Conveying Equipment

Abstract

To enhance the transportation efficiency of articles in the whole of a facility when a new task occurs at any time in each site of a transportation route.SOLUTION: A control device is configured to be capable of outputting, to a transportation vehicle V, a forward direction move command for moving toward a destination D on a transportation route P in a forward direction F and a reverse direction move command for moving toward the destination D on the transportation route P in a reverse direction R. When an object task being one of tasks occurs, the control device determines a transportation vehicle V for allowing to execute the object task from among the plurality of transportation vehicles V while allowing transportation vehicles V located, at the time point of occurrence of the object task, at the downstream side from the destination D on the transportation route P to be contained in candidates.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a conveying facility. [Background technology]

[0002] For example, Japanese Patent Laid-Open Publication No. 2006-113967 (Patent Document 1) discloses a transport facility that transports articles by running a transport vehicle between multiple transfer locations such as load ports and buffers. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] In the facility disclosed in Patent Document 1, in a specific area 48 where buffers 46c, 46d and a load port 44b are provided along a route, a transport vehicle 6 repeatedly moves forward and backward (see, for example, FIG. 4) to transfer articles between the buffers 46c, 46d and the load port 44b that are arranged in front and behind the buffers 46c, 46d. In this manner, in the facility disclosed in Patent Document 1, the transport vehicle 6, which normally only moves forward, can be made to move backward under predetermined conditions, thereby avoiding the transport vehicle 6 from making a full circuit of the route and returning to its original location. This reduces the travel distance of the transport vehicle 6, allowing it to efficiently perform its assigned task. This configuration contributes to improving the transport efficiency of the facility as a whole. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-113967 Summary of the Invention [Problem to be solved by the invention]

[0005] In the facility disclosed in Patent Document 1, the processing order of multiple tasks is determined before the transported vehicle (6) enters the specific area (48), and the transported vehicle (6) is caused to execute the tasks. Therefore, the tasks to be executed in the specific area (48) are limited to those that occurred before the transported vehicle (6) entered the specific area (48). However, the tasks to be executed by the transported vehicle (6) do not necessarily occur before the transported vehicle (6) enters the specific area (48), and new tasks may occur at any time at various points along the transport route for the moving transported vehicle. However, in the facility disclosed in Patent Document 1, it is difficult for the transported vehicle (6) to efficiently execute such tasks, making it difficult to improve the efficiency of transporting goods throughout the facility.

[0006] In view of the above situation, it is desirable to realize a technology that can improve the efficiency of transporting items throughout the entire facility when new tasks arise at various points along the transport route from time to time. [Means for solving the problem]

[0007] a plurality of transport vehicles that move forward along a predetermined transport path to transport articles; Transfer target locations that are arranged at a plurality of locations on the conveying route and are targets to which the items are transferred; a control device that, when a task requiring the transport of the item by the transport vehicle occurs, outputs a movement command to each of the plurality of transport vehicles, specifying the transfer target location related to the task as a destination, the control device is configured to be able to output, to the transport vehicle, a forward direction movement command to move the transport vehicle along the transport path in the forward direction toward the destination, and a reverse direction movement command to move the transport vehicle along the transport path in the reverse direction toward the destination, When a target task, which is one of the tasks, occurs, the control device determines the transport vehicle that will execute the target task from among the plurality of transport vehicles, including the transport vehicle that is located downstream of the destination on the transport route at the time the target task occurs as a candidate. death, When determining the transport vehicle to execute the target task from among the plurality of transport vehicles, the control device further includes, as candidates, a transport vehicle that is located upstream of the destination on the transport route at the time the target task is generated and whose stopping position will be downstream of the destination even if deceleration is started from the time the target task is generated. .

[0008] According to this configuration, a transport vehicle that normally moves in the forward direction on the transport route can be moved in the reverse direction depending on the situation. The control device not only selects a transport vehicle moving in the forward direction on the transport route as a candidate for heading to the destination, but also selects a transport vehicle that has already passed the destination because the target task was initiated late, etc., as a candidate for heading to the destination. Therefore, according to this configuration, when a new task is generated at any time at each point on the transport route, the number of options for a transport vehicle that can be a candidate for heading to the destination can be increased, which makes it easier to improve the efficiency of transporting goods throughout the facility.

