Goods transport equipment

Abstract

To enhance the overall carrying efficiency of a goods carrier facility by enabling a carrying vehicle to efficiently pass through within a section including the branched portion of a running route or the merged portion thereof.SOLUTION: A carrying vehicle V, which receives both a first passage permission and a second passage permission to pass through a second passage point Pp2, sends, to a section control device Cz, a first occupation canceling request Sn1 for cancelling the occupation of a first passage point Pp1 when a running distance from a first stop point Ps1 becomes a first set distance D1, and sends, to the section control device Cz, a second occupation canceling request Sn2 for canceling the occupation of the second passage point Pp2 when the running distance from the first stop point Ps1 becomes a second set distance D2.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to an item transport facility that includes a transport vehicle for transporting items, a travel route along which the transport vehicle travels, and a section control device that issues passage permission to the transport vehicle traveling along a specific section of the travel route and controls the transport vehicle. [Background technology]

[0002] An example of such an article transport facility is disclosed as a transport vehicle system in Japanese Patent Laid-Open Publication No. 2006-313463 (Patent Document 1). References in parentheses in the following description of the background art refer to those in Patent Document 1.

[0003] In the system disclosed in Patent Document 1, lock points are set at branching or merging points of the travel route of the transport vehicle (5), and a decision is made as to whether or not the transport vehicle (5) is allowed to pass at the lock point for each section where such a lock point is set (hereinafter referred to as a "control section").

[0004] Before entering a controlled section where a lock point is provided, the transport vehicle (5) issues a blocking request to the zone controller (11) to request that other transport vehicles (5) be prevented from entering the controlled section. If the zone controller (11) is to permit the transport vehicle (5) that issued the blocking request to pass through the controlled section, it issues a blocking permission and prevents other transport vehicles (5) from passing through. After the transport vehicle (5) has passed through, the zone controller (11) releases the blocking in the controlled section, making it ready to accept other transport vehicles (5). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-313463 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the system disclosed in Patent Document 1, the permission or denial of passage of a transport vehicle (5) at a lock point is determined for each control section, so multiple transport vehicles (5) cannot be present in one control section at the same time. Therefore, when the efficiency of transport vehicle passage in the control section is low and there are many similar control sections, there is a limit to improving the transport efficiency of the entire article transport facility.

[0007] In light of the above situation, it is desirable to realize a technology that can improve the overall transport efficiency of an item transport facility by efficiently allowing transport vehicles to pass through sections that include branching or merging points on the travel route. [Means for solving the problem]

[0008] a transport vehicle for transporting an article; a travel route along which the transport vehicle travels; a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route, the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path, each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side; a first passing point is set downstream of the first connection portion on the first route, a second passing point is set downstream of the second connection portion on the second route, a first stop point where the guided vehicle will stop if the passage permission is not obtained is set upstream of the first connection point on the first route; the passage permit includes a first passage permit and a second passage permit; The section control device When the first passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the first passing point; When the second passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the second passing point; When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device; when both the first passing permission and the second passing permission are requested from the transport vehicle, the section control device allows the transport vehicle that has requested both the first passing permission and the second passing permission to occupy both the first passing point and the second passing point, on condition that both the first passing point and the second passing point are in an unoccupied state and not occupied by another preceding transport vehicle; The transport vehicle includes a travel distance detection unit that detects its own travel distance, a first set distance and a second set distance are set in advance as the travel distance from the first stopping point, The transport vehicle that is given both the first passing permission and the second passing permission and intends to pass through the second passing point, When the travel distance from the first stop point becomes the first set distance, a first occupancy release request to release the occupancy of the first passing point is made to the section control device; When the travel distance from the first stop point reaches the second set distance, a second occupancy release request to release the occupancy of the second passing point is made to the section control device.

[0009] In the specific section described above, the first route and the second route do not intersect with each other, so when there are no guided vehicles traveling on the connecting route, separate guided vehicles can travel on the first route and the second route simultaneously. According to this configuration, the permission for the passage of a guided vehicle can be determined individually at the first passing point on the first route and the second passing point on the second route. Therefore, when multiple guided vehicles travel on the first route or the second route without traveling on the connecting route, the multiple guided vehicles can travel on the first route and the second route simultaneously. This allows for more efficient passage of guided vehicles in the specific section than when the permission for the passage of a guided vehicle is determined for the entire specific section. On the other hand, when a transport vehicle travels from the first route to the second route or from the second route to the first route via a connecting route, the section control device permits the transport vehicle to travel and causes the transport vehicle that has been permitted to travel to occupy both the first pass point and the second pass point, provided that both the first pass point and the second pass point are unoccupied and not occupied by other transport vehicles. This makes it possible to prevent multiple transport vehicles from interfering with each other in a specific section. As a result, it is possible to increase the overall transport efficiency of the article transport facility while preventing multiple transport vehicles from interfering with each other. Furthermore, with this configuration, a transport vehicle can make an occupancy release request upstream of a pass point, in which case the occupancy of the pass point can be released early. This allows other transport vehicles to obtain permission to pass through the pass point early. Therefore, it is possible to facilitate the travel of multiple transport vehicles in a specific section. Furthermore, with this configuration, a transport vehicle makes an occupancy release request based on the travel distance detected by the travel distance detection unit, so there is no need to install components such as markers along the travel route that indicate the reference points for making occupancy release requests. This makes it easier to simplify the item transport equipment.

[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 goods transport facility [Figure 2] Control Block Diagram [Figure 3] A diagram showing the control of a transport vehicle traveling in a specific section [Figure 4] A diagram showing the control of a transport vehicle traveling in a specific section [Figure 5] flowchart [Figure 6] An explanatory diagram of a case where a transport vehicle travels along a first route [Figure 7] An explanatory diagram of when the transport vehicle travels along the second route [Figure 8] An explanatory diagram of a case where a transport vehicle travels from a first route to a second route via a connecting route. [Figure 9] An explanatory diagram of the first set distance and the second set distance [Figure 10] FIG. 10 is a diagram showing an example of a condition for setting a first set distance; [Figure 11] FIG. 10 is a diagram showing an example of a condition for setting a second set distance. [Figure 12] An explanatory diagram when the following transport vehicle occupies the second passing point [Figure 13] An explanatory diagram when the following transport vehicle occupies the second passing point [Figure 14] An explanatory diagram when the following transport vehicle occupies the second passing point [Figure 15] FIG. 10 is a diagram showing other examples of conditions for setting the first set distance. [Figure 16] FIG. 10 is a diagram showing other examples of conditions for setting the first set distance. [Figure 17] FIG. 10 is a plan view showing a specific section according to another embodiment. [Figure 18] FIG. 10 is a plan view showing a specific section according to another embodiment. [Figure 19] FIG. 10 is a plan view showing a specific section according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0013] As shown in Figures 1 and 2, the item conveying equipment 100 includes a transport vehicle V that transports items, a travel route R along which the transport vehicle V travels, and a section control device Cz that controls the transport vehicle V by issuing a passage permit Sp (see Figure 5, etc.) to the transport vehicle V traveling on a specific section Za (see Figure 3), which is a specific section of the travel route R.

[0014] In this embodiment, the travel route R is divided into a plurality of control areas Z. Each of the plurality of control areas Z includes one or more specific sections Za (see FIG. 3). A section control device Cz is provided corresponding to each of the plurality of control areas Z. In this example, each section control device Cz is configured to control the transport vehicle V in the control area Z that it is responsible for. More specifically, each section control device Cz is configured to determine whether or not the transport vehicle V is allowed to pass when the transport vehicle V attempts to pass through a specific section Za (see FIG. 3) that is provided in the control area Z that it is responsible for.

