Conveying Equipment

Abstract

In a conveying facility equipped with a plurality of conveying vehicles that travel along a travel path to transport items, it is desirable to provide a technology that can appropriately resolve a deadlock state and direct the conveying vehicle that is causing the deadlock state toward its destination. [Solution] A conveying facility equipped with a plurality of conveying vehicles and a control system, wherein the travel route includes a circular route; when a deadlock state occurs, the control system executes a first deadlock resolution process in which each of the plurality of conveying vehicles that are causing the deadlock state is designated as a factor conveying vehicle, and the deadlock state is resolved by changing the destinations of some of the factor conveying vehicles from their original destinations; if the deadlock state cannot be resolved by executing a first deadlock resolution process, the control system executes a second deadlock resolution process in which all of the factor conveying vehicles are moved toward the circular route and made to circle the circular route, and then each factor conveying vehicle is moved toward their original destination.

Description

[Technical Field]

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

[0002] For example, Japanese Patent Laid-Open Publication No. 2006-268769 (Patent Document 1) discloses a technology relating to a conveyance facility. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The conveyance facility of Patent Document 1 includes a plurality of transport vehicles (2) that travel along a travel route network (3) to transport articles, and a plurality of stations (S). The travel route network (3) is formed in a lattice pattern by combining a plurality of movement routes (1), thereby including a plurality of intersections (D1, D2). This travel route network (3) is provided with a plurality of evacuation points (K) for the transport vehicles (2) to evacuate, corresponding to the plurality of intersections (D1, D2). The evacuation points (K) are branched and connected to one of the plurality of movement routes (1) that merge at the intersections (D1, D2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-268769 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conveyance facility of Patent Document 1, if a deadlock occurs when multiple guided vehicles attempting to pass through an intersection are blocked by each other and come to a halt, one of the guided vehicles is evacuated to an evacuation point corresponding to the intersection. This allows the remaining guided vehicles to pass through the intersection in sequence, thereby resolving the deadlock. However, there are cases where it is difficult to provide separate evacuation points for each intersection, or where providing such evacuation points would increase the area required for installing the conveyance facility. In such cases, a different method than the above is required to resolve the deadlock.

[0006] Therefore, in a conveying facility equipped with multiple conveying vehicles that travel along a travel path to transport items, it is desirable to provide technology that can properly resolve deadlock situations and direct the conveying vehicle that is causing the deadlock situation toward its destination. [Means for solving the problem]

[0007] A conveying facility according to the present disclosure includes a plurality of conveying vehicles that travel along a travel path to convey an article, and a control system that controls the plurality of conveying vehicles, A specific direction along a horizontal plane is defined as the X direction, and a direction intersecting the X direction when viewed from above is defined as the Y direction. the travel path includes a plurality of Y-direction paths that are paths along the Y direction, a plurality of X-direction paths that are paths along the X direction and each intersects with at least one of the Y-direction paths, and a circular path that is configured by a pair of the X-direction paths and a pair of the Y-direction paths, The control system includes: When a deadlock state occurs on the travel route in which multiple transport vehicles moving toward their respective destinations are stopped because they are obstructing each other's movement, and if the deadlock state cannot be resolved by executing a first deadlock resolution process in which each of the multiple transport vehicles that are causing the deadlock state is designated as a factor transport vehicle and the destinations of some of the factor transport vehicles are changed from their original destinations, a second deadlock resolution process is executed in which all of the factor transport vehicles are moved toward the circular route and made to circle the circular route, and then each of the factor transport vehicles on the circular route is moved toward its original destination.

[0008] According to this configuration, even if the deadlock state is not resolved by the first deadlock resolution process that changes the destinations of some of the multiple factor guided vehicles, the deadlock state can be resolved with high reliability without performing complex control processes on the guided vehicles. Furthermore, since each guided vehicle is moved from the circular route toward its destination, the possibility of a deadlock state occurring again can be reduced. In this manner, with this configuration, the deadlock state can be appropriately resolved, and the transport vehicle that caused the deadlock state can be directed toward the destination.

[0009] Further features and advantages of the transport installation will become apparent from the following description of exemplary, non-limiting embodiments, which are given with reference to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Schematic plan view of the transport facility [Figure 2] A plan view schematically showing the transfer position and the transfer target location. [Figure 3] Control Block Diagram [Figure 4] FIG. 10 is a plan view schematically showing a transport vehicle in a deadlock state. [Figure 5] FIG. 10 is a plan view schematically showing a transport vehicle in a deadlock state. [Figure 6]FIG. 10 is a plan view schematically showing a transport vehicle in a deadlock state. [Figure 7] FIG. 1 is a plan view schematically showing a transport vehicle traveling around a circular route; [Figure 8] Control Flow Diagram DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the conveying equipment 1 will be described below with reference to the drawings.

