Goods transport equipment

Abstract

To provide an article conveying facility that improves the efficiency of running of a carrier vehicle at an installation position of a lifting device and improves conveyance efficiency of the entire article conveying facility.SOLUTION: An article conveying facility comprises multiple carrier vehicles, a first running rail, a second running rail arranged downward of the first running rail, a lifting device having a lifting rail, and a control system. The control system performs, when a precedence request signal (Sdp) is received from a target carrier vehicle, pre-lift processing for moving the lifting rail to a target position on one of the conditions that there is no non-target carrier vehicle on the lifting rail and an entry request signal (Sdi) is not received from the non-target carrier vehicle.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an article transport facility. [Background technology]

[0002] An article conveying facility equipped with a plurality of conveying vehicles for conveying articles and a control system for controlling the vehicles is currently in use. An example of such an article conveying facility is disclosed in Japanese Patent Laid-Open Publication No. 2006-313463 (Patent Document 1).

[0003] In the article conveying facility of Patent Document 1, when a transport vehicle (5) approaches a branching or merging point on the traveling rail (1), the transport vehicle transmits an entry request signal ("blocking request" in Patent Document 1) to a control system (zone controller 11). The control system that receives the entry request signal determines whether or not entry into the branching point or the like is permitted, and if permitted, returns an entry permission signal ("permission" in Patent Document 1) to the transport vehicle. By executing such an entry adjustment process, collisions between transport vehicles at branching points or the like can be avoided.

[0004] Incidentally, as disclosed in Japanese Patent Laid-Open No. 2022-96668 (Patent Document 2), for example, there is also known an article transport facility in which the travel paths of transport vehicles (ceiling transport vehicles 12) are arranged in parallel one above the other (paragraph 0027, Figure 3, etc., of Patent Document 2). In such article transport facilities, a lifting device may be provided between a first traveling rail (upper traveling rail 11A) and a second traveling rail (lower traveling rail 11B) disposed below the first traveling rail to enable the transport vehicles to move between them.

[0005] The position where the lifting device is provided can be considered to be the same as the branching or merging section in the article conveying facility of Patent Document 1, and it is conceivable to apply the same approach adjustment process as in Patent Document 1 at this position. In such a case, it is desirable not only to be able to avoid collisions between transport vehicles, but also to be able to allow the transport vehicles to efficiently pass through the position where the lifting device is provided. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-313463 [Patent Document 2] Japanese Patent Publication No. 2022-96668 Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, it is desirable to improve the efficiency of travel of the transport vehicle at the installation position of the lifting device, and ultimately to improve the transport efficiency of the entire article transport facility. [Means for solving the problem]

[0008] The article transport equipment according to the present disclosure includes: a plurality of transport vehicles for transporting articles; a first traveling rail on which the transport vehicle travels; a second traveling rail disposed below the first traveling rail and on which the transport vehicle travels; a lifting device that lifts and lowers the transport vehicle between the first traveling rail and the second traveling rail; a control system for controlling the transport vehicle and the lifting device, the first traveling rail is divided into a first upstream region upstream of a lifting region in which the lifting device is disposed and a first downstream region downstream of the lifting region, the second traveling rail is divided into a second upstream region upstream of the lifting region and a second downstream region downstream of the lifting region, the lifting device includes a lifting rail on which the transport vehicle can travel and which moves up and down in the lifting area; When the lifting rail is in a first position, it connects the first upstream region and the first downstream region of the first traveling rail, and when the lifting rail is in a second position, it connects the second upstream region and the second downstream region of the second traveling rail; the transport vehicle is configured to transmit an entry request signal to the control system requesting permission to enter the lifting rail when the transport vehicle is in an entry request section set in each of the first upstream area and the second upstream area, and to transmit a precedence request signal to the control system when the transport vehicle is in a precedence request section set upstream of the entry request section in each of the first upstream area and the second upstream area, Among the plurality of transport vehicles, the transport vehicle to be targeted is designated as a target transport vehicle, and the transport vehicles other than the target transport vehicle are designated as non-target transport vehicles; one of the first upstream region and the second upstream region where the target guided vehicle is located is defined as a target upstream region; Of the first position and the second position, the one corresponding to the target upstream region is defined as a target position, and the other position different from the target position is defined as a non-target position, The control system includes: when receiving the entry request signal from the target guided vehicle, transmitting an entry permission signal to the target guided vehicle to permit it to enter the elevator rail, on condition that the elevator rail is at the target position and the non-target guided vehicle is not on the elevator rail; When the advance request signal is received from the target transport vehicle, provided that the non-target transport vehicle is not on the lift rail and the entry request signal has not been received from the non-target transport vehicle, if the lift rail is not at the target position, a pre-lifting process is executed to move the lift rail to the target position.

[0009] According to this configuration, when the target guided vehicle is in a preceding request section upstream of the entry request section, a preceding request signal is transmitted to the control system prior to an entry request signal. This allows the control system to know in advance that the target guided vehicle is about to pass through the elevator rail. When the elevator rail is not at the target position, the control system that receives the preceding request signal can move the elevator rail to the target position in advance without interfering with the travel of the non-target guided vehicle. This reduces the time the target guided vehicle must wait in front of the elevator rail until it is able to enter, thereby improving the efficiency of the travel of the target guided vehicle in the elevator area. This improves the transport efficiency of the entire item transport facility.

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

[0011] [Figure 1] Plan view of the goods transport facility [Figure 2] Front view of the running rail and the transport vehicle [Figure 3] Schematic diagram of the lifting area and the areas before and after it [Figure 4] Control system block diagram [Figure 5] Flowchart of processing for a transport vehicle passing through a lifting area [Figure 6] An explanatory diagram of when a transport vehicle travels through a lifting area (Example 1) [Figure 7] An explanatory diagram of when a transport vehicle travels through a lifting area (Example 2) [Figure 8] An explanatory diagram of when a transport vehicle travels through a lifting area (Example 3) [Figure 9] An explanatory diagram of when a transport vehicle travels through a lifting area (Example 4) [Figure 10] An explanatory diagram of when a transport vehicle travels through a lifting area (Example 5) [Figure 11]An explanatory diagram of when a transport vehicle travels through a lifting area (Example 6) DETAILED DESCRIPTION OF THE INVENTION

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

[0013] As shown in Fig. 1, the article transport facility 1 includes a transport vehicle 2, a first traveling rail 3, a second traveling rail 4, a lifting device 5, and a control system 6. The first traveling rail 3 and the second traveling rail 4 overlap in a plan view.