[0015] In this embodiment, the article transport facility 100 includes a host controller Ct. The host controller Ct is configured to control a plurality of section controllers Cz. The transport vehicle V, the plurality of section controllers Cz, and the host controller Ct are configured to be able to communicate with each other.

[0016] In this embodiment, the article conveying facility 100 includes a plurality of conveying vehicles V. Each of the plurality of conveying vehicles V is configured to perform its own task based on a conveying command given from a host control device Ct. Examples of the conveying vehicles V include an unmanned conveying vehicle that travels along the floor surface and a ceiling conveying vehicle that travels near the ceiling.

[0017] Various items are handled by item transport equipment 100. For example, when item transport equipment 100 is used in a semiconductor manufacturing factory, the items include wafer containers (so-called FOUPs: Front Opening Unified Pods) that store wafers, reticle containers (so-called reticle pods) that store reticles, etc. In this case, transport vehicle V transports items such as wafer containers and reticle containers along travel path R between each process.

[0018] The host controller Ct is configured to control a plurality of transport vehicles V and a plurality of section controllers Cz. For example, the host controller Ct is configured to issue a transport command specifying the origin and destination of an article to each transport vehicle V. The host controller Ct is configured to be able to communicate with each transport vehicle V, and is able to grasp the current position of each transport vehicle V by receiving current position information Iv (see FIG. 4) from each transport vehicle V. The host controller Ct is also configured to be able to communicate with each section controller Cz, and is able to grasp the status of each control area Z or each specific section Za by receiving status reports (reports on traffic conditions, etc.) regarding each control area Z or each specific section Za from each section controller Cz.

[0019] Each section control device Cz is configured to control the guided vehicles V traveling in the specific section Za of the control area Z that it is responsible for. Specifically, the section control device Cz controls the travel of multiple guided vehicles V in the specific section Za so that they do not interfere with each other. For example, FIG. 3 shows a state in which two guided vehicles V (one of which is a first guided vehicle V1 and the other is a second guided vehicle V2) are traveling in the specific section Za. When the first guided vehicle V1 and the second guided vehicle V2 are scheduled to pass through the same junction point in the specific section Za, the section control device Cz controls the travel of both the first guided vehicle V1 and the second guided vehicle V2 at different times. In the example shown in FIG. 3, the section control device Cz controls the travel of both the first guided vehicle V1 to pass the junction point first and the second guided vehicle V2 to pass the junction point after the first guided vehicle V1 by slowing down or stopping the second guided vehicle V2. As will be described later, the section control device Cz is configured to give a passage permission Sp (see FIG. 5, etc.) to the guided vehicle V passing through the specific section Za.

[0020] The host control device Ct and the zone control device Cz each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized by cooperation between this hardware and a program executed on the processor of a computer, etc. The article conveying facility 100 includes a control system that includes at least the host control device Ct and the zone control device Cz. This control system may include other control devices in addition to the host control device Ct and the zone control device Cz.

[0021] 3, the specific section Za includes a first route R1 and a second route R2 that do not intersect with each other, and a connecting route Rc that connects a first connecting point C1 on the first route R1 with a second connecting point C2 on the second route R2. Each of the first route R1 and the second route R2 is a route on which the guided vehicle V travels in one direction from the upstream side to the downstream side.

[0022] In this embodiment, the first path R1 and the second path R2 are arranged parallel to each other in a plan view. The connecting path Rc connecting the first path R1 and the second path R2 is arranged so as to be inclined with respect to both the first path R1 and the second path R2. That is, in this example, the first path R1, the second path R2, and the connecting path Rc form an N-shape in a plan view.

[0023] At the end of the specific section Za, i.e., at the downstream end of the specific section Za, a pass point Pp is set as an indication that the guided vehicle V has passed through the specific section Za. The pass point Pp includes a first pass point Pp1 and a second pass point Pp2. The first pass point Pp1 is set downstream of the first junction C1 on the first route R1. The second pass point Pp2 is set downstream of the second junction C2 on the second route R2. That is, in this embodiment, pass points Pp that the guided vehicle V will pass through when it obtains passage permission Sp (see FIG. 5, etc.) are set downstream of the first junction C1 on the first route R1 and downstream of the second junction C2 on the second route R2.

[0024] In this embodiment, a stop point Ps is set at the start end of the specific section Za, i.e., the upstream end of the specific section Za, as a guide for when the guided vehicle V stops before the specific section Za. The stop point Ps includes a first stop point Ps1 and a second stop point Ps2. The first stop point Ps1 is set upstream of the first junction C1 on the first route R1. The second stop point Ps2 is set upstream of the second junction C2 on the second route R2. As described above, in this embodiment, stop points Ps where the guided vehicle V will stop if it does not obtain passage permission Sp (see FIG. 5, etc.) are set upstream of the first junction C1 on the first route R1 and upstream of the second junction C2 on the second route R2.

[0025] In this embodiment, a deceleration section Ad is set upstream of the stop point Ps on each of the first route R1 and the second route R2, where the transport vehicle V decelerates in order to stop at the respective stop point Ps. When the transport vehicle V is unable to obtain a passage permission Sp and must stop at the stop point Ps, it decelerates in the deceleration section Ad and then stops at the stop point Ps.

[0026] In this embodiment, a constant speed section Ac is set in addition to the deceleration section Ad. That is, a constant speed section Ac is set upstream of the stop point Ps on each of the first route R1 and the second route R2, where the guided vehicle V travels at a constant speed in order to stop at the respective stop point Ps. When the guided vehicle V stops at the stop point Ps without obtaining passage permission Sp, the guided vehicle V travels at a constant speed in the constant speed section Ac and decelerates in the deceleration section Ad before stopping at the stop point Ps. The deceleration section Ad is set at a position adjacent to the stop point Ps on the upstream side, but the constant speed section Ac or another deceleration section Ad may be set further upstream of the deceleration section Ad.

[0027] In this embodiment, the deceleration section Ad includes a first deceleration section Ad1 and a second deceleration section Ad2. In the example shown in Fig. 3, the first route R1 and the second route R2 are each provided with a first deceleration section Ad1 upstream of a stop point Ps, where the guided vehicle V decelerates to stop at the respective stop point Ps. The first deceleration section Ad1 is a section where the guided vehicle V decelerates to stop at the respective stop point Ps. The second deceleration section Ad2 is a section where the guided vehicle V decelerates to stop at the stop point Ps. The second deceleration section Ad2 is a section where the guided vehicle V decelerates to stop at the stop point Ps. The second deceleration section Ad2 is a section where the guided vehicle V creeps (travels at a very slow speed) between the second deceleration section Ad2 and the stop point Ps.

[0028] As described above, the section control device Cz is configured to give passage permission Sp (see FIG. 5, etc.) to the transport vehicle V passing through the specific section Za. This allows the transport vehicle V that has been granted passage permission Sp to pass through the specific section Za, and allows the transport vehicle V that has not been granted passage permission Sp to stop upstream of the specific section Za.

[0029] The passage permission Sp includes a first passage permission Sp1 and a second passage permission Sp2 (see FIGS. 6 to 8). When the section control device Cz issues the first passage permission Sp1 to the transported vehicle V, it causes the transported vehicle V to occupy the first passage point Pp1. When the section control device Cz issues the second passage permission Sp2 to the transported vehicle V, it causes the transported vehicle V to occupy the second passage point Pp2.

[0030] In this embodiment, after a guided vehicle V has obtained passage permission Sp from the section control device Cz, it passes through the first pass point Pp1 or the second pass point Pp2 and then issues an occupation release request Sn (see FIG. 5, etc.) to the section control device Cz. When the section control device Cz receives the occupation release request Sn, it releases the occupation of the guided vehicle V that issued the occupation release request Sn at the pass point Pp related to the occupation release request Sn. As a result, the section control device Cz that has received the occupation release request Sn becomes able to accept the next guided vehicle V into the specific section Za.

