Goods transport equipment

Abstract

To realize an article transportation facility in which a control state of a transportation vehicle at a specific position is easily confirmed by a host control device.SOLUTION: An article transportation facility 100 includes a transportation vehicle V, a travel route R, a section control device 15, and a host control device 16. Recording points P are set at a plurality of sites along the travel route R. The section control device 15, in a control section being in charge of itself, records a control state of the transportation vehicle V regarding each of the plurality of recording points P as recording information associated with the recording points P, collects the plurality of pieces of recording information for each of the recording points P, and transmits it to the host control device 16.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an article transport facility equipped with a transport vehicle for transporting articles. [Background technology]

[0002] An article conveying facility is known that includes a transport vehicle for transporting articles, a section control device, and a host control device. Hereinafter, in the description of the background art, the reference numerals in parentheses refer to those in Patent Document 1. Patent Document 1 discloses an article conveying facility that includes a transport vehicle (traveling vehicle) for transporting articles, a section control device (2), and a host control device (3) that controls a plurality of section control devices (2). The section control device (2) issues travel instructions to the transport vehicle (traveling vehicle) within the section it is responsible for, based on a travel request received from the host control device (3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-176497 Summary of the Invention [Problem to be solved by the invention]

[0004] In the article conveying facility of Patent Document 1, the section control device (2) generates driving history information of the transport vehicles (traveling vehicles) in the section it is responsible for and transmits it to the host control device (3). The host control device (3) receives and collects driving history information of all transport vehicles in the area from all section control devices (2) in the area. For this reason, for example, if an abnormality occurs at a certain point, when trying to check the control status of the transport vehicles (traveling vehicles) at a specific point, it is necessary to search for the necessary information from all driving history information collected by the host control device (3), which poses a problem that the checking task is not easy.

[0005] Therefore, it is desirable to realize an article transport facility that allows a host control device to easily check the control status of transport vehicles at specific points. [Means for solving the problem]

[0006] In view of the above, the characteristic configuration of the goods transport equipment is as follows: An article transport facility comprising: a transport vehicle for transporting articles; a travel route divided into a plurality of control areas and traveled by the transport vehicle; section control devices provided corresponding to the plurality of control areas and controlling passage of the transport vehicle in the control area that each is responsible for; and a host control device that controls the plurality of section control devices, At least some of the plurality of control regions include specific sections, and the specific sections include a first path and a second path that do not intersect with each other, and a connecting path that connects a first connecting portion of the first path and a second connecting portion of the second path, Recording points are set at a plurality of locations along the travel route, The recorded points include a passing point that indicates that the transport vehicle has passed through the specific section, and a stopping point that indicates when the transport vehicle will stop before the connecting route, The section control device records the control status of the transport vehicle for each of the multiple recording points in the control area it is responsible for as recorded information associated with the recording point, and also compiles the multiple recorded information for each recording point to generate transmission information, and transmits the transmission information to the higher-level control device on a recording point-by-recording point basis.

[0007] According to this configuration, the section control device generates transmission information by summarizing the control status of the entire control area for which it is responsible for each recording point, and transmits this transmission information to the host control device for each recording point. In this way, the information received by the host control device is summarized for each recording point, making it easy for the host control device to check the control status of the transport vehicle at each recording point. In addition, the amount of information sent and received at one time between the section control device and the host control device can be kept small, reducing the burden on communication lines.

[0008] Another feature of the article transport equipment is as follows: An article transport facility comprising: a transport vehicle for transporting articles; a travel route divided into a plurality of control areas and traveled by the transport vehicle; section control devices provided corresponding to the plurality of control areas and controlling passage of the transport vehicle in the control area that each is responsible for; and a host control device that controls the plurality of section control devices, wherein recording points are set at a plurality of locations along the travel route; each of the plurality of transporting vehicles has unique transporting vehicle identification information, each of the plurality of recording points has unique point identification information, each of the plurality of control areas includes a specific section, the specific section includes a first route and a second route that do not intersect with each other, and a connecting route that connects a first connecting portion on the first route and a second connecting portion on the second route, a first passing point that is one of the recording points is set downstream of the first connecting portion on the first route, and a second passing point that is one of the recording points is set downstream of the second connecting portion on the second route,The section control device records the control status of the transport vehicle for each of the plurality of recording points in the control area that it is responsible for as recording information associated with the recording point, and also compiles the plurality of recording information for each of the recording points to generate transmission information, and transmits the transmission information to the upper control device for each of the recording points. It is configured as , When the section control device permits the transport vehicle to pass through any of the recording points, the section control device records the point identification information of the recording point that the transport vehicle has been permitted to pass, the transport vehicle identification information of the transport vehicle that has been permitted to pass, and permission time information indicating the time at which the passage has been permitted, in association with the point identification information of the first passing point, and records the recorded information; when the section control device permits the transport vehicle that is traveling along the first route and attempting to pass through the first passing point, the section control device records the transport vehicle identification information of the transport vehicle that has been permitted to pass and the permission time information indicating the time at which the passage has been permitted, in association with the point identification information of the first passing point, and records the recorded information; When the section control device permits passage of the transport vehicle traveling along the first route and attempting to pass through the second pass point, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of the second pass point; and when the section control device permits passage of the transport vehicle traveling from the first route to the connecting route and attempting to pass through the second pass point, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of both the first pass point and the second pass point. .