[0009] Other transport equipment includes: a plurality of transport vehicles that move forward along a predetermined transport path to transport articles; Transfer target locations that are arranged at a plurality of locations on the conveying route and are targets to which the items are transferred; a control device that, when a task requiring the transport of the item by the transport vehicle occurs, outputs a movement command to each of the plurality of transport vehicles, specifying the transfer target location related to the task as a destination, the control device is configured to be able to output, to the transport vehicle, a forward direction movement command to move the transport vehicle along the transport path in the forward direction toward the destination, and a reverse direction movement command to move the transport vehicle along the transport path in the reverse direction toward the destination, when a target task, which is one of the tasks, occurs, the control device determines a transport vehicle to execute the target task from among the plurality of transport vehicles, including a transport vehicle that is located downstream of the destination on the transport route at the time the target task occurs as a candidate, and the task is collection of the item at the transfer target location and transport of the collected item to the destination, the control device selects an empty transport vehicle that is not transporting the article as the candidate, An empty transport vehicle that has passed the destination is referred to as a passing transport vehicle, and an empty transport vehicle that is moving upstream of the transport route relative to the passing transport vehicle and has not yet arrived at the destination is referred to as a non-arriving transport vehicle, the control device is configured to calculate a first required time required for the passing guided vehicle to move in the reverse direction and arrive at the destination, and a second required time required for the not-yet-arrived guided vehicle to move in the forward direction and arrive at the destination, When the first required time is shorter than the second required time, the control device outputs the reverse movement command to move the passing transport vehicle toward the destination, and when the first required time is longer than the second required time, the control device outputs the forward movement command to move the not-yet-arrived transport vehicle toward the destination.

[0010] Further features and advantages of the techniques according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] Plan view of the transport facility [Figure 2] A diagram showing how items are transferred at the transfer location. [Figure 3] Control Block Diagram [Figure 4] Diagram showing control in a junction zone [Figure 5] FIG. 10 is a diagram showing an example of a case where a reverse direction movement command is output; [Figure 6] FIG. 10 is a diagram showing an example of a case where a reverse direction movement command is output; [Figure 7] FIG. 10 is a diagram showing an example of a case where a reverse direction movement command is prohibited. [Figure 8] flowchart DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the conveying equipment will be described with reference to the drawings.

[0013] As shown in Figures 1 and 2, the conveying equipment 100 includes a plurality of conveying vehicles V that move in a forward direction F (see Figure 4, etc.) along a predetermined conveying route P to convey items W, and transfer target locations M that are arranged at a plurality of locations along the conveying route P and are targets for transferring items W. Each of the plurality of conveying vehicles V performs a task assigned to it. Empty conveying vehicles Ve, which are empty conveying vehicles V that are not conveying items W, and loaded conveying vehicles Vf, which are conveying vehicles V that are conveying items W, are mixed on the conveying route P.

[0014] The conveying route P is configured to include straight routes and curved routes. In this embodiment, the conveying facility 100 includes a branching / merging zone Z where the conveying route P branches off or merges.

[0015] The transport facility 100 is used, for example, in a semiconductor manufacturing factory. In this case, the transfer target location M can be, for example, a processing device Ma that processes an item W. Furthermore, the item W can be, for example, a front-opening unified pod (FOUP) that stores wafers or a reticle pod that stores reticles. If the item W is a FOUP, the object to be processed by the processing device Ma is a wafer. If the item W is a reticle pod, the object to be processed by the processing device Ma is a reticle. In the semiconductor manufacturing factory exemplified here, the processing device Ma performs various processes on semiconductor substrates, such as thin-film formation, photolithography, and etching. The processing device Ma is configured to remove the object W from a mounting table Mb disposed adjacent to the processing device Ma and process the object W. The object W is transferred to the mounting table Mb by a transport vehicle V.

[0016] 2, in this embodiment, the transport vehicle V is configured as a ceiling transport vehicle that travels along a transport path P set near the ceiling. The transport vehicle V includes a storage section Va that stores an item W, a gripping section Vb that grips the item W, and a lifting section Vc that raises and lowers the gripping section Vb.

[0017] The transport vehicle V stops at the transfer target location M and transfers the item W between the storage section Va and the loading platform Mb located below the storage section Va by raising and lowering the gripping section Vb. In this example, "transfer of an item" includes receiving the item W from the transfer target location M (loading platform Mb) and delivering the item W to the transfer target location M (loading platform Mb). FIG. 2 illustrates an example of a transport vehicle V receiving the item W placed on the loading platform Mb. In this example, when the transport vehicle V transfers the item W between the transfer target location M and the transfer target location M, the transport vehicle V performs a gripping or releasing operation on the item W by the gripping unit Vb, and a lifting / lowering operation of the gripping unit Vb by the lifting / lowering unit Vc. The total time for these operations is the time required to transfer the item W (hereinafter referred to as "transfer time Tt").

[0018] 5, in this embodiment, the transport vehicle V is equipped with a front vehicle detection sensor Se that detects another transport vehicle V that is downstream (i.e., ahead) of the transport vehicle V on the transport path P. For example, when the front vehicle detection sensor Se detects another transport vehicle V traveling ahead, the transport vehicle V equipped with the front vehicle detection sensor Se will slow down or stop to avoid a rear-end collision with the other transport vehicle V.

[0019] In this embodiment, the front vehicle detection sensor Se is configured to be able to change the detection range for detecting other transport vehicles V between a first range A1 selected during normal travel of the transport vehicle V and a second range A2 wider than the first range A1. In addition to this, the front vehicle detection sensor Se may be able to change the detection range for detecting other transport vehicles V to a range narrower than the first range A1 (for example, a third range) when the transport vehicle V equipped with the front vehicle detection sensor Se travels on a curved road. When the transport vehicle V travels on a curved road, the detection range of the front vehicle detection sensor Se is likely to be directed outside the transport route P. However, by changing the detection range to a range narrower than the first range A1, it is possible to avoid erroneous detection of unintended objects other than the transport vehicle V (such as structures that form part of the transport route P).