[0012] As shown in FIGS. 1 and 3, the conveyance facility 1 includes a plurality of transport vehicles 10 that travel along a travel path 2 to transport items W, and a control system 100 that controls the plurality of transport vehicles 10. In this embodiment, a plurality of transfer target locations 6 are provided along the travel path 2. Each of the plurality of transport vehicles 10 travels along the travel path 2 to transport an item W to a respective transfer target location 6. In the following description, a specific direction along a horizontal plane is defined as the X direction, and a direction intersecting the X direction when viewed from the top down is defined as the Y direction. In this example, one side of the X direction is defined as the X direction first side X1, and the opposite side is defined as the X direction second side X2. Furthermore, one side of the Y direction is defined as the Y direction first side Y1, and the opposite side is defined as the Y direction second side Y2.

[0013] The travel path 2 includes a plurality of Y-direction paths 3 extending along the Y direction, a plurality of X-direction paths 4 extending along the X direction, each intersecting at least one Y-direction path 3, and a circuit path 5 formed by a pair of X-direction paths 4 and a pair of Y-direction paths 3. In this embodiment, the travel path 2 includes a lattice-shaped path (a lattice-shaped path 18) formed by the plurality of Y-direction paths 3 and the plurality of X-direction paths 4 intersecting each other. Specifically, the plurality of Y-direction paths 3 are arranged spaced apart from each other in the X direction, and the plurality of X-direction paths 4 are arranged spaced apart from each other in the Y direction. The lattice-shaped path 18 is formed by the plurality of Y-direction paths 3 and the plurality of X-direction paths 4 arranged in this manner being perpendicular to each other when viewed in the up-down direction. In this example, the lattice-shaped path 18 formed as described above and the circuit path 5 are arranged adjacent to each other. Here, the circuit path 5 is arranged on a first side Y1 in the Y direction relative to the lattice-shaped path 18 (indicated by a dashed line in FIG. 1 ).

[0014] In this embodiment, positions on the travel path 2 corresponding to each transfer target location 6 are defined as transfer positions 7, and the transport vehicle 10 is configured to transfer the item W between the transfer target locations 6 at the transfer positions 7. Here, the transport vehicle 10 is configured to be able to travel on each of the Y-direction path 3 and the X-direction path 4. In this example, guide rails (not shown) are arranged along each of the Y-direction path 3 and the X-direction path 4. The transport vehicle 10 travels on the travel path 2 while being guided by the guide rails.

[0015] As shown in FIG. 3, the transport vehicle 10 includes a traveling device 13, a transfer device 14, and a control unit 12. The traveling device 13 includes a traveling motor (not shown) as a drive source and multiple wheels (not shown). Driven by the traveling motor, the transport vehicle 10 can obtain a propulsive force for traveling along the travel path 2. Here, the multiple wheels include wheels that roll on guide rails along the X-direction path 4 and wheels that roll on guide rails along the Y-direction path 3. The transfer device 14 is configured to support the article W and transfer the article W between the transfer target location 6. Here, the transfer device 14 is of a fork type, but it can also be of a conveyor type. Note that the transport vehicle 10 is not limited to such a rail-guided vehicle and may be an unmanned transport vehicle that travels autonomously along the travel path 2. Furthermore, the transport vehicle 10 may be a ceiling-mounted transport vehicle that transports the article W by suspending it.

[0016] The control unit 12 is configured to control the traveling device 13 and the transfer device 14, as well as to control each element other than these devices (for example, various sensors such as obstacle sensors). In this embodiment, the conveyance facility 1 further includes a control device H that controls the entire facility. The control unit 12 is configured to be able to communicate freely with the control device H. The control unit 12 controls the traveling device 13 to cause the conveyance vehicle 10 to travel toward a predetermined transfer target location 6. In this embodiment, the control unit 12 controls the traveling device 13 and the transfer device 14 based on command information from the control device H. The control unit 12 and the control device H include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Each function is realized by cooperation between this hardware and a program executed on a processor of a computer or the like.

[0017] In this embodiment, the transfer position 7 is set on the Y direction path 3. Furthermore, no transfer position 7 is set on the circular path 5. To explain further, the transport vehicle 10 (here, the transfer device 14) moves the item W along the X direction at the transfer position 7. This allows the transport vehicle 10 to transfer the item W to the transfer target location 6. In this embodiment, multiple transfer positions 7 are set on the Y direction path 3 so that they are adjacent to the corresponding transfer target locations 6. Furthermore, the transfer positions 7 are set on the Y direction path 3 which is included in the lattice path 18. Furthermore, the transfer target location 6 is located in an area on the lattice path 18 surrounded by the Y direction path 3 and the X direction path 4.