[0009] Furthermore, a further characteristic configuration of the article transport equipment is as follows: An article transport facility comprising: a transport vehicle for transporting articles; a travel route divided into a plurality of control areas and traveled by the transport vehicle; section control devices provided corresponding to the plurality of control areas and controlling passage of the transport vehicle in the control area that each is responsible for; and a host control device that controls the plurality of section control devices, wherein recording points are set at a plurality of locations along the travel route; each of the plurality of control areas includes a specific section, the specific section includes a first route and a second route that do not intersect with each other, and a connecting route that connects a first connecting portion on the first route and a second connecting portion on the second route, a first passing point that is one of the recording points is set downstream of the first connecting portion on the first route, and a second passing point that is one of the recording points is set downstream of the second connecting portion on the second route, The section control device records the control status of the transport vehicle for each of the plurality of recording points in the control area that it is responsible for as recording information associated with the recording point, and also compiles the plurality of recording information for each of the recording points to generate transmission information, and transmits the transmission information to the upper control device for each of the recording points. It is configured as , When the section control device permits passage of the transport vehicle traveling from the first route to the connecting route and attempting to pass through the second pass point, the section control device records, as the recorded information, pass permission information indicating that the transport vehicle has been permitted to pass, in association with both the first pass point and the second pass point. . [Brief explanation of the drawings]

[0010] [Figure 1] Plan view of the goods transport facility [Figure 2] Control block diagram of the goods transport equipment in Figure 1 [Figure 3] A diagram showing a specific section of the control area of ​​Figure 1. [Figure 4] FIG. 3 is a diagram illustrating transmission information transmitted by the section control device of FIG. 2. [Figure 5] FIG. 5 is a diagram illustrating the recorded information of FIG. 4. [Figure 6] FIG. 10 is a plan view showing a specific section according to another embodiment; [Figure 7] FIG. 10 is a plan view showing a specific section according to another embodiment; [Figure 8] FIG. 10 is a plan view showing a specific section according to another embodiment; [Figure 9] FIG. 10 is a plan view showing a specific section according to another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of an article transport facility will be described with reference to the drawings.

[0012] FIG. 1 is a diagram showing an example of an article conveying facility 100. FIG. 2 is a diagram showing an example of a control block of the article conveying facility 100. The article conveying facility 100 is equipped with a transport vehicle V that transports articles. Examples of the transport vehicle V include an automated transport vehicle that travels along the floor surface and a ceiling transport vehicle that travels near the ceiling. Examples of articles handled by the article conveying facility 100 include a wafer storage container, a so-called FOUP (Front Opening Unified Pod), and a reticle storage container that stores reticles, a so-called reticle pod. In this embodiment, the article conveying facility 100 is equipped with a plurality of transport vehicles V. Each of the plurality of transport vehicles V has unique transport vehicle identification information Fv.

[0013] The article conveying facility 100 has a travel route R along which the transport vehicle V travels. In this embodiment, each of the first route R1 and the second route R2 is a route along which the transport vehicle V travels in one direction from upstream to downstream. The travel route R is divided into a plurality of control areas Z. In the control areas Z, the passage of the transport vehicle V is controlled by a section control device 15 shown in FIG. 2.

[0014] 3 is a diagram showing an example of a specific section Za included in a control region Z. In this embodiment, each of the multiple control regions Z includes a specific section Za. The specific section Za includes a first path R1 and a second path R2 that do not intersect with each other, and a connecting path D that connects a first connecting point C1 on the first path R1 and a second connecting point C2 on the second path R2. Each of the multiple control regions Z may include a single or multiple specific sections Za.

[0015] Recording points P are set at multiple locations along the travel route R. In this embodiment, each of the multiple recording points P has unique point identification information Fp. Examples of recording points P include a passing point that indicates that the transport vehicle V has passed through a specific section Za, a stopping point that indicates when the transport vehicle V should stop before the connecting route D, etc.

[0016] In this embodiment, a first passing point P1, which is one of the recording points P, is set downstream of the first junction C1 on the first route R1. In addition, a first stopping point Ps1, which is also one of the recording points P, is set upstream of the first junction C1 on the first route R1.

[0017] In this embodiment, a second passing point P2, which is one of the recording points P, is set downstream of the second junction C2 on the second route R2. In addition, a second stopping point Ps2, which is also one of the recording points P, is set upstream of the second junction C2 on the second route R2.

[0018] In this embodiment, the first pass point P1 is associated with the second pass point P2 as related point information Fm. Also, the second pass point P2 is associated with the first pass point P1 as related point information Fm. This related point information Fm is used, for example, when the section control device 15 issues a passing permit or a standby command to a guided vehicle V passing through one of the first pass point P1 and the second pass point P2, to search for the other recorded point P.

[0019] 2, the article conveying equipment 100 is provided corresponding to a plurality of control areas Z, and includes a section control device 15 that controls the passage of the transport vehicle V in the control area Z that the section control device 15 is responsible for, and a host control device 16 that controls the plurality of section control devices 15. In this embodiment, the host control device 16 gives a transport command to the transport vehicle V, and the transport vehicle V transports the article based on the given transport command.

[0020] In this embodiment, the section control device 15 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 provided in the control area Z that the section control device 15 is responsible for. The section control device 15 is also configured to obtain a passage completion notification when the transport vehicle V passes through the recording point P. In this embodiment, the transport vehicle V, the multiple section control devices 15, and the upper control device 16 are configured to be able to communicate with each other wirelessly, but they may also be configured to be able to communicate with each other via a wired connection.