[0031] The occupation release request Sn includes a first occupation release request Sn1 and a second occupation release request Sn2. In this embodiment, the guided vehicle V is configured to issue a first occupation release request Sn1 (see FIG. 6, etc.) to the section control device Cz to release the occupation of the first pass point Pp1. The guided vehicle V is also configured to issue a second occupation release request Sn2 (see FIG. 7, etc.) to the section control device Cz to release the occupation of the second pass point Pp2. For example, the guided vehicle V issues the first occupation release request Sn1 after passing the first pass point Pp1. As a result, the section control device Cz releases the occupation of the first pass point Pp1 by the guided vehicle V and becomes able to accept another guided vehicle V. As a result, the guided vehicle V issues the second occupation release request Sn2 after passing the second pass point Pp2. As a result, the section control device Cz releases the occupation of the second pass point Pp2 by the guided vehicle V and becomes able to accept another guided vehicle V. In the following description, the first occupancy release request Sn1 and the second occupancy release request Sn2 may be collectively referred to as an "occupancy release request Sn."

[0032] Here, there may be a case where the transport vehicle V that has been given the passage permission Sp does not subsequently respond to the section control device Cz (in this example, an occupation release request Sn). This can occur due to poor communication or a malfunction. If there is no response from the transport vehicle V, the section control device Cz falls into a state where it is unclear whether the transport vehicle V is present or not.

[0033] Therefore, as shown in Fig. 4, in this embodiment, if there is no subsequent response (occupancy release request Sn) from the transport vehicle V to which the passage permission Sp has been granted, the section control device Cz makes an inquiry Si to the upper control device Ct. In this example, after granting passage permission Sp to the transport vehicle V, if there is no subsequent response (occupancy release request Sn) from the transport vehicle V before a predetermined specified period has elapsed, the section control device Cz makes an inquiry Si to the upper control device Ct. This "specified period" is determined appropriately based on the travel distance of the transport vehicle V in the specific section Za, the travel speed of the transport vehicle V, etc.

[0034] In this embodiment, when an inquiry Si is received from the section control device Cz, the upper control device Ct determines whether the guided vehicle V has passed the first pass point Pp1 or the second pass point Pp2 based on the presence or absence of the guided vehicle V in the specific section Za. In this example, the upper control device Ct, having received the inquiry Si, confirms the presence or absence of the guided vehicle V in the specific section Za based on the current position information Iv of the guided vehicle V acquired from the guided vehicle V, and sends a response Sa to the section control device Cz regarding the confirmation result. The section control device Cz, having received the response Sa, continues to control the guided vehicle V in the specific section Za based on the presence or absence of the guided vehicle V in the specific section Za acquired from the response Sa. With the above configuration, even if there is no response from the guided vehicle V to the section control device Cz, cooperation between the section control device Cz and the upper control device Ct allows for more appropriate control of the guided vehicle V in the specific section Za. In this example, the upper control device Ct determines whether the guided vehicle V has passed the first pass point Pp1 or the second pass point Pp2 as described above only when an inquiry Si is received from the section control device Cz. In this way, by linking the section control device Cz with the upper control device Ct only when necessary, the processing load on the upper control device Ct can be reduced while the transport vehicle V in the specific section Za can be appropriately controlled.

[0035] The control in the specific section Za will be described in detail below.

[0036] 5, when the transport vehicle V attempts to pass through the specific section Za, more specifically, the passing point Pp, it issues a passing permission request Sr to request permission to pass (step #1). In this embodiment, the transport vehicle V issues the passing permission request Sr to the section control device Cz upstream of the specific section Za (more specifically, the first connection C1 or the second connection C2).

[0037] When the section control device Cz determines that the guided vehicle V that issued the pass permission request Sr can pass through the specific section Za, it registers the pass point Pp related to the pass permission request Sr to be occupied by the guided vehicle V that issued the pass permission request Sr (step #2), and simultaneously issues a pass permission Sp to the guided vehicle V (step #3). The section control device Cz determines whether the pass point Pp related to the pass permission request Sr is in an occupied state, that is, occupied by another guided vehicle V that is preceding the guided vehicle V that issued the pass permission request Sr, or in an unoccupied state. When the pass point Pp is in an unoccupied state, the section control device Cz determines that the guided vehicle V that issued the pass permission request Sr can pass through the pass point Pp. In this example, the section control device Cz includes a memory unit M that stores occupation state information, that is, whether each pass point Pp is occupied or unoccupied (see FIG. 2). The section control device Cz issues a pass permission Sp to the guided vehicle V based on the occupation state information stored in the memory unit M. Furthermore, the section control device Cz is configured to update the occupancy status information stored in the memory unit M as needed, depending on the situation of the specific section Za.

[0038] The transport vehicle V that has been granted the passage permission Sp passes through the specific section Za, more specifically, the passing point Pp (step #4), and after passing through, issues an occupation release request Sn to the section control device Cz (step #5). However, as will be described later, the transport vehicle V may also issue an occupation release request Sn to the section control device Cz before passing through the passing point Pp.

[0039] The section control device Cz, which has received the occupation release request Sn, cancels the registration of the pass point Pp that was occupied by the guided vehicle V that issued the occupation release request Sn (step #6). As a result, the pass point Pp whose registration has been cancelled becomes unoccupied, and the section control device Cz becomes able to receive the next guided vehicle V at the pass point Pp.

[0040] After receiving the exclusive release request Sn from the transport vehicle V, the section control device Cz sends a receipt notification St to the transport vehicle V, indicating that the exclusive release request Sn has been received. By receiving the receipt notification St from the section control device Cz, the transport vehicle V can recognize that the exclusive release request Sn made by the transport vehicle V has been received by the section control device Cz. For example, if the transport vehicle V is unable to receive the receipt notification St due to poor communication or the like, the transport vehicle V will repeatedly send the exclusive release request Sn to the section control device Cz.

[0041] In this embodiment, the section control device Cz cancels the registration of the pass point Pp that was occupied by the guided vehicle V that issued the occupation release request Sn (step #6), and then sends a receipt notification St to the guided vehicle V (step #7). However, the receipt notification St from the section control device Cz to the guided vehicle V is not sent on the condition that the registration of the pass point Pp has been released, but is sent only on the condition that the section control device Cz has received the occupation release request Sn from the guided vehicle V. Therefore, the section control device Cz may send the receipt notification St to the guided vehicle V before releasing the registration of the pass point Pp, or may send the receipt notification St to the guided vehicle V after releasing the registration of the pass point Pp.

[0042] Each of the above-mentioned pass permission request Sr, pass permission Sp, occupancy release request Sn, and receipt notification St is transmitted and received as a signal between the section control device Cz and the guided vehicle V. For example, the pass permission request Sr is transmitted and received as a pass request signal. The pass permission Sp is transmitted and received as a pass permission signal. The occupancy release request Sn is transmitted and received as an occupancy release request signal. The receipt notification St is transmitted and received as a receipt notification signal.

[0043] 6 to 8 show examples in which the transport vehicle V passes through the specific section Za under the control of the section control device Cz. FIG. 6 shows, as Example 1, a case in which the transport vehicle V passes through the first connection C1 and travels along the first route R1. FIG. 7 shows, as Example 2, a case in which the transport vehicle V passes through the second connection C2 and travels along the second route R2. FIG. 8 shows, as Example 3, a case in which the transport vehicle V travels from the first route R1 to the second route R2 via the connecting route Rc.

