0051] In Fig. 4, steps S3, S6, S8, S9, S12, S14, S15, S18, S19 and S20 in Fig. 3 are replaced with steps S3A, S6A, S8A, S9A, S12A, S14A, S15A, S18A, S19A and S20A. The processor 91 executes the operations of all the steps shown in Fig. 4.

[0052] In other words, in the flow of Figure 3 when the transport vehicle 2 travels from its current location to the destination, instead of the transport vehicle 2 actually traveling, as shown in Figure 4, the processor 91 records and stores the destination of the transport vehicle 2 in the memory 92 each time, and repeatedly compares the previously recorded location code of the destination with the location code of the destination.

[0053] This allows the processor 91 to calculate the position codes assigned to all positions through which the transport vehicle 2 passes, without the transport vehicle 2 actually traveling. The processor 91 can calculate the travel route from the current location of the transport vehicle 2 to the destination by calculating the position codes assigned to all positions through which the transport vehicle 2 passes.

[0054] The above-mentioned calculation method of the travel route can be executed as long as the four arithmetic operations, comparison of the magnitude of numbers, and recording of the position code can be performed. Therefore, the above-mentioned calculation method of the travel route can be executed using a control device with a relatively low processing capacity such as a PLC. In the automatic transport system 100, the stop positions before the branching of the flow path and the stop positions after the branching are given position codes including numbers that relate them to each other, so the transport vehicle 2 can move forward and backward. In the automatic transport system 100, the position codes specified by the combination of the same number of numbers as the order of the flow path are given to all the stop positions and branching points, so even if the number of branches increases, the required memory capacity does not increase as long as the maximum order of the flow path does not change. In other words, in the automatic transport system 100 according to the first embodiment, the effort required for changing or expanding the layout of the guide path 1 is small, the transport vehicle 2 can move forward and backward, and the automatic transport system 100 can be constructed using a control device with a low processing capacity without requiring a large memory capacity and.

[0055] Embodiment 2 In the first embodiment, a position code is assigned to a stop position or branch point immediately after the branch of a flow path branched from a branch point, with only the flow path position number of the same order as that of the position code assigned to the branch point from which the branch originated being increased by 1. In addition, in the first embodiment, a position code is assigned to a stop position and branch point included in a branched flow path, with only the flow path position number of the previous stop position or branch point, with the same order as that of the flow path, increased by 1 each time the flow path proceeds from the start point to the end point.

[0056] In the second embodiment, the same stopping positions or branching points as those of the taxiway 1 according to the first embodiment shown in Fig. 1 are assigned the position code described in the first embodiment. In the second embodiment, a new flow path exists in addition to the flow path of the taxiway 1 according to the first embodiment shown in Fig. 1, and a new stopping position exists in addition to the stopping positions or branching points of the taxiway 1. Furthermore, a new branching point may exist. In the second embodiment, the differences from the first embodiment will be mainly described.

[0057] In the second embodiment, a position code is assigned to a stop position or branch point immediately after a branch of one of the flow paths branched from a branch point, with only the flow path position number of the same order as that of the one of the flow paths in the position code assigned to the branch point from which the branch originated being reduced by -1. In the second embodiment, a position code is assigned to a stop position and branch point included in that one of the flow paths after branching, with only the flow path position number of the previous stop position or branch point, with the same order as that of the one of the flow paths reduced by 1 each time the one of the flow paths proceeds in the direction from the start point to the end point.

[0058] 5 is a diagram showing the layout of a guideway 1A in the automated transport system 100A according to embodiment 2. The guideway 1A further has a secondary flow path 42 connected to the branch point 15 in addition to the flow path, stop positions, and branch points of the guideway 1 in the automated transport system 100 according to embodiment 1. The secondary flow path 42 has a stop position 40 to which a position code 43 is assigned, and a stop position 41 to which a position code 44 is assigned.