[0021] An example of traffic control of the guided vehicle V by the section control device 15 will be described below with reference to FIG. 3. In this embodiment, when the guided vehicle V travels through the first junction C1 along the first route R1, the guided vehicle V requests a first passage permission, which is a passage permission to pass through the first passage point P1, from the section control device 15 upstream of the first junction C1. If the first passage permission is obtained, the guided vehicle V passes through the first junction C1 and heads toward the first passage point P1. If the first passage permission is not obtained, the guided vehicle V1 stops upstream of the first junction C1. In the illustrated example, if the first passage permission is not obtained, the guided vehicle V1 stops at the first stop point Ps1. Furthermore, the guided vehicle V1 requests the first passage permission or a second passage permission (described later) from the section control device 15 while traveling upstream of the first stop point Ps1 on the first route R1.

[0022] In this embodiment, when the guided vehicle V travels through the second junction C2 along the second route R2, the guided vehicle V requests a second passage permission, which is a passage permission to pass through the second passage point P2, from the section control device 15 upstream of the second junction C2. If the second passage permission is obtained, the guided vehicle V passes through the second junction C2 and heads toward the second passage point P2. If the second passage permission is not obtained, the guided vehicle V2 stops upstream of the second junction C2. In the illustrated example, the guided vehicle V2 stops at the second stop point Ps2 if the second passage permission is not obtained. For example, the guided vehicle V requests a first or second passage permission from the section control device 15 while traveling upstream of the second stop point Ps2 on the second route R2. In the illustrated example, the guided vehicle V2 requests a second passage permission from the section control device 15 while traveling upstream of the second stop point Ps2 on the second route R2.

[0023] In this embodiment, when the section control device 15 gives the first passing permission to the guided vehicle V, it causes the guided vehicle V to occupy the first passing point P1 related to the first passing permission. After the guided vehicle V passes through the first passing point P1, it notifies the section control device 15 that it has passed, and after receiving the passing completion notification from the guided vehicle V, the section control device 15 releases the guided vehicle V from occupying the first passing point P1 related to the passing completion notification. Note that the first passing point P1, rather than the guided vehicle V, may be configured to send the passing completion notification to the section control device 15.

[0024] In this embodiment, when the section control device 15 gives the second passing permission to the guided vehicle V, it causes the guided vehicle V to occupy the second passing point P2 related to the second passing permission. After the guided vehicle V passes through the second passing point P2, it notifies the section control device 15 that passing is complete, and after receiving the passing completion notification from the guided vehicle V, the section control device 15 releases the guided vehicle V from occupying the second passing point P2 related to the passing completion notification. Note that the second passing point P2, rather than the guided vehicle V, may be configured to send the passing completion notification to the section control device 15.

[0025] In this embodiment, when the guided vehicle V requests permission to travel from the first route R1 to the connecting route D, the section control device 15 permits the guided vehicle V to travel from the first route R1 to the connecting route D, on the condition that both the first pass point P1 and the second pass point P2 are unoccupied by another preceding guided vehicle V, and allows the guided vehicle V that has been permitted to travel to occupy both the first pass point P1 and the second pass point P2. In the example shown in the figure, the guided vehicle V1 occupies both the first pass point P1 and the second pass point P2, and the guided vehicle V2 is unable to obtain second passage permission and stops at the second stop point Ps2. In this embodiment, after the guided vehicle V passes through the second pass point P2, the guided vehicle V notifies the section control device 15 of passage completion. After receiving the passage completion notification from the guided vehicle V, the section control device 15 releases the guided vehicle V from occupancy of the first pass point P1 and the second pass point P2 related to the passage completion notification.

[0026] Fig. 4 is a diagram showing an example of the transmission information F transmitted by the section control device 15. Fig. 5 is a diagram showing a detailed example of the recording information M of Fig. 4.

[0027] The section control device 15 records the control status of the guided vehicle V at each of a plurality of recording points P in the control area Z that it is responsible for as recording information M associated with the recording point P. Furthermore, the section control device 15 aggregates the plurality of recording information M for each recording point P to generate transmission information F, and transmits the transmission information F to the upper control device 16 for each recording point. In this way, the information received by the upper control device 16 is information aggregated for each recording point P, so that the upper control device 16 can easily check the control status of the guided vehicle V at each recording point P. Furthermore, the amount of information transmitted and received at one time between the section control device 15 and the upper control device 16 can be kept small, thereby reducing the burden on the communication lines.

[0028] Examples of the control status of the transport vehicle V recorded as the recording information M include, for example, passage permission information indicating that the section control device 15 has given permission to the transport vehicle V to pass, waiting instruction information indicating that the section control device 15 has given a waiting command to the transport vehicle V, passage request information indicating that the section control device 15 has obtained a passage request from the transport vehicle V, and passage completion information indicating that the transport vehicle V has passed the recording point P.

[0029] Returning to FIG. 2, in this embodiment, the section control device 15 stores the recorded information M in a memory unit 15m provided in the section control device 15. The recorded information M may be all of the recorded information M in the control region Z managed by the section control device 15 recorded in chronological order, or may be recorded for each recording point P. When the recorded information M is recorded for each recording point P in the section control device 15, it becomes easier to quickly compile the multiple pieces of recorded information M recorded for each recording point P for each recording point P to generate and transmit transmission information F.

[0030] In this embodiment, the section control device 15 stores occupancy status information, indicating whether each passing point (P1, P2) is occupied or unoccupied, in a memory unit 15m provided in the section control device 15. The section control device 15 issues passage permission to the transport vehicle V based on the occupancy status information stored in the memory unit 15m. Furthermore, the section control device 15 is configured to update the occupancy status information stored in the memory unit 15m as needed depending on the situation of the specific section Za.