[0044] [Example 1] 6, when the guided vehicle V travels along the first route R1 through the first junction C1, the guided vehicle V requests a first pass permission Sp1, which is a pass permission Sp for passing through the first pass point Pp1, from the section control device Cz upstream of the first junction C1. In this example, the guided vehicle V requests the first pass permission Sp1 from the section control device Cz while traveling upstream of the first stop point Ps1 on the first route R1. If the first pass permission Sp1 is obtained, the guided vehicle V passes through the first junction C1 and heads toward the first pass point Pp1, and if the first pass permission Sp1 is not obtained, the guided vehicle V stops upstream of the first junction C1.

[0045] As shown in FIG. 6(a), in this embodiment, when a guided vehicle V attempts to pass through a first pass point Pp1, the guided vehicle V issues a first pass permission request Sr1 to the section control device Cz. Upon receiving the first pass permission request Sr1 from the guided vehicle V, the section control device Cz checks whether the first pass point Pp1 is occupied by another preceding guided vehicle V, and if it is not occupied, determines that the guided vehicle V that issued the first pass permission request Sr1 can pass through the first pass point Pp1. That is, the section control device Cz determines whether the first pass point Pp1 is occupied or unoccupied, and if it is unoccupied, determines that the guided vehicle V can pass through the first pass point Pp1. Then, the section control device Cz issues a first pass permission Sp1 to the guided vehicle V that issued the first pass permission request Sr1.

[0046] In this embodiment, when the section control device Cz issues a first pass permission Sp1 to a guided vehicle V, it causes the guided vehicle V to occupy the first pass point Pp1 related to the first pass permission Sp1. As a result, the first pass point Pp1 becomes occupied for the guided vehicle V. In this example, the section control device Cz registers the first pass point Pp1 related to the first pass permission Sp1 in order to cause the guided vehicle V to occupy the first pass point Pp1. As a result, the section control device Cz excludes other guided vehicles V and prevents the other guided vehicles V from passing through the first pass point Pp1.

[0047] As shown in FIG. 6(b), in this embodiment, after the guided vehicle V passes through the first pass point Pp1, it issues a first occupation release request Sn1 to the section control device Cz. After receiving the first occupation release request Sn1 from the guided vehicle V, the section control device Cz releases the occupation of the first pass point Pp1 related to the first occupation release request Sn1 by the guided vehicle V. As a result, the first pass point Pp1 becomes unoccupied. In this example, upon receiving the first occupation release request Sn1, the section control device Cz cancels the registration of the first pass point Pp1 that was occupied by the guided vehicle V that issued the first occupation release request Sn1. As a result, the occupation of the first pass point Pp1 by the guided vehicle V is released, and the first pass point Pp1 becomes available to accept other guided vehicles V.

[0048] [Example 2] 7, when the guided vehicle V travels along the second route R2 through the second junction C2, the guided vehicle V requests a second passage permission Sp2, which is a passage permission Sp for passing through the second pass point Pp2, from the section control device Cz upstream of the second junction C2. In this example, the guided vehicle V requests the second passage permission Sp2 from the section control device Cz while traveling upstream of the second stop point Ps2 on the second route R2. If the second passage permission Sp2 is obtained, the guided vehicle V passes through the second junction C2 and heads toward the second pass point Pp2, and if the second passage permission Sp2 is not obtained, the guided vehicle V stops upstream of the second junction C2.

[0049] As shown in FIG. 7(a), in this embodiment, when a guided vehicle V attempts to pass through a second pass point Pp2, the guided vehicle V issues a second pass permission request Sr2 to the section control device Cz. Upon receiving the second pass permission request Sr2 from the guided vehicle V, the section control device Cz checks whether the second pass point Pp2 is occupied by another preceding guided vehicle V, and if it is not occupied, determines that the guided vehicle V that issued the second pass permission request Sr2 can pass through the second pass point Pp2. That is, the section control device Cz determines whether the second pass point Pp2 is occupied or unoccupied, and if it is unoccupied, determines that the guided vehicle V can pass through the second pass point Pp2. Then, the section control device Cz issues a second pass permission Sp2 to the guided vehicle V that issued the second pass permission request Sr2.

[0050] In this embodiment, when the section control device Cz issues the second passage permission Sp2 to the guided vehicle V, it causes the guided vehicle V to occupy the second passage point Pp2 related to the second passage permission Sp2. As a result, the second passage point Pp2 becomes occupied for the guided vehicle V. In this example, the section control device Cz registers the second passage point Pp2 related to the second passage permission Sp2 in order to cause the guided vehicle V to occupy the second passage point Pp2. As a result, the section control device Cz excludes other guided vehicles V and prevents the other guided vehicles V from passing through the second passage point Pp2.

[0051] As shown in FIG. 7(b), in this embodiment, after the guided vehicle V passes the second pass point Pp2, it issues a second occupation release request Sn2 to the section control device Cz. After receiving the second occupation release request Sn2 from the guided vehicle V, the section control device Cz releases the occupation of the second pass point Pp2 by the guided vehicle V at the second occupation release request Sn2. As a result, the second pass point Pp2 becomes unoccupied. In this example, upon receiving the second occupation release request Sn2, the section control device Cz cancels the registration of the second pass point Pp2 that was occupied by the guided vehicle V that issued the second occupation release request Sn2. As a result, the occupation of the second pass point Pp2 by the guided vehicle V is released, and the second pass point Pp2 becomes available to accept other guided vehicles V.

[0052] [Example 3] 8, when a guided vehicle V travels from the first route R1 or the second route R2 to the connecting route Rc, the guided vehicle V requests both a first pass permission Sp1 and a second pass permission Sp2 from the section control device Cz upstream of the first junction C1 or the second junction C2. When the guided vehicle V requests permission to travel from the first route R1 or the second route R2 to the connecting route Rc, the section control device Cz permits the guided vehicle V to travel from the first route R1 or the second route R2 to the connecting route Rc, and causes the guided vehicle V that has been permitted to travel to occupy both the first pass point Pp1 and the second pass point Pp2, on the condition that both the first pass point Pp1 and the second pass point Pp2 are unoccupied by another preceding guided vehicle V.

[0053] As illustrated in FIG. 8(a), when a guided vehicle V travels from the first route R1 to the connecting route Rc and attempts to pass through the second pass point Pp2, the guided vehicle V issues both a first pass permission request Sr1 and a second pass permission request Sr2 to the section control device Cz. The section control device Cz, which has received both the first pass permission request Sr1 and the second pass permission request Sr2 from the guided vehicle V, checks whether both the first pass point Pp1 and the second pass point Pp2 are occupied by another preceding guided vehicle V. If they are not occupied, the section control device Cz issues both a first pass permission Sp1 and a second pass permission Sp2 to the guided vehicle V that has issued both the first pass permission request Sr1 and the second pass permission request Sr2. The same applies to the case where the guided vehicle V travels from the second route R2 to the connecting route Rc and attempts to pass through the first pass point Pp1. That is, in this case as well, the guided vehicle V issues both the first pass permission request Sr1 and the second pass permission request Sr2 to the section control device Cz. Then, the section control device Cz grants both the first passing permission Sp1 and the second passing permission Sp2 to the transport vehicle V that has made both the first passing permission request Sr1 and the second passing permission request Sr2, on the condition that both the first passing point Pp1 and the second passing point Pp2 are unoccupied.