[0014] The transport vehicle 2 transports an item B. The transport vehicle 2 travels along a travel route R to transport the item B. In this embodiment, the travel route R includes a main transport route Rm formed in a circular shape and multiple sub-transport routes Rs, each of which is formed in a circular shape and branches off from the main transport route Rm to rejoin the main transport route Rm. The multiple transport vehicles 2 are configured to transport each item B along these travel routes R based on transport commands from a control system 6.

[0015] There are various types of article B that are handled by article transport equipment 1 and transported by transport vehicle 2. For example, when article transport equipment 1 is used in a semiconductor manufacturing factory, article B may be a wafer container (a so-called FOUP: Front Opening Unified Pod) that stores wafers, or a reticle container (a so-called reticle pod) that stores reticles. In this case, transport vehicle 2 transports article B, such as a wafer container or a reticle container, along travel path R between each process.

[0016] In this embodiment, an unmanned transport vehicle that travels near the ceiling 9 is used as the transport vehicle 2. As shown in FIG. 2, the transport vehicle 2 in this embodiment has a running section 21 and a transfer section 22. The running section 21 runs on a first running rail 3 or a second running rail 4 installed near the ceiling 9. The transfer section 22 is suspended from the running section 21, and holds the article B while the running section 21 is running, and transfers the article B between a supply section, a processing device, etc. of the article B while the running section 21 is stopped.

[0017] In this embodiment, the first traveling rail 3 is provided directly below the ceiling 9. The first traveling rail 3 is installed along the travel path R. The first traveling rail 3 has a first rail body 31 and a first support body 32. The first rail body 31 forms a track along which the travel section 21 of the transport vehicle 2 travels, and is provided as a pair, separated on the left and right. This pair of first rail bodies 31 is suspended directly from the ceiling 9 and supported by the first support bodies 32.

[0018] The second traveling rail 4 is provided near the ceiling 9 and below the first traveling rail 3. The second traveling rail 4 is installed along the travel path R. The second traveling rail 4 has a second rail body 41 and a second support body 42. The second rail body 41 forms a track along which the traveling section 21 of the transport vehicle 2 travels, and is provided as a pair, separated on the left and right. This pair of second rail bodies 41 is suspended and supported by the second support body 42 from a support wall 9A provided along a horizontal plane further below the transfer section 22 of the transport vehicle 2 traveling on the first traveling rail 3.

[0019] 3, the first traveling rail 3 and the second traveling rail 4 are not continuous over the entire traveling route R, but are separated in part. The first traveling rail 3 and the second traveling rail 4 are separated near the lifting device 5. Here, in this embodiment, the area where the lifting device 5 is arranged is referred to as the lifting area AL.

[0020] The first traveling rail 3 is divided into a first upstream area AU1, which is upstream of the lifting area AL, and a first downstream area AD1, which is downstream of the lifting area AL. Similarly, the second traveling rail 4 is divided into a second upstream area AU2, which is upstream of the lifting area AL, and a second downstream area AD2, which is downstream of the lifting area AL. Needless to say, the terms "upstream side" and "downstream side" are concepts based on the traveling direction of the guided vehicle 2, with the downstream side being the forward direction and the upstream side being the opposite direction. The range of the first upstream area AU1 and the range of the second upstream area AU2 along the traveling path R are the same, and similarly, the range of the first downstream area AD1 and the range of the second downstream area AD2 along the traveling path R are the same.

[0021] The lifting device 5 is installed between the first traveling rail 3 and the second traveling rail 4 (lifting area AL), and raises and lowers the transport vehicle 2 in the lifting area AL. The lifting device 5 includes a lifting rail 51 and a lifting mechanism (not shown). The lifting rail 51 has a pair of rail bodies on which the traveling section 21 of the transport vehicle 2 can travel. The lifting rail 51 is configured to be able to rise and fall between a first position P1 and a second position P2 below it by the lifting mechanism. Note that various types of lifting mechanisms can be used, for example, a hydraulic drive mechanism or a motor drive mechanism.

[0022] The first position P1 is set to the installation height of the first traveling rail 3. When the lifting rail 51 rises to the first position P1, the divided portion of the first traveling rail 3 is completed by the lifting rail 51. In other words, when the lifting rail 51 is in the first position P1, it connects the first upstream area AU1 and the first downstream area AD1 of the first traveling rail 3. In this state, the guided vehicle 2 can enter the lifting rail 51 from the first upstream area AU1 of the first traveling rail 3 and exit from the lifting rail 51 to the first downstream area AD1.

[0023] The second position P2 is set to the installation height of the second traveling rail 4. When the lifting rail 51 descends to the second position P2, the disconnected portion of the second traveling rail 4 is completed by the lifting rail 51. In other words, when the lifting rail 51 is in the second position P2, it connects the second upstream area AU2 and the second downstream area AD2 of the second traveling rail 4. In this state, the guided vehicle 2 can enter the lifting rail 51 from the second upstream area AU2 of the second traveling rail 4 and exit from the lifting rail 51 to the second downstream area AD2.

[0024] In this embodiment, a first passing point Pp1, a first entry point Pi1, and a first stop point Ps1 are set in a first upstream area AU1 of the first traveling rail 3. Also, a first exit point Po1 is set in a first downstream area AD1 of the first traveling rail 3.

[0025] The first passing point Pp1 is a point that indicates that the transport vehicle 2 traveling on the first traveling rail 3 is approaching the lifting area AL. The first entry point Pi1 is set downstream of the first passing point Pp1 and is a point that indicates that the transport vehicle 2 has approached the lifting area AL. The first stopping point Ps1 is set further downstream of the first entry point Pi1 and is a point that indicates that the transport vehicle 2 will stop before the lifting area AL. The first exit point Po1 is a point that indicates that the transport vehicle 2 has exited the lifting area AL (lifting rail 51).