[0031] In this embodiment, the upper control device 16 stores the transmission information F in a memory unit 16m provided in the upper control device 16. The upper control device 16 also includes input devices such as a touch panel and a keyboard, and output devices such as a monitor, a printer, and a speaker, which are not shown in the figure and allow an operator to check the control status of the transport vehicle V.

[0032] As shown in Fig. 4, in this embodiment, an accumulation period is set for each of the multiple recording points P, and the section control device 15 compiles the recording information M related to each recording point P every time the accumulation period elapses to generate transmission information F and transmits the transmission information F to the upper control device 16. In this manner, the upper control device 16 can automatically and continuously acquire the transmission information F. Furthermore, because an accumulation period serving as a guide for transmitting the transmission information F is set for each of the multiple recording points P, it is easy to transmit the transmission information F to the upper control device 16 at different times for each of the multiple recording points P. Therefore, it is easy to keep the amount of information transmitted and received at one time between the section control device 15 and the upper control device 16 small.

[0033] In this embodiment, when the section control device 15 causes the guided vehicle V to wait at any of the recording points P, the section control device 15 records wait instruction information indicating that a wait command has been issued to the guided vehicle V as recorded information M in association with the recording point P where the guided vehicle V is waiting. Examples of the wait instruction information include point identification information Fp, stop start time information Fs1 indicating the time when the wait command was issued, stop time information Fs2 indicating the elapsed time since the start of wait, and stopped guided vehicle identification information Fs3 of the guided vehicle V that issued the wait command. Note that the recording time when the wait instruction information is recorded as recorded information M may be used as the stop start time information Fs1. The wait instruction information is recorded as recorded information M, for example, at the time when the section control device 15 issues a wait command to the guided vehicle V. Furthermore, for example, the stop time information Fs2 may be recorded as recorded information M at a regular interval.

[0034] In this embodiment, when the section control device 15 permits the transport vehicle V to pass through any of the recording points P, the section control device 15 records pass permission information Fa, which indicates that the transport vehicle V has been granted pass permission, as recorded information M in association with the recording point P where the transport vehicle V has been permitted to pass. The pass permission information Fa may be point identification information Fp, transport vehicle identification information Fv, or permission time information Ft, which will be described later. The pass permission information Fa may also include the above-mentioned waiting instruction information, pass request information, etc.

[0035] In this embodiment, when the section control device 15 permits the transport vehicle V to pass through any of the recording points P, the section control device 15 associates the location identification information Fp of the recording point P that the transport vehicle V is permitted to pass with the transport vehicle identification information Fv of the transport vehicle V that is permitted to pass and the permission time information Ft indicating the time at which the transport vehicle V is permitted to pass, and records these as the recording information M. Note that the recording time at which the above-mentioned passage permission information Fa is recorded as the recording information M may be used as the permission time information Ft.

[0036] In this embodiment, when the section control device 15 permits a guided vehicle V traveling along the first route R1 and attempting to pass through the first pass point P1 to pass, the section control device 15 records pass permission information Fa, indicating that pass permission has been granted to the guided vehicle V, as the recorded information M, in association with the first pass point P1. In the illustrated example, when the section control device 15 permits a guided vehicle V traveling along the first route R1 and attempting to pass through the first pass point P1 to pass, the section control device 15 records, as the recorded information M, guided vehicle identification information Fv of the guided vehicle V that has been permitted to pass and permission time information Ft, indicating the time at which the passage was permitted, in association with point identification information Fp of the first pass point P1.

[0037] 5, waiting instruction information indicating that the section control device 15 has given a waiting command to the transport vehicle V is recorded in association with the point identification information Fp of the first stopping point Ps1 as recorded information M3. In addition, passing permission information Fa indicating that the section control device 15 has given a passing permission to the transport vehicle V is recorded in association with the point identification information Fp of the first passing point P1 as recorded information M4.

[0038] In the present embodiment, when the section control device 15 permits a guided vehicle V traveling along the second route R2 and attempting to pass through the second pass point P2 to pass, the section control device 15 records pass permission information Fa, indicating that pass permission has been granted to the guided vehicle V, as the recorded information M, in association with the second pass point P2. In the illustrated example, when the section control device 15 permits a guided vehicle V traveling along the second route R2 and attempting to pass through the second pass point P2, the section control device 15 records, as the recorded information M, guided vehicle identification information Fv of the guided vehicle V that has been permitted to pass and permission time information Ft indicating the time at which the passage was permitted, in association with point identification information Fp of the second pass point P2.

[0039] 5, waiting instruction information indicating that the section control device 15 has given a waiting command to the transport vehicle V is recorded in association with the point identification information Fp of the second stopping point Ps2 as recorded information M5. In addition, passing permission information Fa indicating that the section control device 15 has given a passing permission to the transport vehicle V is recorded in association with the point identification information Fp of the second passing point P2 as recorded information M6.

[0040] In the present embodiment, when the section control device 15 permits a guided vehicle V traveling from the first route R1 to the connecting route D and attempting to pass through the second pass point P2, the section control device 15 records pass permission information Fa, indicating that pass permission has been granted to the guided vehicle V, as recorded information M in association with both the first pass point P1 and the second pass point P2. In the specific section Za as in the present embodiment, when the guided vehicle V travels straight along the first route R1 or the second route R2, pass permission for only each route is sufficient. However, when the guided vehicle V passes through the connecting route D, pass permission for both the first route R1 and the second route R2 is often given to avoid interference with other guided vehicles V traveling straight along each route. In the present embodiment, in consideration of such a situation, the control status of the guided vehicle V in the specific section Za can be appropriately recorded as recorded information M.