[0018] In this embodiment, the circular path 5 is configured to intersect with all of the Y-direction paths 3 included in the travel path 2. In this example, the circular path 5 is formed by two X-direction paths 4 aligned in the Y direction and two Y-direction paths 3 that are furthest apart in the X direction among the multiple Y-direction paths 3. The two X-direction paths 4 that form the circular path 5 are the two X-direction paths 4 that are located furthest from the first side Y1 in the Y direction among the multiple X-direction paths 4. Note that, for example, no area in which a transfer target location 6 can be located is formed between the two X-direction paths 4 that form the circular path 5. In this example, the remaining Y-direction paths 3 that are located on the inner side in the X direction relative to the two Y-direction paths 3 that form the circular path 5 and are furthest apart in the X direction are connected so as to intersect with the circular path 5. In the circular path 5, the travel direction of the transport vehicle 10 is set to be unidirectional (white arrow in FIG. 1 ).

[0019] In this example, as shown in FIGS. 1 and 2, the conveying equipment 1 includes a storage shelf 9. The storage shelf 9 includes multiple storage sections serving as transfer target locations 6. Each storage section can store one item W. These storage sections (transfer target locations 6) are arranged to be aligned in the X and Y directions. The storage shelf 9 is arranged on the lattice path 18 side (the second side Y2 in the Y direction) of the traveling path 2 relative to the circular path 5. The storage sections are arranged in an area of ​​the lattice path 18 surrounded by the Y-direction path 3 and the X-direction path 4. One side of the storage section in the X direction is an entrance / exit for loading and unloading the item W. Each storage section is arranged so that the entrance / exit faces the Y-direction path 3 side (the transfer position 7 side). In the example shown in FIGS. 1 and 2, a group of three storage sections (transfer target locations 6) aligned in the Y direction is defined as a storage section group, and multiple storage section groups are arranged. These storage section groups are arranged in groups of two or four in the X direction. Then, at the transfer position 7, the transport vehicle 10 transfers the item W to two storage sections lined up in the shelf depth direction (X direction) of the storage shelf 9. In this way, in this example, the storage shelf 9 has a so-called double-deep structure, and the transfer device 14 of the transport vehicle 10 is configured to be able to transfer the item W to two storage sections lined up in the X direction. In this example, the guide rail along which the transport vehicle 10 is guided is supported by pillars and crosspieces that form the storage sections. Note that a chute may be provided instead of multiple storage sections. In this case, the transfer target location 6 is the chute. In this case, the transport vehicle 10 can be configured to feed the item W into the chute at the transfer position 7.

[0020] In the example of FIG. 1, the conveying equipment 1 is equipped with a loading / unloading section 8 that loads and unloads items W between the inside and outside of the equipment. Here, the loading / unloading section 8 is a conveyor. A plurality of loading / unloading sections 8 are arranged to correspond to the ends of the first Y-direction side Y1 of each of the plurality of Y-direction paths 3. The plurality of loading / unloading sections 8 are also arranged on the first Y-direction side Y1 of the lattice path 18, sandwiching the circular path 5 therebetween. The conveying vehicle 10 can deliver items W to and from each loading / unloading section 8 in addition to the transfer target location 6 (storage section). Note that FIG. 1 shows only some of the plurality of items W stored in the storage section. In FIGS. 4 to 7, the items W stored in the storage section are not shown.

[0021] In this embodiment, each of the multiple transport vehicles 10 can be mainly classified into a transport vehicle 10 (warehouse-entering transport vehicle 10a) that has received an item W from the loading / unloading section 8 and is moving toward a designated transfer target location 6, a transport vehicle 10 (warehouse-exiting transport vehicle 10b) that has received an item W from a designated transfer target location 6 and is moving toward the loading / unloading section 8, a transport vehicle 10 (shelf-to-shelf transport vehicle 10c) that has received an item W from a designated transfer target location 6 and is moving toward another transfer target location 6, and a transport vehicle 10 (empty transport vehicle 10d) that is moving without transporting an item W.

[0022] In this embodiment, the control system 100 includes the control device H and the control unit 12 described above. In this example, the control device H includes a determination unit 15, a calculation unit 16, and a memory unit 17. The memory unit 17 stores information about the multiple transport vehicles 10 (e.g., the model of each transport vehicle 10), map information showing a map of the travel route 2, and information showing the position of each storage unit (transfer target location 6). The memory unit 17 also stores information about the state of each storage unit (whether or not an item W is stored therein). The information about the state of the storage unit is updated each time a transfer is performed by the transport vehicle 10.