[0054] As illustrated in FIG. 8(b), after the guided vehicle V travels from the first route R1 to the connecting route Rc and passes the second pass point Pp2 on the second route R2, it issues both a first occupation release request Sn1 and a second occupation release request Sn2 to the section control device Cz. In this embodiment, after receiving both the first occupation release request Sn1 and the second occupation release request Sn2 from the guided vehicle V, the section control device Cz releases the occupation of the first pass point Pp1 and the second pass point Pp2 by the guided vehicle V. As a result, the first pass point Pp1 and the second pass point Pp2 become unoccupied. In this example, upon receiving both the first occupation release request Sn1 and the second occupation release request Sn2, the section control device Cz cancels the registration of the first pass point Pp1 and the second pass point Pp2 that had been occupied by the guided vehicle V that issued both the first occupation release request Sn1 and the second occupation release request Sn2. As a result, the occupation of the first pass point Pp1 and the second pass point Pp2 by the guided vehicle V is released, and the guided vehicle V becomes able to accept another guided vehicle V. After the guided vehicle V travels from the second route R2 to the connecting route Rc and passes the first pass point Pp1 on the first route R1, the guided vehicle V similarly issues a first occupation release request Sn1 and a second occupation release request Sn2 to the section control device Cz. After receiving both the first occupation release request Sn1 and the second occupation release request Sn2 from the guided vehicle V, the section control device Cz releases the occupation of the first pass point Pp1 and the second pass point Pp2 by the guided vehicle V.

[0055] In this way, when the guided vehicle V travels through the junction and branching point along the first route R1, it requests only the first passage permission Sp1, which is permission to pass through the first passage point Pp1, from the section control device Cz. When the guided vehicle V travels through the junction and branching point along the second route R2, it requests only the second passage permission Sp2, which is permission to pass through the second passage point Pp2, from the section control device Cz. The section control device Cz allows the guided vehicle V that requested permission to occupy the passage point Pp, on the condition that the passage point Pp for which permission was requested is unoccupied. With this configuration, when multiple guided vehicles V travel along the first route R1 or the second route R2 without traveling along the connecting route Rc, the multiple guided vehicles V can travel along the first route R1 and the second route R2 simultaneously. Therefore, compared to when determining whether or not to allow the guided vehicle V to pass over the entire specific section Za, it is possible to efficiently allow the guided vehicle V to pass through the specific section Za.

[0056] When the guided vehicle V travels through the connecting route Rc and changes its travel route between the first route R1 and the second route R2, it passes through the first pass point Pp1 or the second pass point Pp2, and requests both a first pass permission Sp1 and a second pass permission Sp2 from the section control device Cz. In this case, the section control device Cz permits the requested guided vehicle V to travel and causes the guided vehicle to occupy both the first pass point Pp1 and the second pass point Pp2, on the condition that both the first pass point Pp1 and the second pass point Pp2 are unoccupied. This configuration makes it easy to avoid multiple guided vehicles V interfering with each other in the specific section Za.

[0057] More specifically, in this embodiment, after the section control device Cz issues a passage permission Sp to the guided vehicle V, the section control device Cz is unable to determine the location of the guided vehicle V until it receives an occupation release request Sn from the guided vehicle V. Therefore, for example, even if a guided vehicle V that is scheduled to travel from the first route R1 through the connecting route Rc to the second route R2 stops midway for some reason after receiving the passage permission Sp from the section control device Cz, the section control device Cz is unable to determine the stopping position of the guided vehicle V. If the stopping position of the guided vehicle V is on the first junction C1 or on the first route R1 upstream of the first junction C1, causing another following guided vehicle V to travel on the first route R1 will interfere with the stopped guided vehicle V. Furthermore, even if the stopping position of the guided vehicle V is near the first junction C1 on the connecting route Rc, the stopped guided vehicle V may interfere with the other following guided vehicle V. Therefore, when the transport vehicle V is involved in both the first route R1 and the second route R2 by passing through the connecting route Rc, even if the target pass point Pp is either the first pass point Pp1 or the second pass point Pp2, it is necessary to occupy both the first pass point Pp1 and the second pass point Pp2. According to this configuration, in the above case, since the transport vehicle V occupies both the first pass point Pp1 and the second pass point Pp2, even if a situation occurs in which the transport vehicle V stops midway, the following transport vehicle V can be stopped at the stop point Ps. Therefore, interference between multiple transport vehicles V can be avoided.

[0058] Next, an example will be described in which the transport vehicle V issues an occupancy release request Sn to the section control device Cz based on its own travel distance. That is, in the example described below, the occupancy release request Sn is issued regardless of whether the transport vehicle V has passed through the passing point Pp.

[0059] As shown in FIG. 9, the transport vehicle V is equipped with a travel distance detection unit 10 that detects its own travel distance. For example, the travel distance detection unit 10 is configured to detect the travel distance based on the rotation of the wheels. A known device such as a rotary encoder can be used as the travel distance detection unit 10. Although details are omitted, information carriers are installed at specific points (here, multiple points) on the travel route R. The information carriers are installed, for example, on rails that form the travel route R or on members whose positions relative to the rails are fixed. Examples of the information carriers include one-dimensional codes, two-dimensional codes, and wireless tags. The information carriers store information (position information) about the installation position of the information carriers. The transport vehicle V is equipped with a reading device that reads the position information stored in the information carriers, and is configured to recognize its own travel position based on the position information read by the reading device.

[0060] In this embodiment, the transport vehicle V is equipped with a detection sensor 20 that detects another transport vehicle V ahead. The detection sensor 20 has a detection range X (see FIG. 10, etc.) that is the area ahead of the transport vehicle V on which the detection sensor 20 is mounted, and is configured to detect another transport vehicle V ahead that is within the detection range X. When the detection sensor 20 detects another transport vehicle V ahead, the transport vehicle V on which the detection sensor 20 is mounted avoids colliding with the other transport vehicle V ahead by slowing down or stopping. In other words, the detection sensor 20 is configured as a rear-end collision prevention sensor.

[0061] In this embodiment, a first set distance D1 and a second set distance D2, which is longer than the first set distance D1, are preset as the travel distance from the first stop point Ps1. In this way, the first set distance D1 and the second set distance D2 are set to different values. For example, the travel distance from the first stop point Ps1 is the travel distance of the transport vehicle V after the transport vehicle V reads the position information of an information holder installed at the first stop point Ps1. Also, the travel distance from the first stop point Ps1 is the distance obtained by adding or subtracting the distance between the first stop point Ps1 and the other point to the travel distance of the transport vehicle V after the transport vehicle V reads the position information of an information holder installed at the other point than the first stop point Ps1.

[0062] A guided vehicle V that has been given both the first passage permission Sp1 and the second passage permission Sp2 and is attempting to pass through the second passage point Pp2 is configured to issue a first occupation release request Sn1 to the section control device Cz to release the occupation of the first passage point Pp1 when the travel distance from the first stop point Ps1 reaches the first set distance D1. The guided vehicle V is also configured to issue a second occupation release request Sn2 to the section control device Cz to release the occupation of the second passage point Pp2 when the travel distance from the first stop point Ps1 reaches the second set distance D2. In other words, a guided vehicle V that has been given both the first passage permission Sp1 and the second passage permission Sp2 and is attempting to pass through the second passage point Pp2 first issues the first occupation release request Sn1, continues traveling from there, and then issues the second occupation release request Sn2. In this way, the guided vehicle V is configured to issue multiple occupation release requests Sn to the section control device Cz in stages.

[0063] In this embodiment, the guided vehicle V is configured to issue an occupation release request Sn upstream of the first pass point Pp1 and the second pass point Pp2, thereby enabling the occupation of the first pass point Pp1 and the second pass point Pp2 to be released early, and allowing other following guided vehicles V to quickly obtain passage permits Sp for the first pass point Pp1 and the second pass point Pp2.

[0064] The first set distance D1 and the second set distance D2 are set appropriately based on the layout of the facility or the function and structure of the transport vehicle V. Below, examples of conditions for setting the first set distance D1 and the second set distance D2 are explained. In the following, to make it easier to understand the contents, the leading transport vehicle V will be referred to as the first transport vehicle V1, and the following transport vehicle V will be referred to as the second transport vehicle V2.

[0065] FIG. 10 shows an example of a condition for setting the first set distance D1.