[0020] 3, the conveying facility 100 includes a control device C. When a task occurs that requires the conveying of an item W by a conveying vehicle V, the control device C is configured to output a movement command to each of the plurality of conveying vehicles V, specifying a transfer target location M related to the task as a destination D (see FIG. 5, etc.).

[0021] In this embodiment, the control device C includes a host controller Ct and a zone controller Cz. The host controller Ct, the zone controller Cz, and the transport vehicle V are configured to be able to communicate with each other. The control device C, i.e., the host controller Ct and the zone controller Cz, include, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each process or function is realized by cooperation between this hardware and a program executed on a processor such as a computer.

[0022] The host controller Ct is configured to issue a transport command specifying the origin and destination of the item W to each of the multiple transport vehicles V. The above-mentioned movement command is included in the transport command. In other words, the host controller Ct is configured to output a movement command specifying the transfer target location M related to the task requiring the transport of the item W as the destination D to each of the multiple transport vehicles V.

[0023] As shown in FIG. 4, the zone controller Cz is configured to control the guided vehicle V in the junction merging zone Z. For example, the guided vehicle V requests permission to pass through the junction merging zone Z from the zone controller Cz before reaching the junction merging zone Z. The zone controller Cz determines whether the requested guided vehicle V is allowed to pass through the junction merging zone Z based on the status of multiple guided vehicles V present near the junction merging zone Z. The zone controller Cz transmits a permission signal to the guided vehicle V if it is permitted to pass, or transmits a stop signal if it is denied passage. The guided vehicle V that receives the permission signal enters the junction merging zone Z, and the guided vehicle V that receives the stop signal waits in front of the junction merging zone Z. As shown in FIG. 4, the guided vehicle V that has passed through the junction merging zone Z notifies the zone controller Cz that it has passed through the junction merging zone Z. This enables the zone controller Cz to grant permission to the next guided vehicle V to pass through the junction merging zone Z.

[0024] As shown in Figure 5, the control device C (in this example, the upper controller Ct) is configured to be able to output to the transport vehicle V a forward movement command to move the transport path P in a forward direction F toward the destination D, and a reverse movement command to move the transport path P in a reverse direction R toward the destination D.

[0025] When the transport vehicle V receives a forward movement command from the control device C, it moves in a forward direction F along the transport path P toward destination D. When the transport vehicle V receives a reverse movement command from the control device C, it moves in a reverse direction R along the transport path P toward destination D. Here, the "forward direction F" is the normal movement direction when the transport vehicle V normally moves along the transport path P, and can also be referred to as the "forward direction." The "reverse direction R" is the opposite direction to the forward direction F, and can also be referred to as the "reverse direction."

[0026] When a target task, which is one of the tasks, occurs, the control device C determines a transport vehicle V to execute the target task from among multiple transport vehicles V, including as candidates transport vehicles V that are located downstream of destination D on the transport route P at the time the target task occurs. As a result, the control device C can not only designate a transport vehicle V moving in the forward direction F on the transport route P as a candidate to head to destination D, but also designate a transport vehicle V that has already passed destination D because the target task occurred late, for example, as a candidate to head to destination D. Therefore, when a new task occurs at any time at each point on the transport route P, the options for candidate transport vehicles V to head to destination D can be increased, which makes it easier to improve the efficiency of transporting goods W throughout the entire facility.

[0027] Candidates for the transport vehicle V to execute the target task include transport vehicles V that are located upstream of destination D on the transport route P at the time the target task occurs, transport vehicles V that are located at destination D at the time the target task occurs, and transport vehicles V that are located downstream of destination D on the transport route P at the time the target task occurs. Note that even if the target task occurs when transport vehicle V is traveling just before destination D, the transport vehicle V may not be able to decelerate in time and pass destination D.

[0028] In this example, as shown in FIG. 5 , the deceleration start position for the transport vehicle V to appropriately stop at the destination D is set before the destination D. When the transport vehicle V attempts to stop at the destination D, it can appropriately stop at the destination D by starting deceleration at the deceleration start position or before the deceleration start position. On the other hand, the transport vehicle V cannot appropriately stop at the destination D even if it starts deceleration after passing the deceleration start position. In other words, even if the target task occurs when the transport vehicle V is traveling before the destination D, if the transport vehicle V has already passed the deceleration start position at that time, the transport vehicle V will not be able to decelerate in time and will pass the destination D. The control device C also considers such a transport vehicle V as a candidate for the transport vehicle V that will execute the target task. In other words, in this embodiment, when determining the transport vehicle V that will execute the target task from among multiple transport vehicles V, the control device C further includes, as a candidate for the transport vehicle V that will execute the target task, a transport vehicle V that is located upstream of the destination D on the transport route P at the time the target task is generated and that will have a stopping position downstream of the destination D even if it starts decelerating from the time the target task is generated.