[0023] The control device H controls each of the multiple transport vehicles 10 to transport the item W. Specifically, the control device H transmits command information to the control unit 12 of the transport vehicles 10. Each transport vehicle 10 travels along the travel route 2 in accordance with the command information to transport the item W. The command information includes at least information regarding the destination of the transport vehicle 10, the transfer operation to be performed at the destination (receiving, delivering, etc. the item W), and the route to the destination.

[0024] In this example, the control device H manages the position of each transport vehicle 10 by dividing the travel path 2 (the grid path 18, the circular path 5) into multiple zones. As shown by dashed lines in FIG. 1, these zones include an intersection zone where the Y-direction path 3 and the X-direction path 4 intersect, and an adjacent zone adjacent to the intersection zone. Each of the Y-direction path 3 and the X-direction path 4 is divided into multiple intersection zones and adjacent zones. The control device H manages each zone (the intersection zone and the adjacent zone) so that only one transport vehicle 10 can enter at a time (i.e., only one transport vehicle 10 can exist in each zone). In the example of FIG. 2, multiple transfer positions 7 are set in one adjacent zone on the Y-direction path 3. The destinations of the above-mentioned transport vehicles 10 include the transfer positions 7 set in the adjacent zones, as well as adjacent zones and intersection zones where no transfer positions 7 are set. 1, the adjacent zones include a zone set between two intersection zones aligned in the X or Y direction, a zone corresponding to the loading / unloading section 8, and a zone adjacent to a plurality of storage sections (transfer target locations 6) and forming a dead end. In this example, a detectable section (one-dimensional code, two-dimensional code, etc.) that can be detected by the transport vehicle 10 is arranged in each zone.

[0025] When the calculation unit 16 of the control device H sets the final destination of the transport vehicle 10 (e.g., a predetermined transfer position 7), it sets a route that the transport vehicle 10 should travel from the current position of the transport vehicle 10 (the zone in which the transport vehicle 10 is located) to the final destination. The calculation unit 16 extracts multiple candidate routes from the current position to the final destination and calculates the cost of each candidate route. The cost calculation is preferably performed based on, for example, a cost (link cost) set for a link, which is a route portion connecting two intersections (nodes), or a cost set for an operation (e.g., a wheel switching operation) for the traveling device 13 to transfer between a rail along the Y-direction path 3 and a rail along the X-direction path 4. Then, the control device H selects the route with the lowest cost from the multiple candidate routes as a set route (route to the destination) and controls the transport vehicle 10 to travel along the set route. The method of selecting the optimal set route by the control device H can be changed as appropriate.

[0026] When a deadlock state occurs on the travel route 2 in which multiple guided vehicles 10 moving toward their respective destinations obstruct each other's movement and stop, the control system 100 performs a first deadlock resolution process in which each of the multiple guided vehicles 10 causing the deadlock state is designated as a factor guided vehicle 11, and the destinations of some of the factor guided vehicles 11 are changed from the initial destinations to resolve the deadlock state. If the deadlock state cannot be resolved by performing this first deadlock resolution process, the control system 100 moves all of the factor guided vehicles 11 toward the circular route 5 and makes them travel around the circular route 5, and then executes a second deadlock resolution process in which each of the factor guided vehicles 11 on the circular route 5 moves toward the initial destination. In this embodiment, the control device H executes the first deadlock resolution process and the second deadlock resolution process.

[0027] In this embodiment, as shown in FIG. 8, in the first deadlock resolution process (S02 to S06), the control system 100 sequentially selects one factor guided vehicle 11 from all factor guided vehicles 11 as a target guided vehicle 11a, and determines whether the deadlock state can be resolved by changing the destination of the target guided vehicle 11a from the original destination to another destination. Then, the control system 100 moves the target guided vehicle 11a, for which it has determined that the deadlock state will be resolved, toward the other destination. In this example, as shown in FIG. 8, the control device H (determination unit 15) determines whether a deadlock has occurred on the travel route 2 (here, the lattice route 18) (S01). If the control device H determines that a deadlock has occurred (S01: Yes), it executes a sequential selection process (S02). Here, the determination unit 15 sequentially selects one factor guided vehicle 11 from all factor guided vehicles 11 as the target guided vehicle 11a in the sequential selection process. Here, among the multiple factor guided vehicles 11, the empty guided vehicle 10d, the receiving guided vehicle 10a, the shelf-to-shelf guided vehicle 10c, and the retrieving guided vehicle 10b are prioritized in this order. The determination unit 15 selects the target guided vehicle 11a according to the priority. For example, if there is no empty guided vehicle 10d as the factor guided vehicle 11 but there is an receiving guided vehicle 10a, the determination unit 15 selects the receiving guided vehicle 10a as the target guided vehicle 11a. The control device H can also change the priority as appropriate depending on the zone in which each factor guided vehicle 11 is located. For example, the priority of the factor guided vehicle 11 to be selected as the target guided vehicle 11a can be set in the following order: intersection zone, zone other than intersection and dead end zone, and dead end zone. Here, the "dead end zone" refers to a dead end zone in the grid-like route 18. In addition to the above, if a charging station for charging the transport vehicle 10 is located on the travel route 2, the transport vehicle 10 moving toward the charging station may also be taken into consideration, and the transport vehicle 10 in motion may also be taken into consideration to avoid a deadlock situation.