[0041] In this embodiment, when the section control device 15 allows a transport vehicle V traveling from the first route R1 to the connecting route D and attempting to pass through the second passing point P2 to pass, it records the transport vehicle identification information Fv of the transport vehicle V that has been allowed to pass and the permission time information Ft indicating the time at which the passage was permitted, in association with the point identification information Fp of both the first passing point P1 and the second passing point P2, as recorded information M.

[0042] 5, waiting instruction information indicating that the section control device 15 has given a waiting command to the transport vehicle V is recorded in association with the point identification information Fp of the first stopping point Ps1 as recorded information M7. In addition, passing permission information Fa indicating that the section control device 15 has given a passing permission to the transport vehicle V is recorded in association with the point identification information Fp of both the first passing point P1 and the second passing point P2 as recorded information M8 and recorded information M9.

[0043] In this embodiment, when the section control device 15 allows a transport vehicle V that is about to pass through the first pass point P1 or the second pass point P2 to pass, it associates the above-mentioned related point information Fm with the point identification information Fp and records it as recorded information M. In this way, the upper control device 16 can easily compare and check the control status of the transport vehicle V at the first pass point P1 and the control status of the transport vehicle V at the second pass point P2, which are related to each other.

[0044] In this embodiment, the section control device 15 collectively transmits to the upper control device 16 transmission information F summarizing the recorded information M associated with the first pass point P1 and transmission information F summarizing the recorded information M associated with the second pass point P2. In this manner, the upper control device 16 can receive the control status of the guided vehicle V at the first pass point P1 and the control status of the guided vehicle V at the second pass point P2, which are related to each other, at the same time. Therefore, the upper control device 16 can easily compare and check the control status of the guided vehicle V at the first pass point P1 and the control status of the guided vehicle V at the second pass point P2, which are related to each other.

[0045] In this embodiment, when a first condition is met that a passage completion notification is not received within a predetermined period of time after the transport vehicle V is permitted to pass through any of the recording points P, the section control device 15 transmits transmission information F about the recording point P that satisfies the first condition to the upper control device 16. In this way, for example, when the transport vehicle V stops for a long time between the first stop point Ps1 and the first passage point P1 (or the second passage point P2) through which passage is permitted, or when the transport vehicle V deviates to a route that does not pass through the first passage point P1 (or the second passage point P2) through which passage is permitted, the section control device 15 can transmit transmission information F about the first passage point P1 (or the second passage point P2) through which passage is permitted to the upper control device 16. Therefore, it is possible to easily check the control status of the transport vehicle V when the first condition is satisfied.

[0046] Whether the first condition has been met may be determined, for example, by determining whether the period during which the section control device 15 has not received both a passage completion notification for the first passing point P1 and a passage completion notification for the second passing point P2 has exceeded a predetermined period since the passage permission information Fa associated with both the first passing point P1 and the second passing point P2 was recorded as recorded information M.

[0047] In this embodiment, when a second condition is satisfied, that is, a state in which other guided vehicles V cannot pass through any of the recording points P continues for a predetermined period of time, the section control device 15 transmits transmission information F about the recording point P that satisfies the second condition to the upper control device 16. In this manner, for example, when the guided vehicle V stops at the first stop point Ps1 for a long time, the section control device 15 can transmit transmission information F about the first pass point P1 (or the second pass point P2) that is permitted to pass to the upper control device 16. Therefore, it is possible to easily check the control status of the guided vehicle V when the second condition is satisfied. The predetermined period of the first condition and the predetermined period of the second condition may be periods of different lengths or may be periods of the same length. Furthermore, the periods of different lengths may be periods of the same length for each stop point. These predetermined periods are determined, for example, depending on the congestion status of the travel route R and the transport status of the above-mentioned items.

[0048] Whether the second condition is satisfied may be determined, for example, by determining whether the elapsed time from when the guided vehicle V started waiting at the first stopping point Ps1 (or the second stopping point Ps2), i.e., the time recorded as the stopping time information Fs2, exceeds a predetermined time corresponding to a predetermined period. Alternatively, for example, it may be determined by determining whether the period during which the passage permission information Fa associated with the first passing point P1 (or the second passing point P2) is not recorded as the recorded information M exceeds a predetermined period.

[0049] 4, waiting instruction information indicating that the section control device 15 has given a waiting instruction to the guided vehicle V is recorded as recorded information M10, and passing permission information Fa indicating that the section control device 15 has given a passing permission to the guided vehicle V is recorded as recorded information M11 and recorded information M12 in association with the point identification information Fp of both the first passing point P1 and the second passing point P2. Also, in the example shown in FIG. 4, waiting instruction information indicating that the section control device 15 has given a waiting instruction to another guided vehicle V at the first stopping point Ps1 is recorded as recorded information M13 in association with the first stopping point Ps1, and waiting instruction information indicating that the section control device 15 has given a waiting instruction to another guided vehicle V at the second stopping point Ps2 is recorded as recorded information M14 in association with the first stopping point Ps1.

[0050] In the example shown in Figure 4, when the section control device 15 does not receive a passing completion notification for the first passing point P1 or a passing completion notification for the second passing point P2, it combines the recorded information M8 and the recorded information M11 to generate transmission information F1 for the first passing point P1, combines the recorded information M6, the recorded information M9, and the recorded information M12 to generate transmission information F2 for the second passing point P2, and transmits the transmission information F1 and the transmission information F2 together to the upper control device 16.