[0059] 5, stopping position 40 immediately after the branch of secondary flow path 42 branching off from branch point 15 is assigned a position code (3, -1, 0) in which only the secondary flow path position number of the position code assigned to branch point 15 is reduced by -1. Stopping position 41 included in secondary flow path 42 is assigned a position code (3, -2, 0) in which only the secondary flow path position number of the position code of stopping position 40 preceding stop position 41 is reduced by 1.

[0060] In this way, each of the stop positions and branch points included in one secondary flow path may be assigned a position code in which only the secondary flow path position number of the position code of the previous stop position or branch point is decreased by 1 each time the secondary flow path proceeds from the start point to the end point.

[0061] 6 is a flowchart showing the procedure of the operation of the processor 91 according to the second embodiment when calculating the travel route of the transport vehicle 2. The automatic transport system 100A according to the second embodiment also has the processor 91 and the memory 92. In the second embodiment, in the flow in which the processor 91 calculates the travel route of the transport vehicle 2, when the flow path position number is smaller than 0 as a result of comparing the flow path position number with 0 (a3<0 in S2, a2<0 in S5, a3<0 in S11), an operation (S21, S22, and S23) is added to record in the memory 92 a position code in which only the flow path position number is increased by 1.

[0062] The processor 91 performs the operations of steps S21, S22, and S23 in addition to the operations described in the first embodiment, thereby being able to calculate the travel route of the transported vehicle 2 in the same manner as in the first embodiment. That is, the processor 91 in the second embodiment can also calculate the travel route of the transported vehicle 2 based on the position code for the guideway 1A having a flow path branching in two directions from one branch point.

[0063] As noted above, each number specifying a location code may be a positive value, a zero or a negative value.

[0064] Embodiment 3 In the first and second embodiments, a position code is assigned to a stop position or branch point immediately after the branch of a flow path branched from a branch point, with only the flow path position number of the same order as the flow path of the position code assigned to the branch point from which the branch originated being 1 or -1. In addition, in the first and second embodiments, a position code is assigned to a stop position and branch point included in the flow path after branching, with only the flow path position number of the position code of the previous stop position or branch point being increased or decreased by 1 each time the flow path proceeds from the start point to the end point.

[0065] In the third embodiment, among the position codes assigned to the stop position or branch point immediately after the branch of a flow path branched from a branch point, the absolute value of the flow path position number of the same order as the flow path is greater than 0, not 1. The amount of increase or decrease when only the flow path position number of the same order as the flow path of the position code of the previous stop position or branch point is increased or decreased each time the flow path is advanced from the start point to the end point is also greater than 0, not 1. In other words, in the third embodiment, the absolute value of the increase or decrease of the value that changes each time the flow path of the position code is advanced is a value other than 1 and greater than 0. In the third embodiment, the differences from the first and second embodiments will mainly be explained.

[0066] 7 is a diagram showing the layout of the guideway 1B of the automated transport system 100B according to the third embodiment. In the guideway 1B, except for the stop position 45, among the position codes given to the stop positions or branch points immediately after the branch of the flow path branched from the branch point, the flow path position number of the same order as that of the flow path is 10. In each of the stop positions and branch points included in the flow path, the amount of increase or decrease when only the flow path position number of the same order as that of the flow path of the position code of the previous stop position or branch point is increased or decreased each time the flow path proceeds from the start point to the end point is also 10.

[0067] 8 is a flowchart showing the procedure of the operation of the processor 91 according to the third embodiment when calculating a travel route of the guided vehicle 2. The automatic guided vehicle system 100B according to the third embodiment also includes a processor 91 and a memory 92.

[0068] 8, in the third embodiment, in the flow in which the processor 91 calculates the travel route of the carrier 2, before the process of storing the position code in the memory 92, an operation (S24, S25, S26, S27, S28, S29, S30, S31, S32) is executed to search for the previously calculated position code from all the position codes. In addition, after the operations of steps S24, S25, S26, S27, S28, S29, S30, S31, and S32 are executed, an operation (S33) is executed to determine whether the previously calculated position code exists in all the position codes.