[0028] Next, the control device H executes a destination change process (S03) to determine whether the deadlock is resolved. Specifically, the determination unit 15 determines whether the deadlock state is resolved by changing the destination of the empty transport vehicle 10d from the initial destination to another destination. Specifically, the determination unit 15 determines whether the deadlock state is resolved when at least some of the zones on the set route beyond the current zone are changed for the selected target transport vehicle 11a. Here, the initial destination is the final destination of the transport vehicle 10 (for example, a predetermined transfer position 7, etc.). Then, by changing some of the zones on the set route in the destination change process, the initial destination and the set route beyond the changed zone are canceled. As a result, the destination of the target transport vehicle 11a is set to the changed zone instead of the initial destination. Note that in this example, the control device H changes the destination of the target transport vehicle 11a from the initial destination to a zone adjacent to the zone of the current location or to a zone adjacent to the zone across an intersection zone.

[0029] When the control device H determines that the destination change process will resolve the deadlock state (S04: Yes), it executes a resolution movement process (S05). In the resolution movement process, the control device H causes the target guided vehicle 11a to travel toward the changed destination. Thereafter, the control device H executes a first restart process (S06) to cause each factor guided vehicle 11 to travel toward the original destination. In the example of FIG. 4, an empty guided vehicle 10d, an incoming guided vehicle 10a, and an outgoing guided vehicle 10b are arranged as factor guided vehicles 11 on either side of an intersection. At the intersection, the factor guided vehicles 11 are stopped, preventing each other from moving, resulting in a deadlock state. In the illustrated example, the empty guided vehicle 10d is arranged in a dead-end (cul-de-sac) zone. Therefore, in the sequential selection process, the control device H should select the empty guided vehicle 10d as the target guided vehicle 11a, but instead selects the incoming guided vehicle 10a as the target guided vehicle 11a. In addition, in the destination change process, the control device H changes the destination of the target guided vehicle 11a (warehouse-entering guided vehicle 10a) from the initial destination (the dead-end zone) to an adjacent zone (marked with a dashed circle) set on the X-direction route 4. Then, in the cancellation movement process, the control device H causes the target guided vehicle 11a to travel toward the changed zone (the adjacent zone). In addition, in the first restart process, the control device H causes the outgoing guided vehicle 10b to travel toward the predetermined loading / unloading section 8, which is the initial destination, and causes the empty guided vehicle 10d to travel toward the predetermined storage section, which is the initial destination. Note that dashed arrows in FIG. 4 indicate the routes along which each factor guided vehicle 11 moves toward the initial destination. Also, solid arrows in FIG. 4 indicate the routes along which the target guided vehicle 11a moves toward the changed destination. The same applies to FIG. 5.

[0030] In the example of FIG. 5, multiple factor transport vehicles 11 are stopped on routes (Y-direction route 3 and X-direction route 4) surrounding multiple transfer target locations 6 (storage unit groups) so as to obstruct each other's movement, resulting in a deadlock state. Here, the control device H selects one of multiple empty transport vehicles 10d (factor transport vehicles 11) as the target transport vehicle 11a in the sequential selection process. Then, the control device H changes the destination of the target transport vehicle 11a (empty transport vehicle 10d) to a dead-end zone in the destination change process. Here, in the illustrated example, multiple candidate locations are listed for the changed destination of the empty transport vehicle 10d (indicated by dashed circles). If there are multiple candidate locations for the changed destination, the control device H determines whether the deadlock state is resolved at each candidate location. Furthermore, when the deadlock state is resolved at multiple candidate locations, it is preferable to set one of the multiple candidate locations as the changed destination, for example, depending on the distance to the original destination of the target guided vehicle 11a and the positions of guided vehicles 10 other than the cause guided vehicle 11. After executing the resolution movement process, the control device H executes a first restart process and causes all cause guided vehicles 11 to travel toward their respective original destinations. Note that, in the first deadlock resolution process, if there is a guided vehicle 10 that is waiting (stopped) on the travel route 2 without transporting an item W and that guided vehicle 10 is obstructing the movement of the cause guided vehicle 11, the control device H can also appropriately move that guided vehicle 10, for example, to a dead-end zone where no other guided vehicles 10 are present.