[0026] Similarly, a second passing point Pp2, a second entry point Pi2, and a second stopping point Ps2 are set in a second upstream area AU2 of the second traveling rail 4. In addition, a second exit point Po2 is set in a second downstream area AD2 of the second traveling rail 4.

[0027] The second passing point Pp2 is a point that indicates that the transport vehicle 2 traveling on the second traveling rail 4 is approaching the lifting area AL. The second entry point Pi2 is set downstream of the second passing point Pp2 and is a point that indicates that the transport vehicle 2 has approached the lifting area AL. The second stopping point Ps2 is set further downstream of the second entering point Pi2 and is a point that indicates that the transport vehicle 2 will stop before the lifting area AL. The second exit point Po2 is a point that indicates that the transport vehicle 2 has exited the lifting area AL (lifting rail 51).

[0028] In this embodiment, an entry-request section ZI and a preceding-request section ZP are set in each of the first upstream area AU1 of the first traveling rail 3 and the second upstream area AU2 of the second traveling rail 4.

[0029] The entry request section ZI is a section in which a guided vehicle 2 in that section requests permission to enter the lift area AL (lift rail 51) from the control system 6. The entry request section ZI is set as the section between the first entry point Pi1 and the first stop point Ps1 in the first upstream area AU1, and as the section between the second entry point Pi2 and the second stop point Ps2 in the second upstream area AU2. When the guided vehicle 2 is in the entry request section ZI (for example, when it has reached the first entry point Pi1 or the second entry point Pi2), it transmits an entry request signal Sdi to the control system 6.

[0030] When the guided vehicle 2 obtains permission to enter the lifting area AL from the entry request section ZI (when it passes the first stopping point Ps1 or the second stopping point Ps2), it transmits an exit request signal Sdo to the control system 6. When the guided vehicle 2 obtains permission to exit the lifting area AL and enter the area beyond (when it passes the first exit point Po1 or the second exit point Po2), it transmits a main line entry notification signal Snr to the control system 6.

[0031] The preceding request section ZP is set upstream of the entry request section ZI. The preceding request section ZP is a section in which a guided vehicle 2 in that section requests the control system 6 to move the lift rail 51 to a desired position between the first position P1 and the second position P2 before reaching the entry request section ZI. The preceding request section ZP is set as a section between the first pass point Pp1 and the first entry point Pi1 in the first upstream area AU1, and as a section between the second pass point Pp2 and the second entry point Pi2 in the second upstream area AU2. When the guided vehicle 2 is in the preceding request section ZP (for example, when it reaches the first pass point Pp1 or the second pass point Pp2), it transmits a preceding request signal Sdp to the control system 6.

[0032] In this embodiment, a first sensor Se1, a second sensor Se2, and a third sensor Se3 are installed in the lifting area AL. The first sensor Se1 detects whether the lifting rail 51 is at a first position P1. The second sensor Se2 detects whether the lifting rail 51 is at a second position P2. The third sensor Se3 is installed to rise and fall together with the lifting rail 51 and detects whether the transport vehicle 2 is on the lifting rail 51. The first sensor Se1, the second sensor Se2, and the third sensor Se3 can be sensors based on various detection principles, such as reflective or transmissive photoelectric sensors or laser sensors.

[0033] The control system 6 can grasp the position of the lift rail 51 at that time based on the detection results of the first sensor Se1 and the second sensor Se2. The control system 6 can grasp the vacant seat status of the lift rail 51 at that time based on the detection result of the third sensor Se3. Then, based on the position of the lift rail 51 and the vacant seat status at that time, the control system 6 determines whether to comply with a request to go ahead from the transport vehicle 2, whether to permit an entry request, whether to permit an exit request, etc.

[0034] When the control system 6 grants permission for an entry request from a transport vehicle 2, it transmits an entry permission signal Sai to that transport vehicle 2. When the control system 6 grants permission for an exit request from a transport vehicle 2, it transmits an exit permission signal Sao to that transport vehicle 2. When the control system 6 accepts a precedence request from a transport vehicle 2, it transmits an operation command to the lifting device 5.

[0035] The control system 6 controls the transport vehicles 2 and the lifting devices 5. As shown in FIG. 4, the control system 6 includes a host controller 61 and a lifting control device 62, and the host controller 61 includes an area controller 611 and an integrated controller 612. The host controller 61 controls the multiple transport vehicles 2 and also the lifting control device 62. The area controller 611 controls the operation of the multiple transport vehicles 2 in areas upstream and downstream of the lifting device 5, including the lifting control device 62. The integrated controller 612 comprehensively controls the operation of the multiple transport vehicles 2 throughout the entire article transport facility 1. The integrated controller 612 can determine the estimated positions of the multiple transport vehicles 2 along the transport route based on information read by the transport vehicles 2, such as IC tags or barcodes installed along the transport route. The lifting control device 62 controls the lifting device 5.

[0036] As indicated by the dashed lines in the functional block diagram of Fig. 4, in this embodiment, the area control device 611 and the lift control device 62 are implemented in a first control unit CU1. The integrated control device 612 is implemented in a second control unit CU2 that is different from the first control unit CU1. The first control unit CU1 and the second control unit CU2 are configured to be able to communicate with each other.

[0037] The multiple guided vehicles 2, the lifting device 5, and the control system 6 are configured to be able to communicate with each other. In this embodiment, the multiple guided vehicles 2 and the control system 6 (particularly, the upper control device 61) are configured to be able to communicate with each other via wireless communication using radio waves (for example, a wireless LAN conforming to the IEEE802.11 standard, such as Wi-Fi). The multiple guided vehicles 2 can transmit various signals, such as a precedence request signal Sdp, an entry request signal Sdi, and an exit request signal Sdo, to the control system 6 (upper control device 61) via wireless communication using radio waves. In addition, the control system 6 (upper control device 61) can transmit various signals, such as an entry permission signal Sai and an exit permission signal Sao, to the guided vehicles 2 via wireless communication using radio waves.

[0038] In this embodiment, the lifting device 5 and the control system 6 (here, particularly the lifting control device 62) are configured to be able to communicate with each other via wired communication (e.g., AS-i, etc.) using a communication cable. The control system 6 (lifting control device 62) can transmit operation commands for controlling the lifting device 5 via wired communication using a communication cable.