[0051] Also, in the example shown in Figure 4, if the state in which other transport vehicles V cannot pass through the first stopping point Ps1 or the second stopping point Ps2 continues for a predetermined period of time, the recorded information M8 and the recorded information M11 are combined to generate transmission information F1 for the first passing point P1, and the recorded information M6, the recorded information M9, and the recorded information M12 are combined to generate transmission information F2 for the second passing point P2, and the transmission information F1 and the transmission information F2 are transmitted together to the upper control device 16.

[0052] In this embodiment, the section control device 15 is configured to transmit the transmission information F to the upper control device 16 at regular intervals. The regular intervals are, for example, every 30 seconds. Note that the accumulation periods set for each of the above-mentioned multiple recording points and the regular intervals may be the same period.

[0053] In this embodiment, when the first condition is satisfied, the section control device 15 limits the number of times that the transmission information F is transmitted to the upper control device 16 to a predetermined specified number of times. Furthermore, when the second condition is satisfied, the section control device 15 limits the number of times that the transmission information F is transmitted to the upper control device 16 to a predetermined specified number of times. These predetermined specified numbers may be the same or different for each of multiple recording points P. In this way, it is easy to prevent transmission information F with similar content from being transmitted multiple times when the state in which the first condition or the second condition is satisfied continues for a long period of time. The specified number of times is, for example, three times.

[0054] In this embodiment, when the first condition and the second condition are no longer satisfied, the section control device 15 removes the restriction on the number of times to transmit the transmission information F to the upper control device 16. Note that, if the transmission information F contains recorded information M with different transport vehicle identification information Fv after the restriction on the specified number of times has been reached, the section control device 15 may be configured to permit transmission of the transmission information F to the upper control device 16.

[0055] Other Embodiments Next, other embodiments of the article transport facility 100 will be described.

[0056] (1) In the above embodiment, the first path R1, the second path R2, and the connection path D form an N-shape in plan view. However, without being limited to this example, for example, the connection path D 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 connection path D form an H-shape in plan view. Furthermore, without being limited to the above example, the specific section Za may be set arbitrarily, and any portion of the travel path R may be set as the specific section Za as long as the connection path D intersects with the first path R1 and the second path R2. Furthermore, for example, as shown in FIGS. 6 to 9 , the connection path D 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 connection paths D may be connected to the first path R1 and the second path R2. Furthermore, the travel route R on which the transport vehicle V travels may not have the connecting route D.

[0057] (2) In the above embodiment, an example has been described in which the location identification information Fp of the recording location P for which the section control device 15 has permitted passage is associated with the transport vehicle identification information Fv and the permission time information Ft, and the associated information is recorded as the recording information M. However, the present invention is not limited to such an example, and may be configured to associate time information such as the standby instruction time at which the section control device 15 issues a standby instruction to the transport vehicle V, the passage request time at which the section control device 15 receives a passage request from the transport vehicle V, and the passage completion time at which the section control device 15 receives a completion notification with the location identification information Fp, and record the associated time information as the recording information M.

[0058] (3) In the above embodiment, when a guided vehicle V traveling from the first route R1 to the connection route D and attempting to pass through the second pass point P2 is permitted to pass, the pass permission information Fa is recorded as recorded information M in association with both the first pass point P1 and the second pass point P2, and transmission information F1 summarizing the recorded information M in association with the first pass point P1 and transmission information F2 summarizing the recorded information M in association with the second pass point P2 are transmitted collectively to the upper control device 16. However, the present invention is not limited to such an example. For example, the transmission information F1 and the transmission information F2 may be transmitted separately to the upper control device 16. Furthermore, when a guided vehicle V traveling from the first route R1 to the connection route D and attempting to pass through the second pass point P2 is permitted to pass, the pass permission information Fa may be recorded as recorded information M in association with only the second pass point P2.

[0059] (4) In the above embodiment, an example has been described in which the section control device 15 acquires a passing completion notification from the transport vehicle V when the transport vehicle V passes through the recording point P. However, the present invention is not limited to such an example, and for example, the section control device 15 may be configured not to acquire a passing completion notification.

[0060] (5) In the above embodiment, an accumulation period is set for each of the multiple recording points P, and the recording information M is aggregated every time the accumulation period elapses to generate the transmission information F. However, the present invention is not limited to such an example, and may be configured such that, for example, the recording information M is aggregated to generate the transmission information F when the number of pieces of recording information M reaches a predetermined number.

[0061] (6) In the above embodiment, an example has been described in which the section control device 15 transmits the transmission information F about the recording point P that satisfies the first condition or the second condition to the upper control device 16 when the first condition or the second condition is satisfied. However, the present invention is not limited to such an example, and the section control device 15 may be configured to transmit the transmission information F to the upper control device 16 at regular intervals regardless of other conditions. Alternatively, the section control device 15 may not transmit the transmission information F at regular intervals, but may generate and transmit the transmission information F to the upper control device 16 only when requested by the worker performing the confirmation work. Alternatively, the section control device 15 may be configured to transmit the transmission information F to the upper control device 16 at regular intervals when the first condition or the second condition is satisfied.

[0062] (7) 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.

[0063] [Summary of the above embodiment] The above-described article transport facility will now be described.