[0031] In this embodiment, when the control device H determines that the deadlock state will not be resolved for the selected target guided vehicle 11a, it selects the guided vehicle 10 with the next highest priority as the target guided vehicle 11a. Then, the determination unit 15 determines whether the deadlock state will be resolved for the newly selected target guided vehicle 11a. The control device H makes the same determination for all factor guided vehicles 11. As a result, if the deadlock state will not be resolved (S04: No), the control device H executes a second deadlock resolution process (S07 to S09). Here, conditions under which the control device H (determination unit 15) determines that the deadlock will not be resolved for each factor guided vehicle 11 include a case where the deadlock state is maintained even after the destination change process, a case where the deadlock state is resolved but the period until the first restart process is executed is equal to or longer than a set period, and a case where the deadlock state is resolved but is expected to reoccur due to a guided vehicle 10 other than the factor guided vehicle 11.

[0032] In the second deadlock resolution process, the control system 100 prioritizes, among the multiple factor guided vehicles 11 on the circular route 5, the factor guided vehicles 11 that are farthest from the circular route 5 to their respective initial destinations and moves them toward their initial destinations. In this example, as shown in FIG. 8, the control device H executes, as the second deadlock resolution process, a circular route movement process (S07), a departure order determination process (S08), and a second restart process (S09) in the order listed.

[0033] In the circular route movement process, the control device H moves the multiple factor guided vehicles 11 in order of proximity to the circular route 5, and causes these factor guided vehicles 11 to travel around the circular route 5. In this example, the control device H causes each factor guided vehicle 11 to travel toward the circular route 5 in order of the shortest distance from the position of the factor guided vehicle 11 that is stopped due to a deadlock state to the circular route 5. Note that the order in which each factor guided vehicle 11 travels toward the circular route 5 may be determined not only in order of the shortest distance of the shortest route as described above, but also in consideration of the number of intersections included in the shortest route, etc.

[0034] In the example of FIG. 6, multiple transport vehicles 10 are stopped on a route (Y-direction route 3 and X-direction route 4) surrounding multiple transfer target locations 6 (storage unit groups) so as to obstruct each other's movement. Furthermore, at two intersections (four in this case) located on the second side Y2 in the Y direction among multiple intersections included in the route, multiple transport vehicles 10 are stopped so as to obstruct each other's movement. Here, the control device H defines the multiple transport vehicles 10 present on the route surrounding the multiple transfer target locations 6 as factor transport vehicles 11, and moves these factor transport vehicles 11 to the circular route 5. In the illustrated example, the six factor transport vehicles 11 are classified into three incoming transport vehicles 10a, one outgoing transport vehicle 10b, and two empty transport vehicles 10d. In the example of FIG. 7, these six factor transport vehicles 11 move around the circular route 5.

[0035] In the departure order determination process, the control device H determines the departure order of multiple factor guided vehicles 11 heading for the initial destination from the circular route 5 based on the distance from the circular route 5 to the initial destination of each factor guided vehicle 11. Here, the determination unit 15 determines the departure order of each factor guided vehicle 11 based on the shortest route from the circular route 5 to the initial destination. For each factor guided vehicle 11, the calculation unit 16 extracts the shortest route from multiple routes connecting the initial destination zone and any zone on the circular route 5 and sets it as the shortest route. Therefore, as shown by the arrow extending on the Y-direction route 3 in FIG. 7 , the shortest route is the shortest route from multiple routes connecting any one of multiple intersection zones on the circular route 5 closer to the lattice route 18 to the initial destination zone. As described above, the calculation unit 16 sets the route with the lowest cost from multiple candidate routes for each factor guided vehicle 11 as the shortest route. The control device H then determines the departure order so that the factor guided vehicles 11 that have the furthest shortest route from the circular route 5 to the initial destination depart in order. Note that the control device H may also determine the departure order so that the guided vehicles 10 whose initial destination is a dead-end zone are given priority in departing.