[0066] As shown in Figure 10, in this embodiment, the first set distance D1 is set so that the leading first transport vehicle V1, which is located at a point on the connecting path Rc traveling the first set distance D1 from the first stopping point Ps1, is outside the trajectory Tx of the detection range X of the detection sensor 20 of the trailing second transport vehicle V2 traveling straight along the first path R1.

[0067] The trajectory Tx of the detection range X of the detection sensor 20 of the following second transport vehicle V2 traveling straight along the first route R1 is the trajectory that is expected to be traced by the detection range X of the detection sensor 20 when the following second transport vehicle V2 travels straight along the first route R1.

[0068] In this embodiment, the detection range X of the detection sensor 20 is set to a range wider at least along the route width direction (a direction perpendicular to the extension direction of the travel route R in a plan view) than the body of the transport vehicle V on which the detection sensor 20 is mounted. Therefore, the trajectory Tx of the detection range X of the detection sensor 20 is larger at least along the route width direction than the travel trajectory of the transport vehicle V on which the detection sensor 20 is mounted.

[0069] When the leading first guided vehicle V1 travels the first set distance D1 from the first stopping point Ps1, it is located outside the locus Tx of the detection range X of the detection sensor 20 of the trailing second guided vehicle V2 traveling straight along the first route R1. Therefore, even if the leading first guided vehicle V1 travels the first set distance D1 from the first stopping point Ps1 and stops due to a malfunction or the like immediately after issuing the first occupancy release request Sn1, the trailing second guided vehicle V2 traveling straight along the first route R1 will not detect the first guided vehicle V1. This prevents the trailing second guided vehicle V2 from being hindered from traveling.

[0070] When the leading first guided vehicle V1 issues a first occupation release request Sn1, the occupation of the first pass point Pp1 by the leading first guided vehicle V1 is released. As a result, the trailing second guided vehicle V2 can issue a first pass permission Sp1 to the section control device Cz and occupy the first pass point Pp1. Note that, as long as the traveling distance from the first stop point Ps1 of the leading first guided vehicle V1 has not yet reached the second set distance D2, the second pass point Pp2 remains occupied by the leading first guided vehicle V1.

[0071] 11 shows an example of a condition for setting the second set distance D2. FIG. 11 shows a situation different from that shown in FIG.

[0072] As shown in Figure 11, in this embodiment, the second set distance D2 is set so that the preceding first transport vehicle V1, which is located at a point on the connecting path Rc traveling the second set distance D2 from the first stopping point Ps1, is included in the trajectory Tx of the detection range X of the detection sensor 20 of the following second transport vehicle V2 traveling straight on the second path R2.

[0073] The trajectory Tx of the detection range X of the detection sensor 20 of the following second transport vehicle V2 traveling straight along the second route R2 is the trajectory that is expected to be traced by the detection range X of the detection sensor 20 when the following second transport vehicle V2 travels straight along the second route R2.

[0074] When the leading first guided vehicle V1 travels the second set distance D2 from the first stopping point Ps1, it is located within the locus Tx of the detection range X of the detection sensor 20 of the following second guided vehicle V2 traveling straight along the second route R2. In the example shown in the figure, a part of the first guided vehicle V1 is located within the locus Tx of the detection range X of the detection sensor 20 of the following second guided vehicle V2. As described above, the locus Tx of the detection range X of the detection sensor 20 is the locus that is expected to be traced by the detection range X of the detection sensor 20 when the second guided vehicle V2 travels. Therefore, in the state shown in FIG. 11, the leading first guided vehicle V1 is located within the locus Tx that is expected to be traced by the detection range X of the detection sensor 20 of the following second guided vehicle V2. At the time shown in FIG. 11, the leading first guided vehicle V1 is not actually located within the detection range X.

[0075] With the above configuration, for example, even if the leading first transport vehicle V1 stops after making the second occupancy release request Sn2, the detection sensor 20 of the trailing second transport vehicle V2 traveling on the second route R2 can detect the stopped leading first transport vehicle V1. As described above, when the detection sensor 20 detects another transport vehicle V ahead, the transport vehicle V equipped with the detection sensor 20 decelerates or stops. Therefore, it is possible to appropriately prevent the trailing second transport vehicle V2 from interfering with the leading first transport vehicle V1.

[0076] As described above, in this embodiment, the leading first guided vehicle V1 issues an occupation release request Sn upstream of the first pass point Pp1 and the second pass point Pp2. This allows the occupation of the first pass point Pp1 and the second pass point Pp2 to be released early, and the trailing second guided vehicle V2 can obtain the passage permission Sp for the first pass point Pp1 and the second pass point Pp2 early. Therefore, even though the leading first guided vehicle V1 has not yet passed the first pass point Pp1, the first pass point Pp1 can be occupied by the trailing second guided vehicle V2. Furthermore, even though the leading first guided vehicle V1 has not yet passed the second pass point Pp2, the second pass point Pp2 can be occupied by the trailing second guided vehicle V2.

[0077] Therefore, in this embodiment, when the preceding first guided vehicle V1 issues an occupation release request Sn for the pass point Pp before passing the pass point Pp and the occupation of the pass point Pp by the first guided vehicle V1 is released, the section control device Cz is configured to be able to issue a passage permission Sp for the pass point Pp to the following second guided vehicle V2 and to allow the preceding first guided vehicle V1 to pass through the pass point Pp. As a result, the preceding first guided vehicle V1, which has ceded occupation of the pass point Pp to the following second guided vehicle V2, can pass through the pass point Pp without any problems.

[0078] 12 to 14 show an example in which the following second guided vehicle V2 occupies the second passing point Pp2 before the preceding first guided vehicle V1 passes through the second passing point Pp2.

[0079] In this embodiment, when the preceding first transport vehicle V1 issues a second occupancy release request Sn2 before passing through the second pass-through point Pp2, and the occupation of the second pass-through point Pp2 by the preceding first transport vehicle V1 is released, the section control device Cz can issue a second pass-through permission Sp2 to the following second transport vehicle V2 and allow the preceding first transport vehicle V1 that issued the second occupancy release request Sn2 to pass through the second pass-through point Pp2.

[0080] An additional explanation follows. As shown in Fig. 12, when the leading first guided vehicle V1 travels the second set distance D2 from the first stop point Ps1, it issues a second occupation release request Sn2 to the section control device Cz. This causes the section control device Cz to release the occupation of the second pass point Pp2 by the leading first guided vehicle V1. At this point in time, the leading first guided vehicle V1 is located upstream of the second pass point Pp2.

[0081] As shown in Fig. 13, the following second guided vehicle V2 makes a second passage permission request Sr2 to the section control device Cz, requesting permission to pass through the second pass point Pp2. As described above, since the preceding first guided vehicle V1 has released its occupation of the second pass point Pp2, the section control device Cz can permit the following second guided vehicle V2 to occupy the second pass point Pp2. As a result, at the time shown in Fig. 13, the second pass point Pp2 is occupied by the following second guided vehicle V2. At this time, the preceding first guided vehicle V1 is still upstream of the second pass point Pp2.

[0082] As shown in Figure 14, the second pass point Pp2 is occupied by the following second guided vehicle V2. Therefore, normally, other guided vehicles V are prevented from passing through the second pass point Pp2. However, the section control device Cz allows the preceding first guided vehicle V1 to pass through the second pass point Pp2 on the condition that the other guided vehicle V is the preceding first guided vehicle V1 that issued the second occupation release request Sn2. With this configuration, it is possible to give the following second guided vehicle V2 the second pass permission Sp2 while not preventing the preceding first guided vehicle V1 from passing through the second pass point Pp2.

[0083] Other Embodiments Next, other embodiments of the article transport facility will be described.