[0039] Below, we will explain the control when the transport vehicle 2 proceeds from the first upstream area AU1 of the first running rail 3 or the second upstream area AU2 of the second running rail 4, via the lifting area AL, to the first downstream area AD1 of the first running rail 3 or the second downstream area AD2 of the second running rail 4.

[0040] In the following description, among the multiple guided vehicles 2, the target guided vehicle 2 may be referred to as the "target guided vehicle 2T," and the guided vehicles 2 other than the target guided vehicle 2T may be referred to as the "non-target guided vehicle 2N." Furthermore, of the first upstream area AU1 and the second upstream area AU2, the one where the target guided vehicle 2T is located may be referred to as the "target upstream area AUT," and the one where the target guided vehicle 2T is not located may be referred to as the "non-target upstream area AUN." Furthermore, of the first position P1 and the second position P2, the one corresponding to the target upstream area AUT may be referred to as the "target position PT," and the one different from the target position PT (i.e., the one corresponding to the non-target upstream area AUN) may be referred to as the "non-target position PN." Furthermore, of the first downstream area AD1 and the second downstream area AD2, the one where the target guided vehicle 2T passes may be referred to as the "target downstream area ADT," and the one where the target guided vehicle 2T does not pass may be referred to as the "non-target downstream area ADN."

[0041] As shown in Figure 5, when the target guided vehicle 2T reaches the precedence request section ZP (step #01), the target guided vehicle 2T transmits a precedence request signal Sdp to the higher-level control device 61 (particularly, the area control device 611 here) (step #02). Note that the target guided vehicle 2T continues to move forward even after transmitting the precedence request signal Sdp. When the higher-level control device 61 receives the precedence request signal Sdp from the target guided vehicle 2T, it determines whether or not to accept the precedence request.

[0042] If a non-target guided vehicle 2N is present on the lifting rail 51, the upper control device 61 determines not to respond to the advance request from the target guided vehicle 2T. In this case, the upper control device 61 gives priority to the operation of the lifting device 5 according to the path of the non-target guided vehicle 2N already on the lifting rail 51. Specifically, the upper control device 61 moves the lifting rail 51 to either the first position P1 or the second position P2, whichever position corresponds to the target downstream area ADT for the non-target guided vehicle 2N.

[0043] Furthermore, even if the host controller 61 has already received an entry request signal Sdi from the non-target guided vehicle 2N, it determines not to accept the precedence request from the target guided vehicle 2T. In this case, the host controller 61 gives priority to the operation of the lifting device 5 according to the route of the non-target guided vehicle 2N that has transmitted the received entry request signal Sdi. Specifically, the host controller 61 moves the lifting rail 51 to either the first position P1 or the second position P2, whichever position corresponds to the target upstream area AUT for the non-target guided vehicle 2N.

[0044] The upper control device 61 determines to accept the advance request from the target guided vehicle 2T when there is no non-target guided vehicle 2N on the lift rail 51 and when it has not received an entry request signal Sdi from the non-target guided vehicle 2N. In this case, the upper control device 61 returns an acceptance response signal Srp to the target guided vehicle 2T indicating that the advance request is accepted (step #03). Then, when accepting the advance request, if the lift rail 51 is not at the target position PT, the upper control device 61 generally executes a preliminary lift processing (step #04). Here, the preliminary lift processing is a processing that starts moving the lift rail 51 to the target position PT in advance before the target guided vehicle 2T arrives at the entry request section ZI.

[0045] When accepting a precedence request, if the lift rail 51 is already at the target position PT, the upper control device 61 will, in principle, maintain the position of the lift rail 51 at the target position PT.

[0046] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (step #05), the target guided vehicle 2T transmits an entry request signal Sdi to the higher-level control device 61 (step #06). After transmitting the entry request signal Sdi, the target guided vehicle 2T continues to proceed to the first stopping point Ps1 or the second stopping point Ps2. When the higher-level control device 61 receives the entry request signal Sdi from the target guided vehicle 2T, it determines whether or not to permit the entry request.

[0047] The upper control device 61 does not permit an entry request from the target guided vehicle 2T if the lift rail 51 is not yet at the target position PT. Furthermore, the upper control device 61 does not permit an entry request from the target guided vehicle 2T if a non-target guided vehicle 2N is on the lift rail 51. The upper control device 61 grants permission to the entry request from the target guided vehicle 2T if the lift rail 51 is at the target position PT and there is no non-target guided vehicle 2N on the lift rail 51. In this case, the upper control device 61 transmits an entry permission signal Sai to the target guided vehicle 2T (step #07).

[0048] When the target guided vehicle 2T receives the entry permission signal Sai from the upper controller 61, it passes the first stopping point Ps1 or the second stopping point Ps2 and enters the lift rail 51 (step #08). In addition, the target guided vehicle 2T transmits an exit request signal Sdo to the upper controller 61 (step #09). When the upper controller 61 receives the exit request signal Sdo from the target guided vehicle 2T, it determines whether or not to permit the exit request.

[0049] The upper control device 61 does not permit the exit request from the target guided vehicle 2T when the lift rail 51 is not yet at the position corresponding to the target downstream area ADT out of the first position P1 and the second position P2. The upper control device 61 permits the exit request from the target guided vehicle 2T when the lift rail 51 is at the position corresponding to the target downstream area ADT. In this case, the upper control device 61 transmits an exit permission signal Sao to the target guided vehicle 2T (step #10).

[0050] When the target guided vehicle 2T receives the exit permission signal Sao from the upper controller 61, it exits the lifting rail 51, enters the target downstream area ADT, and continues traveling (step #11).

[0051] When the target guided vehicle 2T passes the first exit point Po1 or the second exit point Po2 (for example, by reading an IC tag or barcode provided at the point), it transmits a main line entry notification signal Snr to the upper control device 61 notifying that it has entered the target downstream area ADT (step #12). Upon receiving this main line entry notification signal Snr, the upper control device 61 can determine that the target guided vehicle 2T has exited the lift rail 51 and actually entered the target downstream area ADT. Upon receiving the main line entry notification signal Snr, the upper control device 61 returns an entry response signal Srr to the target guided vehicle 2T indicating that it has received the signal (step #13).