[0069] If the processor 91 determines that the calculated position code exists (Yes in S33), it records the previously searched position code in the memory 92 (S34). After performing the operation of step S34, the processor 91 performs the operation of step S4. If the processor 91 determines that the calculated position code does not exist (No in S33), it replaces the previously searched position code with the position code of the current location of the transporting vehicle 2 (S35). After performing the operation of step S35, the processor 91 performs the operation of step S1. In the third embodiment as well, the processor 91 can calculate the travel route of the transporting vehicle 2.

[0070] As shown in FIG. 7, when a new stop position 45 is added between the stop position 4 and the branch point 15, a value between the primary flow path position number 20 of the position code 25 and the primary flow path position number 30 of the position code 26, for example, a position code (25,0,0) with 25 as the primary flow path position number is assigned to the stop position 45. The position code is assigned the symbol 46. When a stop position or a branch point is removed from the taxiway 1B, the position code assigned to the stop position or the branch point adjacent to the stop position or the branch point is not changed. Even in this case, the processor 91 can calculate the travel route of the guided vehicle 2 according to the flow shown in FIG. 8. That is, according to the automated guided vehicle system 100B according to the third embodiment, it is possible to save the effort of reassigning a new position code when changing the layout of the taxiway 1B.

[0071] Embodiment 4 In the first to third embodiments, the maximum order of the flow path is 3, and guide paths 1, 1A, and 1B that do not have flow paths with an order of 4 or more are exemplified. However, the guide path may have a flow path with an order of 4 or more. FIG. 9 is a diagram showing the layout of a guide path 1C of an automatic transport system 100C according to a fourth embodiment. In the fourth embodiment, differences from the first to third embodiments will be mainly described.

[0072] As shown in FIG. 9, in the taxiway 1C according to the fourth embodiment, a quaternary flow path 51 branches off from a branch point 50 included in the tertiary flow path 23. That is, the taxiway 1C has a quaternary flow path 51. The quaternary flow path 51 includes a stop position 48 and a stop position 49. In the fourth embodiment, the maximum order of the flow path is 4. Therefore, in the fourth embodiment, the position codes assigned to all the stop positions and the branch points are composed of four numbers. The branch point 50 is assigned a position code 52. The tertiary flow path 23 includes a stop position 47 to which a position code 53 is assigned. The stop position 48 is assigned a position code 54, and the stop position 49 is assigned a position code 55.

[0073] 10 is a flowchart showing the procedure of the operation of the processor 91 according to the fourth embodiment when calculating a travel route of the guided vehicle 2. The automatic guided vehicle system 100C according to the fourth embodiment also includes a processor 91 and a memory 92.

[0074] 10, the fourth embodiment adds a process of leaving the fourth flow path and entering the tertiary flow path, and a process of virtually traveling the fourth flow path to match the fourth flow path position number of the position code of the current location of the transport vehicle 2 with the fourth flow path position number of the position code of the destination, as shown in S36, S37, S38, S39, S40, S41, S42, S43, S44, S45. As a result, the processor 91 can calculate the travel route of the transport vehicle 2 in the fourth embodiment as in the first to third embodiments.

[0075] The operation of step S4 in the first embodiment has been changed to the operation of step S4B, "replacing (a1, a2, a3, a4) with the previously recorded position code." The operation of step S20 in the first embodiment has been changed to the operation of step S20B, "recording (a1, a2, a3, a4)." Similarly, steps S3, S6, S8, S9, S12, S14, S15, S18, and S19 in the first embodiment have been changed to steps S3B, S6B, S8B, S9B, S12B, S14B, S15B, S18B, and S19B.

[0076] The processor 91 can calculate the travel route of the guided vehicle 2 even in a taxiway having a flow path of an order greater than four. That is, the processor 91 can calculate the travel route based on the position code even in a taxiway having a large number of branches.