[0084] (1) In the above embodiment, an example (see FIG. 10 ) has been described in which the first set distance D1 is set so that the leading first guided vehicle V1, which is located at a point on the connecting path Rc that has traveled the first set distance D1 from the first stop point Ps1, is outside the trajectory Tx of the detection range X of the detection sensor 20 of the trailing second guided vehicle V2 traveling straight along the first path R1. However, the present invention is not limited to this example. As shown in FIG. 15 , the first set distance D1 may be set so that the leading first guided vehicle V1, which is located at a point on the connecting path Rc that has traveled the first set distance D1 from the first stop point Ps1, is outside the travel trajectory Tv of the trailing second guided vehicle V2 traveling straight along the first path R1. The travel trajectory Tv of the trailing second guided vehicle V2 traveling straight along the first path R1 is a trajectory that is expected to be traced by the trailing second guided vehicle V2 if the trailing second guided vehicle V2 travels straight along the first path R1. The travel trajectory Tv depends on the size of the body of the guided vehicle V and the travel direction of the guided vehicle V. In the case of the above configuration, the guided vehicle V does not need to be equipped with the detection sensor 20.

[0085] (2) In the above embodiment, an example has been described in which the first set distance D1 is set so that the leading first guided vehicle V1, which is located at a point on the connecting route Rc that has traveled the first set distance D1 from the first stop point Ps1, is outside the trajectory Tx of the detection range X of the detection sensor 20 of the trailing second guided vehicle V2 traveling straight along the first route R1 (see FIG. 10 ). However, the present invention is not limited to this example. For example, FIG. 16 illustrates a case in which the leading first guided vehicle V1 traveling along the first route R1 is about to pass the first passing point Pp1, and the trailing second guided vehicle V2 traveling along the first route R1 branches off at the first junction C1 and travels along the connecting route Rc. In this case, the leading first guided vehicle V1 issues a first occupation release request Sn1 to the section control device Cz to release the occupation of the first passing point Pp1 at a position downstream of the first junction C1 and outside the travel trajectory Tv of the trailing second guided vehicle V2 passing through the first junction C1. That is, the first set distance D1 may be set so that the leading first guided vehicle V1, which is located at a point after traveling the first set distance D1 on the first route R1 from the first stop point Ps1, is located downstream of the first junction C1 and outside the travel locus Tv of the trailing second guided vehicle V2 passing through the first junction C1. This makes it possible to avoid interference between the trailing second guided vehicle V2, which passes through the first junction C1 and travels on the connecting route Rc, and the stopped leading first guided vehicle V1, even if the leading first guided vehicle V1, which has issued the first occupancy release request Sn1, stops midway on the first route R1.

[0086] (3) In the above embodiment, the first set distance D1 and the second set distance D2 are set to different values. However, the present invention is not limited to this example. The first set distance D1 and the second set distance D2 may be set appropriately depending on the layout of the equipment, and may be set to the same value, for example.

[0087] (4) In the above embodiment, an example was described in which the first path R1, the second path R2, and the connecting path Rc formed an N-shape in plan view. However, without being limited to this example, the connecting path Rc may be arranged so as to be perpendicular to the first path R1 and the second path R2, which are arranged parallel to each other, in plan view. In this case, the first path R1, the second path R2, and the connecting path Rc form an H-shape in plan view. Furthermore, without being limited to the above example, the specific section Za can be set arbitrarily, and any portion of the traveling path R may be the specific section Za as long as the connecting path Rc intersects with the first path R1 and the second path R2. Furthermore, for example, as shown in FIGS. 17 to 19, the connecting path Rc may intersect with the first path R1 and the second path R2 at any angle, or at least one of the three paths may be curved. Furthermore, multiple connecting paths Rc may be connected to the first path R1 and the second path R2. For example, as shown in FIG. 19, a specific section Za having the above-described configuration may be set in a portion (inter-process path) where a plurality of bays (intra-process paths) in the travel path R are connected.

[0088] (5) In the above embodiment, an example has been described in which a constant speed section Ac is set in addition to a deceleration section Ad upstream of the stop point Ps on the travel route R. However, the present invention is not limited to this example, and the constant speed section Ac does not have to be set. In this case, it is preferable that a continuous deceleration section Ad is set adjacent to the stop point Ps on the upstream side.

[0089] (6) In the above embodiment, an example has been described in which the section control device Cz registers the pass point Pp related to the pass permission request Sr so that the guided vehicle V that issued the pass permission request Sr may occupy the pass point Pp, and at the same time issues a pass permission Sp to the guided vehicle V. However, without being limited to this example, the section control device Cz may register the pass point Pp and issue a pass permission Sp to the guided vehicle V in a different time sequence. In this case, the registration of the pass point Pp may be performed first, and the pass permission Sp to the guided vehicle V may be issued later. Alternatively, conversely, the pass permission Sp to the guided vehicle V may be issued first, and the registration of the pass point Pp may be performed later.

[0090] (7) In the above embodiment, an example has been described in which the passage permission request Sr, the passage permission Sp, and the occupation release request Sn are each transmitted and received as a signal between the section control device Cz and the transport vehicle V. However, without being limited to this example, each of the above signals may be transmitted and received between the section control device Cz and the transport vehicle V via the upper control device Ct.

[0091] (8) The configurations disclosed in the above-described embodiments can be applied in combination 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 can be made as appropriate within the scope of the present disclosure.

[0092] [Summary of the above embodiment] The above-described article transport facility will now be described.

[0093] a transport vehicle for transporting an article; a travel route along which the transport vehicle travels; a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route, the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path, each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side; a first passing point is set downstream of the first connection portion on the first route, a second passing point is set downstream of the second connection portion on the second route, a first stop point where the guided vehicle will stop if the passage permission is not obtained is set upstream of the first connection point on the first route; the passage permit includes a first passage permit and a second passage permit; The section control device When the first passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the first passing point; When the second passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the second passing point; When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device; when both the first passing permission and the second passing permission are requested from the transport vehicle, the section control device allows the transport vehicle that has requested both the first passing permission and the second passing permission to occupy both the first passing point and the second passing point, on condition that both the first passing point and the second passing point are in an unoccupied state and not occupied by another preceding transport vehicle; The transport vehicle includes a travel distance detection unit that detects its own travel distance, a first set distance and a second set distance are set in advance as the travel distance from the first stopping point, The transport vehicle that is given both the first passing permission and the second passing permission and intends to pass through the second passing point, When the travel distance from the first stop point becomes the first set distance, a first occupancy release request to release the occupancy of the first passing point is made to the section control device; When the travel distance from the first stop point reaches the second set distance, a second occupancy release request to release the occupancy of the second passing point is made to the section control device.

[0094] In the specific section described above, the first route and the second route do not intersect with each other, so when there are no guided vehicles traveling on the connecting route, separate guided vehicles can travel on the first route and the second route simultaneously. According to this configuration, the permission for the passage of a guided vehicle can be determined individually at the first passing point on the first route and the second passing point on the second route. Therefore, when multiple guided vehicles travel on the first route or the second route without traveling on the connecting route, the multiple guided vehicles can travel on the first route and the second route simultaneously. This allows for more efficient passage of guided vehicles in the specific section than when the permission for the passage of a guided vehicle is determined for the entire specific section. On the other hand, when a transport vehicle travels from the first route to the second route or from the second route to the first route via a connecting route, the section control device permits the transport vehicle to travel and causes the transport vehicle that has been permitted to travel to occupy both the first pass point and the second pass point, provided that both the first pass point and the second pass point are unoccupied and not occupied by other transport vehicles. This makes it possible to prevent multiple transport vehicles from interfering with each other in a specific section. As a result, it is possible to increase the overall transport efficiency of the article transport facility while preventing multiple transport vehicles from interfering with each other. Furthermore, with this configuration, a transport vehicle can make an occupancy release request upstream of a pass point, in which case the occupancy of the pass point can be released early. This allows other transport vehicles to obtain permission to pass through the pass point early. Therefore, it is possible to facilitate the travel of multiple transport vehicles in a specific section. Furthermore, with this configuration, a transport vehicle makes an occupancy release request based on the travel distance detected by the travel distance detection unit, so there is no need to install components such as markers along the travel route that indicate the reference points for making occupancy release requests. This makes it easier to simplify the item transport equipment.