[0064] The article transport equipment according to the present disclosure includes: a transport vehicle for transporting an article; a travel route on which the transport vehicle travels, the travel route being divided into a plurality of control areas; a section control device provided corresponding to the plurality of control areas, the section control device controlling passage of the transport vehicle in the control area that the section control device is responsible for; An article conveying facility comprising: a host control device that controls a plurality of the section control devices; Recording points are set at a plurality of locations along the travel route, The section control device records the control status of the transport vehicle for each of the multiple recording points in the control area it is responsible for as recorded information associated with the recording point, and also compiles the multiple recorded information for each recording point to generate transmission information, and transmits the transmission information to the higher-level control device on a recording point-by-recording point basis.

[0065] According to this configuration, the section control device generates transmission information by summarizing the control status of the entire control area for which it is responsible for each recording point, and transmits this transmission information to the host control device for each recording point. In this way, the information received by the host control device is summarized for each recording point, making it easy for the host control device to check the control status of the transport vehicle at each recording point. In addition, the amount of information sent and received at one time between the section control device and the host control device can be kept small, reducing the burden on communication lines.

[0066] In one embodiment, each of the plurality of transport vehicles has unique transport vehicle identification information, each of the plurality of recording locations has unique location identification information; When the section control device permits the transport vehicle to pass through one of the recording points, it is preferable that the section control device associates the location identification information of the recording point that the transport vehicle was permitted to pass through with the transport vehicle identification information of the transport vehicle that was permitted to pass through and permission time information indicating the time when the passage was permitted, and records this as the recording information.

[0067] According to this configuration, for each recorded point at which passage is permitted, the transport vehicle identification information and the permitted time information can be associated with each other and transmitted to the upper control device.

[0068] In one embodiment, each of the plurality of control regions includes a specific section, 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, a first passing point, which is one of the recording points, is set downstream of the first connection portion on the first route; a second passing point, which is one of the recording points, is set downstream of the second connection portion on the second route; When the section control device permits the transport vehicle that is traveling along the first route and attempting to pass through the first pass point to pass, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle that has been permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of the first pass point; When the section control device permits passage of the transport vehicle that is traveling along the second route and attempting to pass through the second pass point, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle that has been permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of the second pass point; When the section control device allows the transport vehicle that is traveling from the first route to the connecting route and attempting to pass through the second passing point to pass, it is preferable that the section control device records as the recorded information the transport vehicle identification information of the transport vehicle that has been allowed to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of both the first passing point and the second passing point.

[0069] In such a specific section, when a transport vehicle travels straight on the first route or the second route, it is sufficient to give permission to pass only on each route, but when the transport vehicle travels on a connecting route, permission to pass on both the first route and the second route is often given to avoid interference with other transport vehicles traveling straight on each route. In consideration of such a situation, this configuration makes it possible to appropriately record the control status of the transport vehicle in the specific section as record information.

[0070] In one embodiment, each of the plurality of control regions includes a specific section, 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, a first passing point, which is one of the recording points, is set downstream of the first connection portion on the first route; a second passing point, which is one of the recording points, is set downstream of the second connection portion on the second route; When the section control device permits passage of the transport vehicle traveling from the first route to the connecting route and attempting to pass through the second passing point, it preferably records passage permission information indicating that passage permission has been granted to the transport vehicle as the recorded information, in association with both the first passing point and the second passing point.

[0071] In such a specific section, when a transport vehicle travels straight on the first route or the second route, it is sufficient to give permission to pass only on each route, but when the transport vehicle travels on a connecting route, permission to pass on both the first route and the second route is often given to avoid interference with other transport vehicles traveling straight on each route. In consideration of such a situation, this configuration makes it possible to appropriately record the control status of the transport vehicle in the specific section as record information.

[0072] In one embodiment, it is preferable that the section control device transmits to the upper control device the transmission information that summarizes the recorded information associated with the first passing point and the transmission information that summarizes the recorded information associated with the second passing point in a lump sum.

[0073] According to this configuration, the host control device can easily perform the task of comparing and checking the control status of the guided vehicle at the first pass point and the control status of the guided vehicle at the second pass point, which are related to each other.

[0074] In one embodiment, an accumulation period is set for each of the plurality of recording points, It is preferable that the section control device compiles the recorded information relating to each of the recording points every time the accumulation period elapses, generates the transmission information, and transmits the transmission information to the upper control device.

[0075] This configuration allows the upper control device to automatically and continuously acquire transmission information. Furthermore, because the accumulation period that serves as the guideline for transmitting transmission information is set for each of the multiple recording locations, it is easy to transmit the transmission information to the upper control device at different times for each of the multiple recording locations. Therefore, it is easy to keep the amount of information exchanged between the section control device and the upper control device at one time low.

[0076] In one aspect, the section control device is configured to obtain a passing completion notification when the transport vehicle passes the recording point, It is preferable that the section control device transmits the transmission information about the recording point that satisfies the first condition that the passage completion notification is not received within a predetermined period of time after the transport vehicle is permitted to pass through one of the recording points, or when the section control device satisfies the second condition that other transport vehicles are unable to pass through one of the recording points for a predetermined period of time.

[0077] According to this configuration, if a passage completion notification is not received within a predetermined period of time, or if a problem occurs in which other guided vehicles are unable to pass for a predetermined period of time, the transmission information about the recording point where the problem occurs can be transmitted to the upper control device, thereby making it easy to check the control status of the guided vehicles when a problem occurs.