[0036] In the second restart processing, the control device H moves each of the factor transport vehicles 11 to the initial destination in the order determined in the departure order determination processing. Here, for example, when there are multiple factor transport vehicles 11 whose initial destination is the same zone, the control device H may preferentially move, for example, the factor transport vehicle 11 that stops at the transfer position 7 away from the circular route 5 among the multiple transfer positions 7 arranged in the zone. Furthermore, the control device H moves the outgoing transport vehicle 10b, of the multiple factor transport vehicles 11, whose initial destination is the carry-in / out section 8, appropriately from the circular route 5 (here, the X-direction route 4 farthest from the lattice route 18) to the carry-in / out section 8, which is the initial destination, regardless of the determined departure order. Note that the control device H may further change the departure order determined in the departure order determination processing in the second restart processing depending on the status of the other transport vehicles 10 moving on the lattice route 18.

[0037] Other Embodiments (1) In the above embodiment, an example has been described in which multiple transfer target locations 6 (storage sections) are arranged along the X direction and the Y direction, and each transfer target location 6 is configured to allow items W to be taken in and out between the transfer vehicle 10 on the transfer position 7 set on the Y direction path 3, but this is not limited to this. For example, the multiple transfer target locations 6 may also be configured to be arranged in multiple tiers in the vertical direction. In this case, the travel path 2 (Y direction path 3, X direction path 4) may also be arranged in multiple tiers to correspond to each of the multiple tiers of transfer target locations 6. Naturally, each transfer target location 6 may also be configured to allow items W to be taken in and out between the transfer vehicle 10 on the X direction path 4.

[0038] (2) In the above embodiment, a configuration in which no transfer position 7 is set on the circular path 5 has been described as an example, but this is not limited to this. The transfer position 7 may also be set on the circular path 5. For example, the transfer position 7 may be set on the X-direction path 4 on the circular path 5, which is closer to the lattice path 18. In this case, it is preferable that the storage unit adjacent to the X-direction path 4 be configured to be able to transfer the item W in the Y direction.

[0039] (3) In the above embodiment, an example has been described in which the circuitous path 5 is configured to intersect with all of the Y-direction paths 3 included in the travel path 2, but this is not limiting. The circuitous path 5 may be configured to intersect with, for example, some of all of the Y-direction paths 3 included in the travel path 2. For example, the circuitous path 5 may be configured to intersect only with the Y-direction path 3 disposed furthest away in the X direction, and not intersect with other Y-direction paths 3 disposed further inward in the X direction.

[0040] (4) In the above embodiment, the control system 100 has been described as being configured to, in the second deadlock resolution process, prioritize the factor guided vehicles 11 that are farthest from the circular route 5 toward their respective initial destinations among the multiple factor guided vehicles 11 on the circular route 5, but this is not limiting. The control system 100 may also prioritize the factor guided vehicles 11 that are closest from the circular route 5 toward their respective initial destinations toward their respective initial destinations.

[0041] (5) In the above embodiment, the control system 100 moves one target guided vehicle 11a, for which it is determined that the deadlock state will be resolved, toward another destination in the first deadlock resolution process. However, the present invention is not limited to this. The control system 100 may also be configured to move multiple target guided vehicles 11a, for which it is determined that the deadlock state will be resolved, toward another destination, thereby resolving the deadlock state.

[0042] (6) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0043] Summary of the above embodiment The above-described transport equipment will be summarized below.

[0044] A conveying facility according to the present disclosure includes a plurality of conveying vehicles that travel along a travel path to convey an article, and a control system that controls the plurality of conveying vehicles, A specific direction along a horizontal plane is defined as the X direction, and a direction intersecting the X direction when viewed from above is defined as the Y direction. the travel path includes a plurality of Y-direction paths that are paths along the Y direction, a plurality of X-direction paths that are paths along the X direction and each intersects with at least one of the Y-direction paths, and a circular path that is configured by a pair of the X-direction paths and a pair of the Y-direction paths, The control system includes: When a deadlock state occurs on the travel route in which multiple transport vehicles moving toward their respective destinations are stopped because they are obstructing each other's movement, and if the deadlock state cannot be resolved by executing a first deadlock resolution process in which each of the multiple transport vehicles that are causing the deadlock state is designated as a factor transport vehicle and the destinations of some of the factor transport vehicles are changed from their original destinations, a second deadlock resolution process is executed in which all of the factor transport vehicles are moved toward the circular route and made to circle the circular route, and then each of the factor transport vehicles on the circular route is moved toward its original destination.

[0045] According to this configuration, even if the deadlock state is not resolved by the first deadlock resolution process that changes the destinations of some of the multiple factor guided vehicles, the deadlock state can be resolved with high reliability without performing complex control processes on the guided vehicles. Furthermore, since each guided vehicle is moved from the circular route toward its destination, the possibility of a deadlock state occurring again can be reduced. In this manner, with this configuration, the deadlock state can be appropriately resolved, and the transport vehicle that caused the deadlock state can be directed toward the destination.