[0029] In this embodiment, the task given to the transport vehicle V is to collect an item W at the transfer target location M and transport the collected item W to a destination D. For example, an item W that has finished processing by a processing device Ma becomes the item to be collected by the transport vehicle V. In this case, the point at which processing by the processing device Ma is finished may be the point at which the task occurs.

[0030] After a target task occurs, the control device C selects multiple transport vehicles V as candidates to execute the target task, and determines the transport vehicle V to execute the target task from among the multiple transport vehicles V selected as candidates.

[0031] As described above, in this embodiment, the task assigned to the transport vehicle V is to collect an item W at the transfer target location M and transport the collected item W to the destination D, and therefore this task cannot be performed by a loaded transport vehicle Vf that is already transporting an item W. Therefore, in this embodiment, the control device C selects an empty transport vehicle V (empty transport vehicle Ve) that is not transporting an item W as a candidate for the transport vehicle V that will perform the target task. Then, the control device C selects one empty transport vehicle Ve that will perform the target task from the multiple empty transport vehicles Ve selected as candidates, and drives the selected empty transport vehicle Ve toward the destination D. The empty transport vehicle Ve that will perform the target task is selected based on preset conditions.

[0032] A detailed description will be given below with reference to Figures 5 to 7. In the following, an empty transport vehicle Ve that has passed the destination D will be referred to as a passing transport vehicle Ve, and an empty transport vehicle Ve that moves upstream of the passing transport vehicle Ve on the transport route P and has not yet arrived at the destination D will be referred to as a non-arriving transport vehicle Ve. Furthermore, as described above, a transport vehicle V that is transporting an article W will be referred to as a loaded transport vehicle Vf. A loaded transport vehicle Vf that has not yet arrived at the destination D will be referred to as a non-arriving loaded transport vehicle Vf. Here, the reference symbols "Ve" and "Vf" are used depending on whether the transport vehicle V is an empty transport vehicle Ve that is not transporting an item W, or a loaded transport vehicle Vf that is transporting an item W. Therefore, as described above, the reference symbol "Ve" is used for passing transport vehicles and non-arriving transport vehicles that are empty transport vehicles Ve, and the reference symbol "Vf" is used for non-arriving loaded transport vehicles that are loaded transport vehicles Vf.

[0033] 5, the control device C is configured to calculate a first required time T1 required for a passing guided vehicle Ve to move in the reverse direction R and arrive at the destination D, and a second required time T2 required for a non-arriving guided vehicle Ve to move in the forward direction F and arrive at the destination D. In this embodiment, the control device C calculates the second required time T2 for the non-arriving guided vehicle Ve that is closest to the destination D among the non-arriving guided vehicles Ve.

[0034] The first required time T1 is calculated, for example, by dividing the distance from the current position of the passing guided vehicle Ve to the destination D by the speed (average speed) at which the passing guided vehicle Ve moves in the reverse direction R. The second required time T2 is calculated, for example, by dividing the distance from the current position of the not-yet-arrived guided vehicle Ve to the destination D by the speed (average speed) at which the not-yet-arrived guided vehicle Ve moves in the forward direction F. For example, the speed at which the passing guided vehicle Ve moves in the reverse direction R is set lower than the speed at which the not-yet-arrived guided vehicle Ve moves in the forward direction F. The lower the speed, the longer the required time is likely to be, and the higher the speed, the shorter the required time is likely to be.

[0035] When the first required time T1 is shorter than the second required time T2, the control device C outputs a reverse direction movement command to cause the passing transport vehicle Ve to head toward the destination D. That is, in this case, the control device C determines the passing transport vehicle Ve as the transport vehicle V that will execute the target task. When the first required time T1 is longer than the second required time T2, the control device C outputs a forward direction movement command to cause the not-yet-arrived transport vehicle Ve to head toward the destination D. That is, in this case, the control device C determines the not-yet-arrived transport vehicle Ve as the transport vehicle V that will execute the target task. This makes it possible to cause the transport vehicle V that takes the shortest time to arrive at the destination D to head toward the destination D, making it easier to improve the transport efficiency of the entire facility. FIG. 5 shows the control device C outputting a reverse direction movement command to the passing transport vehicle Ve, and the passing transport vehicle Ve moving in the reverse direction R on the transport path P toward the destination D.

[0036] As described above, the detection range of the leading vehicle detection sensor Se for detecting another guided vehicle V traveling ahead is normally set to the first range A1. In this embodiment, when the control device C outputs a reverse direction movement command to a passing guided vehicle Ve, it sets the detection range of the leading vehicle detection sensor Se mounted on the following guided vehicle V located upstream of the passing guided vehicle Ve on the conveying path P to the second range A2. When the leading guided vehicle V travels in the opposite direction to the following guided vehicle V, the relative speed is higher than when the two travel in the same direction. However, as described above, by changing the setting of the detection range of the leading vehicle detection sensor Se mounted on the guided vehicle V following the passing guided vehicle Ve (the non-arriving guided vehicle Ve in the example shown in FIG. 5) from the first range A1 to the second range A2, the leading passing guided vehicle Ve can be detected early. Therefore, it is possible to secure time to perform control to avoid interference between the leading guided vehicle V and the following guided vehicle V without reducing the movement speeds of both the leading guided vehicle V and the following guided vehicle V.