[0095] The transport vehicle includes a detection sensor that detects another transport vehicle in front of the transport vehicle, It is preferable that the first set distance is set so that the preceding transport vehicle, which is located at a point on the connecting path that has traveled the first set distance from the first stopping point, is outside the trajectory of the detection range of the detection sensor of the following transport vehicle traveling straight along the first path.

[0096] According to this configuration, even if the leading guided vehicle stops midway along the connecting path after issuing the first occupancy release request, the leading guided vehicle will not enter the detection range of the detection sensor of the following guided vehicle traveling along the first path. Therefore, even in such a case, the following guided vehicle can travel along the first path without any problems.

[0097] It is preferable that the first set distance is set so that the preceding transport vehicle, which is at a point on the connecting path that has traveled the first set distance from the first stopping point, is outside the travel trajectory of the following transport vehicle traveling straight along the first path.

[0098] According to this configuration, even if the leading guided vehicle stops midway along the connecting path after making the first occupancy release request, the following guided vehicle traveling along the first path can be prevented from interfering with the leading guided vehicle. Therefore, even in such a case, the following guided vehicle can travel along the first path without any hindrance.

[0099] The transport vehicle includes a detection sensor that detects another transport vehicle in front of the transport vehicle, It is preferable that the second set distance is set so that the preceding transport vehicle, which is located at a point on the connecting path that has traveled the second set distance from the first stopping point, is included in the trajectory of the detection range of the detection sensor of the following transport vehicle traveling straight on the second path.

[0100] According to this configuration, even if the leading guided vehicle stops after issuing the second occupancy release request, the detection sensor of the following guided vehicle traveling on the second path can detect the stopped leading guided vehicle. In this case, the following guided vehicle can take measures such as stopping. This makes it possible to prevent the following guided vehicle from interfering with the leading guided vehicle.

[0101] When the preceding transported vehicle issues the second occupancy release request before passing through the second pass point, and the occupation of the second pass point by the preceding transported vehicle is released, Preferably, the section control device grants the second passage permission to the following guided vehicle that has requested the second passage permission.

[0102] According to this configuration, it is easy to give the second passage permission to the following guided vehicle early.

[0103] When the preceding guided vehicle traveling on the first route is about to pass through the first passing point, and the following guided vehicle traveling on the first route is about to branch off at the first connection portion and travel on the connecting route, It is preferable that the leading transport vehicle makes the first occupancy release request to the section control device at a position downstream of the first connection section and outside the travel trajectory of the following transport vehicle passing through the first connection section.

[0104] According to this configuration, even if the preceding guided vehicle that issued the first occupancy release request stops midway along the first path, the following guided vehicle that passes through the first connection section and travels along the connecting path can avoid interfering with the stopped preceding guided vehicle. Therefore, even in such a case, the following guided vehicle can travel along the connecting path without hindrance. [Industrial Applicability]

[0105] The technology disclosed herein can be used in an item transport facility that includes a transport vehicle for transporting items, a route along which the transport vehicle travels, and a section control device that gives passage permission to the transport vehicle traveling on a specific section of the route and controls the transport vehicle. [Explanation of symbols]

[0106] 100: Goods transport equipment V: Transport vehicle 10: Travel distance detection unit 20: Detection sensor X: Detection range Tx: Detection range trajectory Tv:travel trajectory C1: First connection part C2: Second connection part Cz: Section control device Za: Specific section R: Travel route R1: Route 1 R2: Route 2 Rc: Connection route D1: First set distance D2: 2nd setting distance Pp: Passing point Pp1: 1st passing point Pp2: 2nd passing point Ps: Stopping point Ps1: 1st stopping point Sp: Passage permission Sp1: 1st passage permission Sp2: 2nd pass permission Sn: Occupancy release request Sn1: 1st exclusive release request Sn2: Second possession release requirement

Claims

1. a transport vehicle for transporting an article; a travel route along which the transport vehicle travels; a section control device that controls the transport vehicle by giving a passage permission to the transport vehicle traveling in a specific section that is a specific section of the travel route, the specific section includes a first path and a second path that do not intersect with each other, and a connection path that connects a first connection portion of the first path and a second connection portion of the second path, each of the first path and the second path is a path on which the transport vehicle travels in one direction from an upstream side to a downstream side; a first passing point is set downstream of the first connection portion on the first route, a second passing point is set downstream of the second connection portion on the second route, a first stop point where the guided vehicle stops when the passage permission is not obtained is set upstream of the first connection point on the first route; the passage permit includes a first passage permit and a second passage permit; The section control device When the first passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the first passing point; When the second passing permission is given to the transport vehicle, the transport vehicle is allowed to occupy the second passing point; When the transporting vehicle intends to travel from the first route or the second route to the connecting route, the transporting vehicle requests both the first passing permission and the second passing permission from the section control device; when both the first passing permission and the second passing permission are requested from the transport vehicle, the section control device allows the transport vehicle that has requested both the first passing permission and the second passing permission to occupy both the first passing point and the second passing point, on condition that both the first passing point and the second passing point are in an unoccupied state and not occupied by another preceding transport vehicle; The transport vehicle includes a travel distance detection unit that detects its own travel distance, a first set distance and a second set distance are set in advance as the travel distance from the first stopping point, The transported vehicle that is given both the first passing permission and the second passing permission and intends to pass through the second passing point, when the travel distance from the first stop point reaches the first set distance, a first occupancy release request to release the occupancy of the first passing point is made to the section control device; When the travel distance from the first stopping point reaches the second set distance, a second occupancy release request is made to the section control device to release the occupancy of the second passing point.

2. The transport vehicle includes a detection sensor that detects another transport vehicle in front of the transport vehicle, 2. The article transport equipment according to claim 1, wherein the first set distance is set so that a preceding transport vehicle located at a point on the connecting path that has traveled the first set distance from the first stopping point is outside the trajectory of the detection range of the detection sensor of the following transport vehicle traveling straight along the first path.

3. 2. The article transport equipment according to claim 1, wherein the first set distance is set so that a preceding transport vehicle at a point on the connecting path that has traveled the first set distance from the first stopping point is outside the travel trajectory of a following transport vehicle traveling straight along the first path.

4. The transport vehicle includes a detection sensor that detects another transport vehicle in front of the transport vehicle, 2. The article transport equipment according to claim 1, wherein the second set distance is set so that a preceding transport vehicle located at a point on the connecting path that has traveled the second set distance from the first stopping point is included in the trajectory of the detection range of the detection sensor of the following transport vehicle traveling straight along the second path.

5. When the preceding guided vehicle issues the second occupancy release request before passing through the second pass point, and the occupation of the second pass point by the preceding guided vehicle is released, The article transport facility according to claim 1 , wherein the section control device grants the second passage permission to the following transport vehicle that has requested the second passage permission.

6. When the preceding guided vehicle traveling on the first route is about to pass through the first passing point, and the following guided vehicle traveling on the first route is about to branch off at the first connection portion and travel on the connecting route, 5. The article transport equipment according to claim 1, wherein the preceding transport vehicle makes the first occupancy release request to the section control device at a position downstream of the first connection section and outside the travel path of the following transport vehicle passing through the first connection section.

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