[0078] In one aspect, the section control device is configured to transmit the transmission information to the upper control device at a fixed cycle, Preferably, when the first condition or the second condition is satisfied, the zone control device limits the number of times that the transmission information is transmitted to the upper level control device to a predetermined specified number of times.

[0079] According to this configuration, for example, when the state in which the first condition or the second condition is satisfied continues for a long time, it is easy to prevent transmission information with similar content from being transmitted multiple times. [Explanation of symbols]

[0080] 15: Section control device 16: Upper control device 100: Goods transport equipment Z: Control region Za: Specific section C1: First connection part C2: Second connection part D: Connection path P: Recording point P1: 1st passing point P2: 2nd passing point R: Travel route R1: Route 1 R2: Route 2 V: Transport vehicle F: Transmission information M: Recording information

Claims

1. a transport vehicle for transporting an article; a travel route on which the transport vehicle travels, the travel route being divided into a plurality of control areas; a section control device provided corresponding to the plurality of control areas, the section control device controlling passage of the transport vehicle in the control area that the section control device is responsible for; An article conveying facility comprising: a host control device that controls a plurality of the section control devices; Recording points are set at a plurality of locations along the travel route, Each of the plurality of transport vehicles has unique transport vehicle identification information, each of the plurality of recording locations has unique location identification information; Each of the plurality of control regions includes a specific section, 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, a first passing point, which is one of the recording points, is set downstream of the first connection portion on the first route; a second passing point, which is one of the recording points, is set downstream of the second connection point on the second route; the section control device is configured to record the control status of the transport vehicle for each of a plurality of recording points in the control area that it is responsible for as record information associated with the recording point, to compile the plurality of record information for each of the recording points to generate transmission information, and to transmit the transmission information to the upper control device for each of the recording points; When the section control device permits the transport vehicle to pass through any of the recording points, the section control device records, as the recording information, the point identification information of the recording point that has been permitted to pass, the transport vehicle identification information of the transport vehicle that has been permitted to pass, and permission time information indicating the time that the passage has been permitted, in association with each other; When the section control device permits the transport vehicle that is traveling along the first route and attempting to pass through the first pass point to pass, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle that has been permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of the first pass point; When the section control device permits the transport vehicle that is traveling along the second route and attempting to pass through the second pass point to pass, the section control device records, as the recorded information, the transport vehicle identification information of the transport vehicle that has been permitted to pass and the permission time information indicating the time at which the passage was permitted, in association with the point identification information of the second pass point; When the section control device allows the transport vehicle that is traveling from the first route to the connecting route and attempting to pass through the second passing point to pass, the section control device records the transport vehicle identification information of the transport vehicle that has been allowed to pass and the permission time information indicating the time when the passage was permitted, in association with the point identification information of both the first passing point and the second passing point, as the recorded information.

2. a transport vehicle for transporting an article; a travel route on which the transport vehicle travels, the travel route being divided into a plurality of control areas; a section control device provided corresponding to the plurality of control areas, the section control device controlling passage of the transport vehicle in the control area that the section control device is responsible for; An article conveying facility comprising: a host control device that controls a plurality of the section control devices; Recording points are set at a plurality of locations along the travel route, Each of the plurality of control regions includes a specific section, 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, a first passing point, which is one of the recording points, is set downstream of the first connection portion on the first route; a second passing point, which is one of the recording points, is set downstream of the second connection point on the second route; the section control device is configured to record the control status of the transport vehicle for each of a plurality of recording points in the control area that it is responsible for as record information associated with the recording point, to compile the plurality of record information for each of the recording points to generate transmission information, and to transmit the transmission information to the upper control device for each of the recording points; When the section control device allows the transport vehicle traveling from the first route to the connecting route and attempting to pass through the second pass point to pass, it records pass permission information indicating that the transport vehicle has been granted pass permission as the recorded information, associated with both the first pass point and the second pass point.

3. The item transport equipment described in claim 2, wherein the section control device transmits to the upper control device the transmission information that summarizes the recorded information associated with the first passing point and the transmission information that summarizes the recorded information associated with the second passing point in a lump sum.

4. a transport vehicle for transporting an article; a travel route on which the transport vehicle travels, the travel route being divided into a plurality of control areas; a section control device provided corresponding to the plurality of control areas, the section control device controlling passage of the transport vehicle in the control area that the section control device is responsible for; An article conveying facility comprising: a host control device that controls a plurality of the section control devices; At least some of the plurality of control regions include specific sections, 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, Recording points are set at a plurality of locations along the travel route, The recorded points include a passing point that indicates that the transport vehicle has passed through the specific section, and a stopping point that indicates when the transport vehicle will stop before the connecting route, The section control device records the control status of the transport vehicle for each of the multiple recording points in the control area it is responsible for as recorded information associated with the recording point, and also compiles the multiple recorded information for each recording point to generate transmission information, and transmits the transmission information to the higher-level control device on a recording point-by-recording point basis.

5. the section control device is configured to obtain a passing completion notification when the transport vehicle passes the recording point; The item transport equipment described in claim 4, wherein the section control device transmits the transmission information about the recording point that satisfies a first condition that the passage completion notification is not received within a predetermined period of time after the transport vehicle is allowed to pass through any of the recording points, or when a second condition that other transport vehicles are unable to pass through any of the recording points continues for a predetermined period of time is met.

6. the section control device is configured to transmit the transmission information to the upper control device at a fixed cycle; 6. The article transport facility according to claim 5, wherein the section control device limits the number of times the transmission information is transmitted to the upper control device to a predetermined specified number of times when the first condition or the second condition is satisfied.

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