[0052] In these cases, the target guided vehicle 2T retries transmission of the advance request signal Sdp, the entry request signal Sdi, the exit request signal Sdo, and the main line entry notification signal Snr as necessary. The target guided vehicle 2T repeatedly transmits the advance request signal Sdp to the upper control device 61 at a predetermined cycle until it receives an acceptance response signal Srp from the upper control device 61. Furthermore, the target guided vehicle 2T repeatedly transmits the entry request signal Sdi to the upper control device 61 at a predetermined cycle until it receives an entry permission signal Sai from the upper control device 61. Furthermore, the target guided vehicle 2T repeatedly transmits the exit request signal Sdo to the upper control device 61 at a predetermined cycle until it receives an exit permission signal Sao from the upper control device 61. Furthermore, the target guided vehicle 2T repeatedly transmits the main line entry notification signal Snr to the upper control device 61 at a predetermined cycle until it receives an entry response signal Srr from the upper control device 61.

[0053] If the upper control device 61 (particularly, the area control device 611 here) does not receive the main line entry notification signal Snr from the target guided vehicle 2T within a predetermined time after transmitting the exit permission signal Sao, the upper control device 61 (particularly, the integrated control device 612 here) refers to the estimated position of the target guided vehicle 2T that is grasped by the upper control device 61. Then, based on the estimated position of the target guided vehicle 2T, the upper control device 61 determines whether or not the target guided vehicle 2T has entered the target downstream area ADT.

[0054] In this embodiment, when accepting a precedence request from a target guided vehicle 2T, the host controller 61 is configured to exceptionally suspend the preliminary lifting / lowering process under certain conditions even if the lifting rail 51 is not at the target position PT. Specifically, if the host controller 61 receives an entry request signal Sdi from a non-target guided vehicle 2N after receiving a precedence request signal Sdp from the target guided vehicle 2T and before receiving an entry request signal Sdi from the target guided vehicle 2T, the host controller 61 suspends the preliminary lifting / lowering process even if the acceptance conditions are met. In this case, the host controller 61 prioritizes the operation of the lifting device 5 according to the path of the non-target guided vehicle 2N that sent the intervening entry request signal Sdi. Specifically, the host controller 61 moves the lifting rail 51 to either the first position P1 or the second position P2, whichever position corresponds to the target upstream area AUT for the non-target guided vehicle 2N.

[0055] Figures 6 to 11 show a specific example in which the target transport vehicle 2T moves from the upstream area AU1 / AU2 of the first running rail 3 or the second running rail 4, via the lifting area AL, to the downstream area AD1 / AD2 of the first running rail 3 or the second running rail 4.

[0056] [Example 1] 6 is a specific example in which a target guided vehicle 2T traveling in the first upstream area AU1 of the first traveling rail 3 passes through the lifting area AL and proceeds to the first downstream area AD1 of the first traveling rail 3. In Example 1, there are no other guided vehicles 2 on the lifting device 5 side of the target guided vehicle 2T, and the lifting rail 51 is initially empty and at the second position P2. In this example, the first upstream area AU1 is the target upstream area AUT, the first position P1 is the target position PT, the second position P2 is the non-target position PN, and the first downstream area AD1 is the target downstream area ADT.

[0057] When the target guided vehicle 2T reaches the precedence request section ZP (passes the first passing point Pp1), the target guided vehicle 2T transmits a precedence request signal Sdp. In this example, since the non-target guided vehicle 2N is not on the lifting rail 51, the lifting rail 51 is at the second position P2 which is the non-target position PN, and no other precedence request signal Sdp has been transmitted from the non-target guided vehicle 2N, the upper control device 61 controls the lifting device 5 via the lifting control device 62 to lift the lifting rail 51 to the first position P1 which is the target position PT (in other words, executes the preliminary lifting process).

[0058] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (passes the first entry point Pi1), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, since there is no non-target guided vehicle 2N on the lift rail 51, when the lift rail 51 reaches the first position P1, the upper control device 61 returns an entry permission signal Sai to the target guided vehicle 2T.

[0059] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as it enters the lift rail 51. In this example, the lift rail 51 is already at the first position P1, which is a position corresponding to the target downstream area ADT (first downstream area AD1 in this example), so the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T exits the lift rail 51 and travels again on the first traveling rail 3. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing the first exit point Po1, and the upper control device 61, having received this, returns an entry response signal Srr.

[0060] [Example 2] 7 is a specific example in which a target guided vehicle 2T traveling in the first upstream area AU1 of the first traveling rail 3 passes through the lifting area AL and proceeds to the second downstream area AD2 of the second traveling rail 4. In Example 2, there are no other guided vehicles 2 on the lifting device 5 side of the target guided vehicle 2T, and the lifting rail 51 is initially empty and at the second position P2. In this example, the first upstream area AU1 is the target upstream area AUT, the first position P1 is the target position PT, the second position P2 is the non-target position PN, and the second downstream area AD2 is the target downstream area ADT.

[0061] When the target guided vehicle 2T reaches the precedence request section ZP (passes the first passing point Pp1), the target guided vehicle 2T transmits a precedence request signal Sdp. In this example, since the non-target guided vehicle 2N is not on the lifting rail 51, the lifting rail 51 is at the second position P2 which is the non-target position PN, and no other precedence request signal Sdp has been transmitted from the non-target guided vehicle 2N, the upper control device 61 controls the lifting device 5 via the lifting control device 62 to lift the lifting rail 51 to the first position P1 which is the target position PT (in other words, executes the preliminary lifting process).

[0062] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (passes the first entry point Pi1), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, since there is no non-target guided vehicle 2N on the lift rail 51, when the lift rail 51 reaches the first position P1, the upper control device 61 returns an entry permission signal Sai to the target guided vehicle 2T.