[0077] Embodiment 5. 11 is a diagram showing the layout of a guideway 1D of an automatic conveying system 100D according to embodiment 5. The automatic conveying system 100D also has a processor 91 and a memory 92. In embodiment 5, differences from embodiments 1 to 4 will be mainly described.

[0078] The taxiway may have a flow path that curves up, down, left, or right. In the taxiway 1D, the primary flow path 19 has a shape that curves up and down, and the secondary flow path 20 has a shape that curves to the left. Even in this case, the processor 91 can calculate the travel route of the guided vehicle 2, similarly to the first to fourth embodiments. In this way, the processor 91 of the automated guided system 100D according to the fifth embodiment can calculate the travel route based on the position code, even for a taxiway that curves in a complex manner.

[0079] In the fifth embodiment, the stop position 4 is assigned the position code 26 of the first embodiment, the stop position 5 is assigned the position code 27 of the first embodiment, the stop position 6 is assigned the position code 28 of the first embodiment, the stop position 7 is assigned the position code 56 of (2,1,0), and the stop position 8 is assigned the position code 57 of (2,2,0). The stop position 10 is assigned the position code 58 of (6,2,0), and the stop position 11 is assigned the position code 59 of (6,1,1). The primary flow path 19 has a stop position 61 with a position code 60 of (7,0,0), and the secondary flow path 20 has a stop position 63 with a position code 62 of (2,3,0). The branch point 15 is assigned the position code 25 of the first embodiment, the branch point 16 is assigned the position code 64 of (6,0,0), and the branch point 17 is assigned the position code 65 of (6,1,0).

[0080] Embodiment 6 One flow path included in the guide path may be a loop-shaped route. Fig. 12 is a diagram showing the layout of a guide path 1E included in an automatic transport system 100E according to a sixth embodiment. The automatic transport system 100E also includes a processor 91 and a memory 92. In the sixth embodiment, differences from the first to fifth embodiments will be mainly described.

[0081] In taxiway 1E, primary flow path 19 has both a start point and an end point at stop position 3, and primary flow path 19 is a looped route oriented clockwise from the start point to the end point. In embodiment 6, stop position 3 is assigned two position codes: position code 24 and position code 66 of (7,0,0). Primary flow path 19 further has stop position 68 which is assigned position code 67.

[0082] Fig. 13 is a flowchart showing a procedure of a first operation of the processor 91 according to the sixth embodiment when calculating a travel route of the transporting vehicle 2. Fig. 14 is a flowchart showing a procedure of a second operation of the processor 91 according to the sixth embodiment when calculating a travel route of the transporting vehicle 2. Fig. 13 is a flowchart when the transporting vehicle 2 moves clockwise on the primary flow path 19. Fig. 14 is a flowchart when the transporting vehicle 2 moves counterclockwise on the primary flow path 19.

[0083] 13, when the processor 91 determines that the secondary flow path position number a2 of the current location of the transporting vehicle 2 is 0 (Yes in S5), it determines whether or not the primary flow path position number a1 of the current location of the transporting vehicle 2 is 6 (S46). When the processor 91 determines that the primary flow path position number a1 of the current location of the transporting vehicle 2 is not 6 (No in S46), it records a position code in which only the primary flow path position number a1 of the position code of the current location is increased by 1 in the memory 92 (S47). When the processor 91 determines that the primary flow path position number a1 of the current location of the transporting vehicle 2 is 6 (Yes in S46), it records a position code of (1,0,0) in the memory 92 (S48).

[0084] 14, when the processor 91 determines that the secondary flow path position number a2 of the current location of the transporting vehicle 2 is 0 (Yes in S5), it determines whether or not the primary flow path position number a1 of the current location of the transporting vehicle 2 is 1 (S49). When the processor 91 determines that the primary flow path position number a1 of the current location of the transporting vehicle 2 is not 1 (No in S49), it records a position code obtained by decrementing only the primary flow path position number a1 of the position code of the current location by 1 in the memory 92 (S50). When the processor 91 determines that the primary flow path position number a1 of the current location of the transporting vehicle 2 is 1 (Yes in S49), it records a position code of (6,0,0) in the memory 92 (S51).