[0046] Here, a plurality of transfer target locations are provided along the travel route, A position on the travel route corresponding to each of the transfer target locations is set as a transfer position, The transport vehicle is configured to transfer the item between the transfer target location and the transfer position, It is preferable that the transfer position is not set on the circular path.

[0047] According to this configuration, since there are no transport vehicles whose destination is the circular route, the possibility of a transport vehicle stopping on the circular route can be reduced. Therefore, it becomes easier for multiple cause transport vehicles that are causing a deadlock to travel around the circular route, and the possibility of a deadlock occurring on the circular route can be reduced.

[0048] Further, the transfer position is set on the Y direction path, It is preferable that the circuitous path be configured to intersect with all of the Y-direction paths included in the travel path.

[0049] According to this configuration, since the circular route intersects with all of the Y-direction routes, in the second deadlock resolution process, the multiple factor guided vehicles traveling on the circular route can easily head toward their respective initial destinations. Also, the possibility of a deadlock state occurring again on the route from the circular route to the initial destination of each factor guided vehicle can be reduced.

[0050] In addition, it is preferable that in the second deadlock resolution process, the control system prioritizes moving, among the multiple factor transport vehicles on the circular route, factor transport vehicles that are farthest from the circular route to their respective initial destinations toward the initial destinations.

[0051] This configuration makes it easier to increase the likelihood that each of the factor guided vehicles will be properly moved from the circular route to its original destination, and also reduces the likelihood that a deadlock state will occur again due to the movement of these factor guided vehicles.

[0052] Further, the control system, in the first deadlock resolution process, sequentially selecting one of the factor transport vehicles as a target transport vehicle from among all of the factor transport vehicles, and determining whether the deadlock state can be resolved by changing the destination of the target transport vehicle from the initial destination to another destination; It is preferable that the target transport vehicle for which it is determined that the deadlock state will be resolved is moved toward the other destination.

[0053] According to this configuration, in order to resolve the deadlock state, it is possible to minimize the number of transport vehicles that are moved to a destination other than the original destination, and it is also possible to increase the possibility that the deadlock state will be resolved by the first deadlock resolution process.

[0054] The conveying equipment according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0055] 1:Transportation equipment 2: Driving route 3: Y-direction path 4: X-direction path 5:Circular route 6: Transfer location 7:Transfer position 10: Transport vehicle 11: Factor transport vehicle 11a: Target transport vehicle 100: Control System

Claims

1. A conveyance facility including a plurality of conveyance vehicles that travel along a travel path to convey articles, and a control system that controls the plurality of conveyance vehicles, A specific direction along a horizontal plane is defined as the X direction, and a direction intersecting the X direction when viewed from above is defined as the Y direction. the travel path includes a plurality of Y-direction paths that are paths along the Y direction, a plurality of X-direction paths that are paths along the X direction and each intersects with at least one of the Y-direction paths, and a circular path that is configured by a pair of the X-direction paths and a pair of the Y-direction paths, The control system includes: When a deadlock state occurs on the travel route in which a plurality of transport vehicles moving toward their respective destinations are stopped due to obstructing each other's movement, and if the deadlock state cannot be resolved by executing a first deadlock resolution process in which each of the plurality of transport vehicles that are causing the deadlock state is designated as a factor transport vehicle and the destinations of some of the factor transport vehicles are changed from their original destinations, a transport facility executes a second deadlock resolution process in which all of the factor transport vehicles are moved toward the circular route and made to circle the circular route, and then each of the factor transport vehicles on the circular route is moved toward its original destination.

2. A plurality of transfer target locations are provided along the travel route, A position on the travel route corresponding to each of the transfer target locations is set as a transfer position, The transport vehicle is configured to transfer the item between the transfer target location and the transfer position, The conveying facility according to claim 1 , wherein the transfer position is not set on the circular path.

3. The transfer position is set on the Y-direction path, The conveyance facility according to claim 2 , wherein the circular path is configured to intersect with all of the Y-direction paths included in the travel path.

4. 4. The transportation facility according to claim 1, wherein, in the second deadlock resolution process, the control system prioritizes moving, toward the initial destination, factor transport vehicles that are farthest from the circular route among the multiple factor transport vehicles on the circular route.

5. In the first deadlock resolution process, the control system sequentially selecting one of the factor transporting vehicles as a target transporting vehicle from among all the factor transporting vehicles, and determining whether the deadlock state can be resolved by changing the destination of the target transporting vehicle from the initial destination to another destination; The conveyance facility according to claim 1 , wherein the target conveyance vehicle for which it is determined that the deadlock state will be resolved is moved toward the other destination.

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