[0063] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as entering the lift rail 51. In this example, the lift rail 51 is at a first position P1, which corresponds to the non-target downstream area ADN (in this example, the first downstream area AD1), so the upper control device 61 refrains from transmitting the exit permission signal Sao. Then, the upper control device 61 controls the lift device 5 via the lift control device 62 to lower the lift rail 51 on which the target guided vehicle 2T is riding to a second position P2, which corresponds to the target downstream area ADT (in this example, the second downstream area AD2). When the lift rail 51 reaches the second position P2, the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T withdraws from the lift rail 51 and travels along the second traveling rail 4. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing through the second exit point Po2, and the upper control device 61 receives this signal and returns an entry response signal Srr.

[0064] [Example 3] 8 is a specific example in which a target guided vehicle 2T traveling in the first upstream area AU1 of the first traveling rail 3 passes through the lifting area AL and proceeds to the second downstream area AD2 of the second traveling rail 4. In Example 3, there are no other guided vehicles 2 on the lifting device 5 side of the target guided vehicle 2T, and the lifting rail 51 is initially empty and at the first position P1. In this example, the first upstream area AU1 is the target upstream area AUT, the first position P1 is the target position PT, the second position P2 is the non-target position PN, and the second downstream area AD2 is the target downstream area ADT.

[0065] When the target guided vehicle 2T reaches the precedence request section ZP (passes the first passing point Pp1), the target guided vehicle 2T transmits a precedence request signal Sdp. In this example, since the lifting rail 51 is already at the first position P1, which is the target position PT, the upper control device 61 does not perform any new control on the lifting device 5, and keeps the lifting rail 51 at the first position P1.

[0066] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (passes the first entry point Pi1), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, since the lift rail 51 is already at the first position P1 and there is no non-target guided vehicle 2N on the lift rail 51, the upper control device 61 returns an entry permission signal Sai to the target guided vehicle 2T.

[0067] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as entering the lift rail 51. In this example, the lift rail 51 is at a first position P1, which corresponds to the non-target downstream area ADN (in this example, the first downstream area AD1), so the upper control device 61 refrains from transmitting the exit permission signal Sao. Then, the upper control device 61 controls the lift device 5 via the lift control device 62 to lower the lift rail 51 on which the target guided vehicle 2T is riding to a second position P2, which corresponds to the target downstream area ADT (in this example, the second downstream area AD2). When the lift rail 51 reaches the second position P2, the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T withdraws from the lift rail 51 and travels along the second traveling rail 4. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing through the second exit point Po2, and the upper control device 61 receives this signal and returns an entry response signal Srr.

[0068] [Example 4] 9 is a specific example in which a target guided vehicle 2T traveling in the first upstream area AU1 of the first traveling rail 3 passes through the lifting area AL and proceeds to the first downstream area AD1 of the first traveling rail 3. In Example 4, there are no other guided vehicles 2 on the first traveling rail 3 or the second traveling rail 4 on the lifting device 5 side of the target guided vehicle 2T, but the lifting rail 51 is descending toward the second position P2 with another guided vehicle 2 on board. In this example, the first upstream area AU1 is the target upstream area AUT, the first position P1 is the target position PT, the second position P2 is the non-target position PN, and the first downstream area AD1 is the target downstream area ADT.

[0069] When the target guided vehicle 2T reaches the precedence request section ZP (passes the first passing point Pp1), the target guided vehicle 2T transmits a precedence request signal Sdp. In this example, since the non-target guided vehicle 2N is already on the lifting rail 51, the upper control device 61 does not perform any new control on the lifting device 5, and allows the lifting rail 51 to continue descending to the second position P2.

[0070] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (passes the first entry point Pi1), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, the non-target guided vehicle 2N is on the lift rail 51, or even if not, the lift rail 51 is at least at the second position P2, which is the non-target position PN, so the upper level control device 61 withholds transmission of the entry permission signal Sai to the target guided vehicle 2T. During this time, the target guided vehicle 2T waits at the first stopping point Ps1. Eventually, when the lift rail 51, which has been vacated by the preceding non-target guided vehicle 2N exiting, rises and reaches the first position P1, which is the target position PT, the upper level control device 61 returns the entry permission signal Sai to the target guided vehicle 2T.

[0071] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as it enters the lift rail 51. In this example, the lift rail 51 is already at the first position P1, which is a position corresponding to the target downstream area ADT (first downstream area AD1 in this example), so the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T exits the lift rail 51 and travels again on the first traveling rail 3. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing the first exit point Po1, and the upper control device 61, having received this, returns an entry response signal Srr.

[0072] [Example 5] Example 5 shown in Figure 10 is a specific example in which a target guided vehicle 2T, which has been traveling in the second upstream area AU2 of the second traveling rail 4, passes through the lifting area AL and proceeds to the second downstream area AD2 of the second traveling rail 4. In Example 5, a non-target guided vehicle 2N is traveling on the first traveling rail 3 closer to the lifting device 5 (specifically, in the entry request section ZI) than the target guided vehicle 2T. In this example, the second upstream area AU2 is the target upstream area AUT, the second position P2 is the target position PT, the first position P1 is the non-target position PN, and the second downstream area AD2 is the target downstream area ADT.

[0073] When the target guided vehicle 2T reaches the preceding request section ZP (passes the second passing point Pp2), the target guided vehicle 2T transmits a preceding request signal Sdp. In this example, the preceding non-target guided vehicle 2N is already in the entry request section ZI, and an entry request signal Sdi has been transmitted from the non-target guided vehicle 2N, so the upper control device 61 does not perform any new control on the lifting device 5, but continues the movement of the lifting rail 51 based on the preceding request signal Sdp from the non-target guided vehicle 2N. In the example shown in the figure, the lifting rail 51 is raised toward the first position P1, which is the target position PT for the non-target guided vehicle 2N in the entry request section ZI.

[0074] Thereafter, when the target guided vehicle 2T reaches the entry request section ZI (passes the second entry point Pi2), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, since the preceding non-target guided vehicle 2N is on the lift rail 51, the upper control device 61 withholds transmission of an entry permission signal Sai to the target guided vehicle 2T. During this time, the target guided vehicle 2T waits at the second stopping point Ps2. Eventually, when the lift rail 51, which has become vacant after the preceding non-target guided vehicle 2N has exited, finally reaches the second position P2, which is the target position PT, the upper control device 61 transmits an entry permission signal Sai back to the target guided vehicle 2T.