[0037] Here, the non-arriving transported vehicle Vf is currently transporting an item W and is currently executing its assigned task. Therefore, it is preferable not to impede the movement of the non-arriving transported vehicle Vf, as this leads to improved transport efficiency of the entire facility. Therefore, when a reverse direction movement command is output to the passing transported vehicle Ve, it is preferable to add a condition that the passing transported vehicle Ve, which moves in response to the reverse direction movement command, does not impede the movement of the non-arriving transported vehicle Vf. This will be explained in detail below.

[0038] As shown in Figure 6, in this embodiment, the control device C is configured to calculate a third required time T3 required for the non-arriving actual transport vehicle Vf that is closest to the destination D among the non-arriving actual transport vehicles Vf to move in the forward direction F and arrive at the destination D.

[0039] The third required time T3 is calculated by dividing the distance from the current position of the not-yet-arrived guided vehicle Vf to the destination D by the speed (average speed) at which the not-yet-arrived guided vehicle Vf moves in the forward direction F, for example.

[0040] When the first required time T1 is shorter than the second required time T2, the control device C outputs a reverse movement command to direct the passing transport vehicle Ve toward the destination D, on the condition that the time required to transfer the item W at the transfer target location M (destination D) related to the target task (the above-mentioned "transfer time Tt"; see FIG. 2) plus the first required time T1 is shorter than the third required time T3. This allows the passing transport vehicle Ve to move toward the destination D and complete the transfer of the item W at the destination D by the time the not-yet-arrived transport vehicle Vf arrives at the destination D. Therefore, it is possible to avoid interfering with the movement of the not-yet-arrived transport vehicle Vf.

[0041] On the other hand, even if the first required time T1 is shorter than the second required time T2, if the time obtained by adding the first required time T1 to the transfer time Tt at the transfer target location M (destination D) for the target task is longer than the third required time T3, the control device C does not output a reverse direction movement command to the passing transport vehicle Ve. In this case, the control device C newly selects a candidate to execute the target task.

[0042] As described above with reference to FIG. 4, the zone controller Cz controls the guided vehicles V in the junction / merging zone Z based on the status of the multiple guided vehicles V present near the junction / merging zone Z by communicating with the multiple guided vehicles V. In this example, the guided vehicles V that have passed through the junction / merging zone Z notify the zone controller Cz that they have passed through the junction / merging zone Z. For these reasons, it is not preferable to move the guided vehicles V in the reverse direction R once they have passed through the junction / merging zone Z, as this complicates control and increases the load. Furthermore, moving the guided vehicles V in the reverse direction R in the junction / merging zone Z may not be preferable in some cases due to the structure of the transport route P in the junction / merging zone Z.

[0043] 7, in this embodiment, when a diverging / merging zone Z is present between a passing guided vehicle Ve and the destination D along the transport route P, the control device C removes the passing guided vehicle Ve from candidates for the guided vehicle V to execute the target task. In addition, the control device C also removes a passing guided vehicle Ve from candidates for the guided vehicle V to execute the target task after it has passed the entrance of the diverging / merging zone Z but before it has passed the exit of the diverging / merging zone Z. That is, in the above case, even if the first required time T1 of the passing guided vehicle Ve is shorter than the second required time T2 of the not-yet-arrived guided vehicle Ve, the control device C removes the passing guided vehicle Ve from candidates for the guided vehicle V to execute the target task. This configuration prevents the zone controller Cz from complicating the control of the diverging / merging zone Z. Furthermore, in the diverging / merging zone Z where it is not suitable to move the guided vehicle V in the reverse direction R, the guided vehicle V can be prevented from moving in the reverse direction R. Similarly, even if the destination D is inside the diverging / merging zone Z, the control device C removes the passing guided vehicle Ve that has passed the destination D from candidates for executing the target task.

[0044] Next, the control flow will be described with reference to the flowchart of FIG.

[0045] When a target task occurs (step #1), the control device C selects a candidate from among a plurality of guided vehicles V to execute the target task (step #2).

[0046] After step #2, the control device C determines whether the first required time T1 required for the passing transport vehicle Ve to move in the reverse direction R and arrive at the destination D is shorter than the second required time T2 required for the not-yet-arrived transport vehicle Ve to move in the forward direction F and arrive at the destination D (step #3). If the control device C determines that the first required time T1 is shorter than the second required time T2 (step #3: Yes), it determines whether the time obtained by adding the first required time T1 to the transfer time Tt at the transfer target location M (destination D) related to the target task is shorter than the third required time T3 (step #4). If the control device C determines that the time obtained by adding the first required time T1 to the transfer time Tt is shorter than the third required time T3 (step #4: Yes), it outputs a reverse direction movement command to the passing transport vehicle Ve (step #5). This causes the control device C to cause the passing transport vehicle Ve to execute the target task. In step #4, if the control device C determines that the time obtained by adding the transfer time Tt to the first required time T1 is not shorter than the third required time T3 (step #4: No), it selects a new candidate to execute the target task (step #2).