[0085] 13 and 14, the processor 91 can calculate two types of travel routes by virtually traveling the primary flow path 19 and matching the primary flow path position number of the position code of the current location of the transport vehicle 2 with the primary flow path position number of the position code of the destination, as a process of moving the primary flow path 19 only clockwise or counterclockwise. The program of the sixth embodiment is also a program for calculating a first travel route that travels clockwise around the primary flow path 19, which is a loop-shaped route, and a second travel route that travels counterclockwise around the primary flow path 19.

[0086] Selecting one of the two types of travel routes can calculate the travel route of the guided vehicle 2. That is, the processor 91 of the automated guided vehicle system 100E according to the sixth embodiment can calculate the travel route for the guided path 1E having a loop-shaped route based on the position code.

[0087] Embodiment 7 In the first to sixth embodiments, the stopping positions and branching points are assigned position codes that are identified by a combination of numbers whose number corresponds to the maximum order of the flow path. In the seventh embodiment, instead of position codes, the stopping positions and branching points are assigned position numbers that can be converted into and out of position codes. The program of the seventh embodiment is also a program for converting between position codes and position numbers in both directions. In the seventh embodiment, the differences from the first to sixth embodiments will be mainly explained.

[0088] In the seventh embodiment, when the position code is (c1, c2, c3), a position number p obtained from the position code by the following formula (1) is assigned to the stop position and branch point to which the position code is assigned.

[0089]

number

[0090] c1 is the primary flow path position number, c2 is the secondary flow path position number, and c3 is the tertiary flow path position number. c1max is the maximum value of the primary flow path position number, and c2max is the maximum value of the secondary flow path position number.

[0091] 15 is a flowchart showing the procedure of a first operation of the processor 91 according to the seventh embodiment when the processor 91 calculates a position code (c1, c2, c3) from a position number p. The automatic transport system according to the seventh embodiment also includes a processor 91 and a memory 92. When the processor 91 calculates a position code (c1, c2, c3) from a position number p, the processor 91 divides p by c1max (S61) and sets the remainder of the calculation result obtained in the operation of step S61 as c1 (S62). The processor 91 divides the quotient of the calculation result obtained in the operation of step S61 by c2max (S63) and sets the remainder of the calculation result obtained in the operation of step S63 as c2 (S64). The processor 91 sets the quotient of the calculation result obtained in the operation of step S63 as c3 (S65).

[0092] The processor 91 can calculate all channel position numbers according to the flow shown in FIG. 15, and can thereby convert the position numbers into position codes.

[0093] When position numbers are assigned to stopping positions and branching points instead of position codes, the processor 91 converts the position numbers into position codes using the flow shown in Figure 15 before calculating the driving route of the transport vehicle 2, and then converts the recorded driving route back into position numbers based on equation (1), thereby calculating the driving route of the transport vehicle 2.

[0094] In the seventh embodiment, since only one number is assigned to each stop position and branch point, it is possible to build an automatic transport system using a control device with a small memory capacity.

[0095] In addition, as described in embodiment 2, if the position code contains a negative value, the position number p can be obtained from the position code containing a negative value by using the following equation (2) instead of equation (1).

[0096]

number

[0097] c1min is the minimum value of the primary flow path position number, c2min is the minimum value of the secondary flow path position number, and c3min is the minimum value of the tertiary flow path position number.