[0075] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as it enters the lift rail 51. In this example, the lift rail 51 is already at the second position P2, which is a position corresponding to the target downstream area ADT (the second downstream area AD2 in this example), so the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T exits the lift rail 51 and travels again on the second traveling rail 4. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing the second exit point Po2, and the upper control device 61, having received this, returns an entry response signal Srr.

[0076] [Example 6] Example 6 shown in Figure 11 is a specific example in which a target guided vehicle 2T, which has been traveling in the second upstream area AU2 of the second traveling rail 4, passes through the lifting area AL and proceeds to the second downstream area AD2 of the second traveling rail 4. In Example 6, a non-target guided vehicle 2N is traveling on the first traveling rail 3 closer to the lifting device 5 (specifically, in the preceding request section ZP) than the target guided vehicle 2T. In this example, the second upstream area AU2 is the target upstream area AUT, the second position P2 is the target position PT, the first position P1 is the non-target position PN, and the second downstream area AD2 is the target downstream area ADT.

[0077] When the target guided vehicle 2T reaches the preceding request section ZP (passes the second passing point Pp2), the target guided vehicle 2T transmits a preceding request signal Sdp. In this example, since there is no non-target guided vehicle 2N on the lifting rail 51, the lifting rail 51 is at the first position P1 which is the non-target position PN, and the preceding non-target guided vehicle 2N has not yet transmitted a preceding request signal Sdp, the upper control device 61 controls the lifting device 5 via the lifting control device 62 to start lowering the lifting rail 51 to the second position P2 which is the target position PT (in other words, starts the preliminary lifting process).

[0078] However, in this example, shortly thereafter, the preceding non-target guided vehicle 2N will arrive at the entry request section ZI first (pass the first entry point Pi1) and will transmit the entry request signal Sdi first. The upper control device 61, which has received the entry request signal Sdi from the non-target guided vehicle 2N, suspends the preliminary lifting / lowering process for the target guided vehicle 2T and gives priority to controlling the operation of the lifting device 5 in response to the entry request from the non-target guided vehicle 2N. In this example, the upper control device 61 raises the lifting rail 51 to the first position P1, which is the target position PT for the non-target guided vehicle 2N. Then, it controls the operation of the lifting device 5 according to the subsequent course of the non-target guided vehicle 2N.

[0079] When the target guided vehicle 2T reaches the entry request section ZI (passes the second entry point Pi2), the target guided vehicle 2T transmits an entry request signal Sdi. In this example, since the preceding non-target guided vehicle 2N is on the lift rail 51, the upper control device 61 withholds transmission of an entry permission signal Sai to the target guided vehicle 2T. During this time, the target guided vehicle 2T waits at the second stopping point Ps2. Eventually, when the lift rail 51 reaches the second position P2, which is the target position PT, and the preceding non-target guided vehicle 2N exits, the upper control device 61 returns an entry permission signal Sai to the target guided vehicle 2T.

[0080] The target guided vehicle 2T transmits an exit request signal Sdo at the same time as it enters the lift rail 51. In this example, the lift rail 51 is already at the second position P2, which is a position corresponding to the target downstream area ADT (the second downstream area AD2 in this example), so the upper control device 61 returns an exit permission signal Sao to the target guided vehicle 2T. Thereafter, the target guided vehicle 2T exits the lift rail 51 and travels again on the second traveling rail 4. At this time, the target guided vehicle 2T transmits a main line entry notification signal Snr when passing the second exit point Po2, and the upper control device 61, having received this, returns an entry response signal Srr.

[0081] Other Embodiments (1) In the above embodiment, an example has been described in which, when the control system 6 receives an entry request signal Sdi from a non-target guided vehicle 2N after a preceding request from the target guided vehicle 2T, the control system 6 prioritizes the operation of the lifting device 5 according to the path of the non-target guided vehicle 2N. However, the present invention is not limited to such a configuration. For example, the control system 6 may be configured to prioritize the request that was received first (the preceding request from the target guided vehicle 2T). Alternatively, the control system 6 may determine the priority of each process so that each process is performed in the order that minimizes the total processing time.

[0082] (2) In the above embodiment, an example has been described in which the control system 6 includes the host control device 61 and the lift control device 62. However, the present invention is not limited to such a configuration, and the control system 6 may further include other functional units, or may include a functional unit that serves as both the host control device 61 and the lift control device 62.

[0083] (3) In the above embodiment, an example has been described in which the transport vehicle 2, the upper control device 61, and the lifting control device 62 are configured to be able to communicate with each other via wireless communication using radio waves, and the lifting device 5 and the lifting control device 62 are configured to be able to communicate with each other via wired communication using a communication cable. However, the present invention is not limited to such a configuration, and various communication methods can be arbitrarily adopted as the communication method between the devices.

[0084] (4) In the above embodiment, an example has been described in which the target guided vehicle 2T transmits a main line entry notification signal Snr when passing the first exit point Po1 or the second exit point Po2, and upon receiving the signal, the upper control device 61 determines that the target guided vehicle 2T has completed entry into the target downstream area ADT. However, the present invention is not limited to such a configuration, and the target guided vehicle 2T may be configured not to transmit the main line entry notification signal Snr. In this case, whether the target guided vehicle 2T has entered the target downstream area ADT may be determined based on the estimated position of the target guided vehicle 2T recognized by the integrated control device 612. Alternatively, an occupancy sensor similar to the third sensor Se3 may be installed near the entrances to the first downstream area AD1 of the first traveling rail 3 and the second downstream area AD2 of the second traveling rail 4.

[0085] (5) In the above embodiment, a configuration has been described assuming that the traveling direction of the guided vehicle 2 on the first traveling rail 3 and the traveling direction of the guided vehicle 2 on the second traveling rail 4 are the same. However, the present invention is not limited to such a configuration, and the traveling direction of the guided vehicle 2 on the first traveling rail 3 and the second traveling rail 4 may be opposite. In this case, the first upstream area AU1 and the second downstream area AD2 are located on one side of the lifting area AL, and the first downstream area AD1 and the second upstream area AU2 are located on the other side of the lifting area AL. When the lifting device 5 moves the guided vehicle 2 between the first traveling rail 3 and the second traveling rail 4, the guided vehicle 2 makes a U-turn while changing its vertical position at the position of the lifting area AL.