[0047] After or simultaneously with step #5, the control device C expands the detection range of the front vehicle detection sensor Se mounted on the non-arriving guided vehicle Ve following the passing guided vehicle Ve from the first range A1 to the second range A2 (step #6). After the passing guided vehicle Ve has finished moving in the reverse direction R, the control device C returns the detection range of the front vehicle detection sensor Se mounted on the following non-arriving guided vehicle Ve from the second range A2 to the first range A1.

[0048] In step #3, if the control device C determines that the first required time T1 is not shorter than the second required time T2 (step #3: No), it outputs a forward movement command to the following non-arrival guided vehicle Ve (step #7). As a result, the control device C causes the following non-arrival guided vehicle Ve to execute the target task.

[0049] Other Embodiments Next, other embodiments of the conveying equipment will be described.

[0050] (1) In the above embodiment, an example was described in which the task assigned to the transport vehicle V was to collect an item W at the transfer target location M and transport the collected item W to the destination D. However, without being limited to such an example, the task assigned to the transport vehicle V may also be, for example, transporting an item W to the transfer target location M. In this case, the actual transport vehicle Vf, which is the transport vehicle V that is transporting the item W, is selected as a candidate to perform the target task.

[0051] (2) In the above embodiment, an example was described in which the control device C outputs a reverse direction movement command to the passing transport vehicle Ve when the first required time T1 is shorter than the second required time T2, on the condition that the time obtained by adding the first required time T1 to the transfer time Tt at the transfer target location M (destination D) related to the target task is shorter than the third required time T3. However, without being limited to this example, the control device C may be configured to output a reverse direction movement command to the passing transport vehicle Ve regardless of the condition when the first required time T1 is shorter than the second required time T2. If the following non-arriving transport vehicle Vf may arrive at the destination D during this time, it is preferable to have the non-arriving transport vehicle Vf wait just before the destination D until the passing transport vehicle Ve has finished transferring the item W at the destination D.

[0052] (3) In the above embodiment, in order to reduce the control load at the junction zone Z, an example has been described in which the control device C removes the passing transport vehicle Ve from candidates for executing the target task when there is a junction zone Z between the passing transport vehicle Ve and the destination D along the transport route P. However, without being limited to this example, the control device C may also select the passing transport vehicle Ve as a candidate for executing the target task even in the above case. In this case, when the passing transport vehicle Ve that has once passed through the junction zone Z moves in the reverse direction R and enters the junction zone Z again, it is preferable to make a passing permission request and a passing completion notification again to the zone controller Cz.

[0053] (4) In the above embodiment, the transfer target location M is exemplified as a processing device Ma that processes the item W. However, without being limited to this example, the transfer target location M may be a buffer for temporarily storing the item W or a transfer location for various conveying devices.

[0054] (5) In the above embodiment, an example has been described in which the transport vehicle V is configured as a ceiling transport vehicle that travels along a transport path P set near the ceiling. However, without being limited to this example, the transport vehicle V may be, for example, a tracked or trackless automated transport vehicle that travels along the floor surface. In this case, the item W is transferred to a transfer target location M located at the same height as the transport vehicle V traveling on the floor surface using a conveyor, arm, etc.

[0055] (6) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0056] [Summary of the above embodiment] The above-described conveying equipment will now be described.

[0057] a plurality of transport vehicles that move forward along a predetermined transport path to transport articles; Transfer target locations that are arranged at a plurality of locations on the conveying route and are targets to which the items are transferred; a control device that, when a task requiring the transport of the item by the transport vehicle occurs, outputs a movement command to each of the plurality of transport vehicles, specifying the transfer target location related to the task as a destination, the control device is configured to be able to output, to the transport vehicle, a forward direction movement command to move the transport vehicle along the transport path in the forward direction toward the destination, and a reverse direction movement command to move the transport vehicle along the transport path in the reverse direction toward the destination, When a target task, which is one of the tasks, occurs, the control device determines the transport vehicle to execute the target task from among the multiple transport vehicles, including as candidates the transport vehicles that are located downstream of the destination on the transport route at the time the target task occurs.

[0058] According to this configuration, a transport vehicle that normally moves in the forward direction on the transport route can be moved in the reverse direction depending on the situation. The control device not only selects a transport vehicle moving in the forward direction on the transport route as a candidate for heading to the destination, but also selects a transport vehicle that has already passed the destination because the target task was initiated late, etc., as a candidate for heading to the destination. Therefore, according to this configuration, when a new task is generated at any time at each point on the transport route, the number of options for a transport vehicle that can be a candidate for heading to the destination can be increased, which makes it easier to improve the efficiency of transporting goods throughout the facility.