[0098] 16 is a flowchart showing a procedure of a second operation of the processor 91 according to the seventh embodiment when the processor 91 calculates a position code (c1, c2, c3) from a position number p. When the processor 91 calculates a position code (c1, c2, c3) from a position number p obtained by the formula (2), the processor 91 divides p by (c1max-c1min) (S71), and sets the value obtained by adding c1min to the remainder of the calculation result obtained in the operation of step S71 as c1 (S72). The processor 91 divides the quotient of the calculation result obtained in the operation of step S71 by (c2max-c2min) (S73), and sets the value obtained by adding c2min to the remainder of the calculation result obtained in the operation of step S73 as c2 (S74). The processor 91 sets the value obtained by adding c3min to the quotient of the calculation result obtained in the operation of step S73 as c3 (S75).

[0099] The processor 91 can calculate all the flow path position numbers by the flow shown in Fig. 16, and can convert the position numbers into position codes. Furthermore, the processor 91 can calculate the travel route of the transportation vehicle 2.

[0100] Embodiment 8 In the first embodiment, the transport vehicle 2 can travel to any other stop position or branch point adjacent to the above stop position or branch point by changing the direction at the stop position or branch point by spinning the transport vehicle 2 itself or rotating the branch point with the transport vehicle 2 on board, and then traveling. In the eighth embodiment, in addition to the position code, sign information is given to the stop position and branch point. The sign information is information that specifies the traveling direction to the adjacent stop position or branch point. The position code may be replaced with the position number described in the seventh embodiment. The automatic transport system according to the eighth embodiment instructs the transport vehicle 2 to travel and change the direction based on the sign information and the position code or position number. In the eighth embodiment, differences from the first to seventh embodiments will be mainly described.

[0101] FIG. 17 is a diagram showing the layout of the taxiway 1F of the automated transport system 100F according to the eighth embodiment. In the taxiway 1F, each of a plurality of stopping positions and a plurality of branching points is given either first sign information 71, 72, 74, 76 including a first arrow indicating a direction when proceeding in a direction toward an end point along a flow path including the stopping position or the branching point, or second sign information 73, 75 different from the first sign information 71, 72, 74, 76. The second sign information 73, 75 is information including a first arrow and a second arrow indicating a direction when branching into another flow path. The first arrow is given the wording "same flow path". The second arrow is given the wording "branch". When changing the traveling direction, the transport vehicle 2 also uses the first arrow or the second arrow to change the traveling direction.

[0102] For example, when the transport vehicle 2 located at the branch point 15 heads for the stop position 4, it changes its direction of travel so that the front of the transport vehicle 2 faces leftward in Fig. 17, and when it heads for the stop position 6, it changes its direction of travel so that the front of the transport vehicle 2 faces upward in Fig. 17. This ensures that the front of the transport vehicle 2 faces the direction of the stop position of the next flow path it travels through.

[0103] After the transport vehicle 2 changes its traveling direction, the processor 91 issues an instruction to the transport vehicle 2 to move forward or backward, so that the transport vehicle 2 can travel along the flow path. When issuing an instruction to the transport vehicle 2 to move forward or backward, the processor 91 compares the size of the position code or position number assigned to the current location of the transport vehicle 2 with the size of the position code or position number assigned to the next stopping position or branch point to which the transport vehicle 2 is heading.

[0104] For example, when the transport vehicle 2 located at the branch point 15 heads for the stop position 6, the secondary flow path number of the position code assigned to the current location of the transport vehicle 2 is 0, and the secondary flow path number of the position code of the next stop position to which the transport vehicle 2 is headed is 1, so the latter value is greater than the former value. In this case, the processor 91 issues a forward instruction to the transport vehicle 2, so that the transport vehicle 2 can travel in the direction of the next stop position to which the transport vehicle 2 is headed. Conversely, when the latter value is smaller than the former value, the processor 91 issues a reverse instruction to the transport vehicle 2, so that the transport vehicle 2 can similarly travel in the direction of the next stop position to which the transport vehicle 2 is headed.