[0059] When determining the transport vehicle to execute the target task from among the plurality of transport vehicles, the control device preferably further includes as candidates transport vehicles that are located upstream of the destination on the transport route at the time the target task occurs and that will stop downstream of the destination even if they start decelerating from the time the target task occurs.

[0060] According to this configuration, the transport vehicle to carry out the target task can be determined by including as candidates transport vehicles whose stopping position is downstream of the destination even if they begin to decelerate from the time the target task is generated, making it easier to further improve the efficiency of transporting goods throughout the entire facility.

[0061] the task is to collect the item at the transfer target location and transport the collected item to the destination, Preferably, the control device selects an empty transport vehicle that is not transporting the article as the candidate.

[0062] According to this configuration, an empty transport vehicle that can execute a task can be appropriately selected, and the selected transport vehicle can be made to execute the target task.

[0063] An empty transport vehicle that has passed the destination is referred to as a passing transport vehicle, and an empty transport vehicle that is moving upstream of the transport route relative to the passing transport vehicle and has not yet arrived at the destination is referred to as a non-arriving transport vehicle, the control device is configured to calculate a first required time required for the passing guided vehicle to move in the reverse direction and arrive at the destination, and a second required time required for the not-yet-arrived guided vehicle to move in the forward direction and arrive at the destination, Preferably, the control device outputs the reverse movement command to move the passing transport vehicle toward the destination when the first required time is shorter than the second required time, and outputs the forward movement command to move the not-yet-arrived transport vehicle toward the destination when the first required time is longer than the second required time.

[0064] According to this configuration, the transport vehicle that takes the shortest time to reach the destination can be directed to the destination, which makes it easier to improve the transport efficiency of the entire facility.

[0065] The transport vehicle in the state of transporting the article is referred to as an actual transport vehicle, and the actual transport vehicle that has not yet arrived at the destination is referred to as a non-arrival actual transport vehicle, the control device is configured to calculate a third required time required for a non-arriving transported vehicle that is closest to the destination among the non-arriving transported vehicles to travel in the forward direction and arrive at the destination, Preferably, when the first required time is shorter than the second required time, the control device outputs the reverse movement command to direct the passing transport vehicle toward the destination, provided that the time required to transfer the item at the transfer target location for the target task plus the first required time is shorter than the third required time.

[0066] If a first required time required for a passing transport vehicle to travel in the reverse direction and reach the destination is shorter than a second required time required for a non-arriving transport vehicle to travel in the forward direction and reach the destination, the passing transport vehicle will arrive at the destination earlier than the non-arriving transport vehicle. However, if a non-arriving transport vehicle passes the destination before the passing transport vehicle arrives at the destination and finishes transferring the item, the non-arriving transport vehicle and the passing transport vehicle may interfere with each other. To avoid such interference, the non-arriving transport vehicle must wait upstream of the destination on the transport route, which may delay the transport schedule of the non-arriving transport vehicle. According to this configuration, the control device outputs a reverse movement command to direct the passing transport vehicle toward the destination under the conditions that the first required time is shorter than the second required time, and that the time required to transfer the item at the transfer target location for the target task plus the first required time is shorter than a third required time required for the non-arriving transport vehicle to travel in the forward direction and reach the destination. Therefore, it is possible to reduce the possibility that outputting a reverse direction movement command will affect the movement of a not-yet-arrived guided vehicle following the passing guided vehicle.

[0067] a branching and merging zone where the conveying path branches or merges, Preferably, when the diverging / merging zone is present between the passing transport vehicle and the destination along the transport route, the control device excludes the passing transport vehicle from the candidates.

[0068] In the junction / merge zone, due to the structure of the transport route, it may not be possible to move a transport vehicle in the reverse direction. Even if it is possible to move a transport vehicle in the reverse direction, the control to avoid interference between multiple transport vehicles may become complicated. In other words, from the viewpoint of structure and control, there may be a problem that it is not desirable to run a transport vehicle in the reverse direction. With this configuration, it is possible to exclude a passing transport vehicle that can move in the reverse direction through the junction / merge zone from candidates for heading to the destination, thereby avoiding the above-mentioned problems.

[0069] the transport vehicle includes a front vehicle detection sensor that detects another transport vehicle that is downstream of the transport vehicle on the transport route; the forward vehicle detection sensor is capable of changing a detection range for detecting other guided vehicles between a first range selected during normal travel of the guided vehicle and a second range wider than the first range, When the control device outputs the reverse direction movement command to the passing transport vehicle, it is preferable that the control device sets the detection range of the forward vehicle detection sensor mounted on the subsequent transport vehicle that is upstream of the passing transport vehicle on the transport path to the second range.

[0070] When a leading transport vehicle travels in the opposite direction to a trailing transport vehicle, the relative speed is higher than when the two vehicles travel in the same direction. According to this configuration, when the control device outputs a reverse direction movement command to a passing transport vehicle, the control device sets the detection range of the forward vehicle detection sensor provided on the trailing transport vehicle, which is located upstream of the passing transport vehicle on the transport path, to a second range that is wider than the first range selected during normal travel. This allows the trailing transport vehicle to detect the leading passing transport vehicle early. Therefore, it is possible to ensure time to perform control to avoid interference between the leading transport vehicle and the trailing transport vehicle without reducing the travel speed of either vehicle. [Industrial Applicability]

[0071] The technology disclosed herein can be used in conveyance equipment. [Explanation of symbols]

[0072] 100:Transportation equipment V: Transport vehicle Ve: Passing transport vehicle Ve: Unarrived transport vehicle Vf: Actual transport vehicle Vf: Unarrived actual conveyance vehicle C: Control device Se: Front vehicle detection sensor A1: First range A2: Second range P: Transport route Z: Junction zone M: Transfer location D: Destination T1: First travel time T2: Second travel time T3: Third time required Tt: Transfer time W:Goods F: Forward R: Reverse direction

Claims

1. a plurality of transport vehicles that move forward along a predetermined transport path to transport articles; Transfer target locations that are arranged at a plurality of locations on the conveying route and to which the items are to be transferred; a control device that, when a task requiring the transport of the item by the transport vehicle occurs, outputs a movement command to each of the plurality of transport vehicles, specifying the transfer target location related to the task as a destination, the control device is configured to be able to output, to the transport vehicle, a forward direction movement command to move the transport vehicle along the transport path in the forward direction toward the destination, and a reverse direction movement command to move the transport vehicle along the transport path in the reverse direction toward the destination, when a target task that is one of the tasks occurs, the control device determines the transport vehicle that will execute the target task from among the plurality of transport vehicles, including, as candidates, transport vehicles that are located downstream of the destination on the transport route at the time the target task occurs; When determining the transport vehicle to execute the target task from among the plurality of transport vehicles, the control device further includes as candidates transport vehicles that are located upstream of the destination on the transport route at the time the target task occurs and that will stop downstream of the destination even if they start decelerating from the time the target task occurs.

2. a plurality of transport vehicles that move forward along a predetermined transport path to transport articles; Transfer target locations that are arranged at a plurality of locations on the conveying route and to which the items are to be transferred; a control device that, when a task requiring the transport of the item by the transport vehicle occurs, outputs a movement command to each of the plurality of transport vehicles, specifying the transfer target location related to the task as a destination, the control device is configured to be able to output, to the transport vehicle, a forward direction movement command to move the transport vehicle along the transport path in the forward direction toward the destination, and a reverse direction movement command to move the transport vehicle along the transport path in the reverse direction toward the destination, when a target task, which is one of the tasks, occurs, the control device determines a transport vehicle to execute the target task from among the plurality of transport vehicles, including a transport vehicle that is located downstream of the destination on the transport route at the time the target task occurs as a candidate, and the task is collection of the item at the transfer target location and transport of the collected item to the destination, the control device selects an empty transport vehicle that is not transporting the article as the candidate, An empty transport vehicle that has passed the destination is referred to as a passing transport vehicle, and an empty transport vehicle that is moving upstream of the transport route relative to the passing transport vehicle and has not yet arrived at the destination is referred to as a non-arriving transport vehicle, the control device is configured to calculate a first required time required for the passing guided vehicle to move in the reverse direction and arrive at the destination, and a second required time required for the not-yet-arrived guided vehicle to move in the forward direction and arrive at the destination, When the first required time is shorter than the second required time, the control device outputs the reverse direction movement command to move the passing transport vehicle toward the destination, and when the first required time is longer than the second required time, the control device outputs the forward direction movement command to move the not-yet-arrived transport vehicle toward the destination.

3. The transport vehicle in the state of transporting the article is referred to as an actual transport vehicle, and the actual transport vehicle that has not yet arrived at the destination is referred to as a non-arrival actual transport vehicle, the control device is configured to calculate a third required time required for a non-arriving transported vehicle that is closest to the destination among the non-arriving transported vehicles to travel in the forward direction and arrive at the destination, 3. The conveying equipment according to claim 2, wherein, when the first required time is shorter than the second required time, the control device outputs the reverse movement command to direct the passing conveying vehicle toward the destination, provided that the time required to transfer the item at the transfer target location for the target task plus the first required time is shorter than the third required time.

4. a branching and merging zone where the conveying path branches or merges, The conveying facility according to claim 2 , wherein when the junction / merging zone is present between the passing conveying vehicle and the destination along the conveying route, the control device excludes the passing conveying vehicle from the candidates.

5. the transport vehicle includes a front vehicle detection sensor that detects another transport vehicle that is downstream of the transport vehicle on the transport route; the forward vehicle detection sensor is capable of changing a detection range for detecting other guided vehicles between a first range selected during normal travel of the guided vehicle and a second range wider than the first range, The conveying equipment described in claim 2, wherein when the control device outputs the reverse direction movement command to the passing conveying vehicle, the control device sets the detection range of the forward vehicle detection sensor mounted on the subsequent conveying vehicle that is upstream of the passing conveying vehicle on the conveying path to the second range.

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