[0105] When an instruction to change the traveling direction of the transport vehicle 2 is given, the automated transport system 100F determines whether to instruct the transport vehicle 2 to move forward or backward by comparing the size of the position codes or position numbers given to two adjacent locations. One of the two adjacent locations is a stopping position or a branching point. The other of the two adjacent locations is also a stopping position or a branching point.

[0106] The reason why the transport vehicle 2 can be made to move forward and backward is that the position codes or position numbers given to the stopping positions and branching points are always set to larger values ​​toward the end of the flow path, and the transport vehicle 2 changes its traveling direction based on the sign information, so that the front of the transport vehicle 2 always faces the direction in which it will travel next. Since the processor 91 can determine the command to move the transport vehicle 2 forward or backward each time with a low processing load, it is possible to build an automatic transport system 100F using a control device with low processing power.

[0107] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0108] 1,1A,1B,1C,1D,1E,1F taxiway, 2 transport vehicle, 3-14,40,41,45,47-49,61,63,68 stop position, 15-18,50 branch point, 19 primary flow path, 20,21,42 secondary flow path, 22,23 tertiary flow path, 24-39,43,44,46,52-60,62,64-67 position code, 51 quaternary flow path, 71,72,74,76 first sign information, 73,75 second sign information, 91 processor, 92 memory, 100,100A,100B,100C,100D,100E,100F automated transport system.

Claims

1. A taxiway including a plurality of branch points and a plurality of stopping positions; A transport vehicle that moves along the guideway to transport an object; A program for calculating a travel route of the transport vehicle, The induction path has one primary flow path, one or more secondary flow paths connected to the primary flow path, and one or more k-th order flow paths, k is a natural number equal to or greater than three, the primary flow path includes one or more branch points and a plurality of stops; The secondary flow path is connected to a branch point included in the primary flow path, The k-th order flow path includes one or more stop positions, is included in the taxiway, and is connected to a branch point included in a flow path of an order corresponding to k minus one, a position code specified by a combination of k numbers, the number of which corresponds to a maximum order of a flow path included in the taxiway, is assigned to each of the plurality of branch points and the plurality of stop positions included in the taxiway; each of the k numbers identifying the position code is determined based on a flow path including a branch point or a stop position corresponding to the position code and an order of the branch point or the stop position from a start point of the flow path; the combination of numbers identifying each of the location codes is different from the combination of numbers identifying each of the other location codes; The program is a program for calculating the travel route from one stop position to another stop position included in the taxiway based on the plurality of position codes, The transport vehicle moves along the guideway based on the travel route calculated based on the program, One of the plurality of flow paths included in the induction path is a loop-shaped path, The stop position is assigned two of the position codes. An automatic transport system comprising:

2. A taxiway including a plurality of branch points and a plurality of stopping positions; A transport vehicle that moves along the guideway to transport an object; A program for calculating a travel route of the transport vehicle, The induction path has one primary flow path, one or more secondary flow paths connected to the primary flow path, and one or more k-th order flow paths, k is a natural number equal to or greater than three, the primary flow path includes one or more branch points and a plurality of stops; The secondary flow path is connected to a branch point included in the primary flow path, The k-th order flow path includes one or more stop positions, is included in the taxiway, and is connected to a branch point included in a flow path of an order corresponding to k minus one, a position code specified by a combination of k numbers, the number of which corresponds to a maximum order of a flow path included in the taxiway, is assigned to each of the plurality of branch points and the plurality of stop positions included in the taxiway; each of the k numbers identifying the position code is determined based on a flow path including a branch point or a stop position corresponding to the position code and an order of the branch point or the stop position from a start point of the flow path; the combination of numbers identifying each of the location codes is different from the combination of numbers identifying each of the other location codes; The program is a program for calculating the travel route from one stop position to another stop position included in the taxiway based on the plurality of position codes, The transport vehicle moves along the guideway based on the travel route calculated based on the program, The program is also a program for calculating a first travel route that travels clockwise around a looped route and a second travel route that travels counterclockwise around the looped route. An automatic transport system comprising:

3. A taxiway including a plurality of branch points and a plurality of stopping positions; A transport vehicle that moves along the guideway to transport an object; A program for calculating a travel route of the transport vehicle, The induction path has one primary flow path, one or more secondary flow paths connected to the primary flow path, and one or more k-th order flow paths, k is a natural number equal to or greater than three, the primary flow path includes one or more branch points and a plurality of stops; The secondary flow path is connected to a branch point included in the primary flow path, The k-th order flow path includes one or more stop positions, is included in the taxiway, and is connected to a branch point included in a flow path of an order corresponding to k minus one, a position code specified by a combination of k numbers, the number of which corresponds to a maximum order of a flow path included in the taxiway, is assigned to each of the plurality of branch points and the plurality of stop positions included in the taxiway; each of the k numbers identifying the position code is determined based on a flow path including a branch point or a stop position corresponding to the position code and an order of the branch point or the stop position from a start point of the flow path; the combination of numbers identifying each of the location codes is different from the combination of numbers identifying each of the other location codes; The program is a program for calculating the travel route from one stop position to another stop position included in the taxiway based on the plurality of position codes, The transport vehicle moves along the guideway based on the travel route calculated based on the program, Each of the plurality of branch points and the plurality of stop positions included in the taxiway is provided with sign information that specifies a direction of travel to an adjacent stop position or branch point in addition to the position code, when a change in direction of the transport vehicle is instructed, determining whether to instruct the transport vehicle to move forward or backward by comparing the magnitude of the position codes assigned to two adjacent locations based on the sign information; One of the two adjacent locations is a stop or a branch point, The other of the two adjacent locations is a stop or a branch point. An automatic transport system comprising:

4. A taxiway including a plurality of branch points and a plurality of stopping positions; A transport vehicle that moves along the guideway to transport an object; A program for calculating a travel route of the transport vehicle, The induction path has one primary flow path, one or more secondary flow paths connected to the primary flow path, and one or more k-th order flow paths, k is a natural number equal to or greater than three, the primary flow path includes one or more branch points and a plurality of stops; The secondary flow path is connected to a branch point included in the primary flow path, The k-th order flow path includes one or more stop positions, is included in the taxiway, and is connected to a branch point included in a flow path of an order corresponding to k minus one, a position code specified by a combination of k numbers, the number of which corresponds to a maximum order of a flow path included in the taxiway, is assigned to each of the plurality of branch points and the plurality of stop positions included in the taxiway; each of the k numbers identifying the position code is determined based on a flow path including a branch point or a stop position corresponding to the position code and an order of the branch point or the stop position from a start point of the flow path; the combination of numbers identifying each of the location codes is different from the combination of numbers identifying each of the other location codes; The program is a program for calculating the travel route from one stop position to another stop position included in the taxiway based on the plurality of position codes, The transport vehicle moves along the guideway based on the travel route calculated based on the program, a position number convertible between the position code and each of the plurality of branch points and the plurality of stop positions included in the taxiway is assigned to each of the plurality of branch points and the plurality of stop positions instead of the position code; The program is also a program for converting between the location code and the location number, Each of the plurality of branch points and the plurality of stop positions included in the taxiway is assigned, in addition to the position number, sign information that specifies a direction of travel to an adjacent stop position or branch point; when a change in direction of the transport vehicle is instructed, determining whether to instruct the transport vehicle to move forward or backward by comparing the size of the position numbers assigned to two adjacent locations based on the sign information; One of the two adjacent locations is a stop or a branch point, The other of the two adjacent locations is a stop or a branch point. An automatic transport system comprising:

5. the absolute value of the amount of increase or decrease of the value of the position code that changes each time the flow path is advanced is a value other than 1 and greater than 0, When a new stop position is added between the stop position and the branch point, a value between the position code of the stop position and the position code of the branch point is assigned as the position code of the new stop position.

5. The automatic transport system according to claim 1,

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