[0086] (6) In the above embodiment, the area control device 611 and the lift control device 62 are implemented in the first control unit CU1, and the integrated control device 612 is implemented in the second control unit CU2. However, the present invention is not limited to such a configuration. For example, the area control device 611 and the integrated control device 612 may be implemented in the first control unit, and the lift control device 62 may be implemented in the second control unit. Alternatively, the area control device 611, the integrated control device 612, and the lift control device 62 may all be implemented in a single control unit. Alternatively, the area control device 611, the integrated control device 612, and the lift control device 62 may each be implemented in an independent control unit. In this way, the control system 6 can employ any hardware configuration with any specifications as long as it performs the required functions as a whole.

[0087] (7) The configurations disclosed in the above-described embodiments (including the above-described embodiments and other embodiments; the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are illustrative in all respects and can be appropriately modified within the scope of the present disclosure.

[0088] [Outline of the embodiment] To summarize the above, the article transport equipment according to the present disclosure preferably has the following configurations.

[0089] An article conveying facility, a plurality of transport vehicles for transporting articles; a first traveling rail on which the transport vehicle travels; a second traveling rail disposed below the first traveling rail and on which the transport vehicle travels; a lifting device that lifts and lowers the transport vehicle between the first traveling rail and the second traveling rail; a control system for controlling the transport vehicle and the lifting device, the first traveling rail is divided into a first upstream region upstream of a lifting region in which the lifting device is disposed and a first downstream region downstream of the lifting region, the second traveling rail is divided into a second upstream region upstream of the lifting region and a second downstream region downstream of the lifting region, the lifting device includes a lifting rail on which the transport vehicle can travel and which moves up and down in the lifting area; When the lifting rail is in a first position, it connects the first upstream region and the first downstream region of the first traveling rail, and when the lifting rail is in a second position, it connects the second upstream region and the second downstream region of the second traveling rail; the transport vehicle is configured to transmit an entry request signal to the control system requesting permission to enter the lifting rail when the transport vehicle is in an entry request section set in each of the first upstream area and the second upstream area, and to transmit a precedence request signal to the control system when the transport vehicle is in a precedence request section set upstream of the entry request section in each of the first upstream area and the second upstream area, Among the plurality of transport vehicles, the transport vehicle to be targeted is designated as a target transport vehicle, and the transport vehicles other than the target transport vehicle are designated as non-target transport vehicles; one of the first upstream region and the second upstream region where the target guided vehicle is located is defined as a target upstream region; Of the first position and the second position, the one corresponding to the target upstream region is defined as a target position, and the other position different from the target position is defined as a non-target position, The control system includes: when receiving the entry request signal from the target guided vehicle, transmitting an entry permission signal to the target guided vehicle to permit it to enter the elevator rail, on condition that the elevator rail is at the target position and the non-target guided vehicle is not on the elevator rail; When the advance request signal is received from the target transport vehicle, provided that the non-target transport vehicle is not on the lift rail and the entry request signal has not been received from the non-target transport vehicle, if the lift rail is not at the target position, a pre-lifting process is executed to move the lift rail to the target position.

[0090] According to this configuration, when the target guided vehicle is in a preceding request section upstream of the entry request section, a preceding request signal is transmitted to the control system prior to an entry request signal. This allows the control system to know in advance that the target guided vehicle is about to pass through the elevator rail. When the elevator rail is not at the target position, the control system that receives the preceding request signal can move the elevator rail to the target position in advance without interfering with the travel of the non-target guided vehicle. This reduces the time the target guided vehicle must wait in front of the elevator rail until it is able to enter, thereby improving the efficiency of the travel of the target guided vehicle in the elevator area. This improves the transport efficiency of the entire item transport facility.

[0091] In one embodiment, When the control system receives the advance request signal from the target transport vehicle, it is preferable that, if the lift rail is at the target position, the control system maintains the position of the lift rail at the target position, provided that the control system has not received the entry request signal from the non-target transport vehicle.

[0092] According to this configuration, when the lift rail is in the target position, the control system that receives the precedence request signal maintains the lift rail at the target position, preparing for the travel of the target guided vehicle while not interfering with the travel of the non-target guided vehicle. Therefore, regardless of the position of the lift rail when the target guided vehicle reaches the precedence request section, the time that the target guided vehicle that is about to pass through the lift rail must wait in front of the lift rail can be shortened, and the travel of the target guided vehicle in the lift area can be made more efficient.

[0093] In one embodiment, The control system includes: When the non-target guided vehicle is on the lifting rail, the operation of the lifting device according to the path of the non-target guided vehicle on the lifting rail takes priority over the preliminary lifting process; When the non-target transport vehicle is not on the lifting rail, if the entry request signal is received from the non-target transport vehicle after receiving the advance request signal from the target transport vehicle and before receiving the entry request signal from the target transport vehicle, it is preferable to give priority to the operation of the lifting device in accordance with the path of the non-target transport vehicle over the advance lifting process.

[0094] This configuration reduces the possibility that the execution of the preliminary lifting / lowering process will in fact hinder the travel of non-target transport vehicles attempting to pass through the lifting rail, thereby improving the efficiency of the travel of all of the multiple transport vehicles, including not only the target transport vehicle but also the non-target transport vehicles, and improving the transport efficiency of the entire article transport facility.

[0095] In one embodiment, Of the first downstream area and the second downstream area, the area through which the target guided vehicle passes is defined as a target downstream area, The target transport vehicle is Entering the lift rail on the condition that the entry permission signal is received, After entering the lifting rail, an exit request signal is transmitted to the control system to request permission to enter the target downstream area; The control system includes: when receiving the exit request signal from the target guided vehicle, transmitting an exit permission signal to the target guided vehicle to permit it to enter the target downstream area, on condition that the lift rail is at one of the first position and the second position, which corresponds to the target downstream area; The target transport vehicle is It is preferable that the vehicle exits the lift rail and enters the target downstream area on the condition that the exit permission signal is received.

[0096] According to this configuration, the target guided vehicle can be caused to enter the lift rail appropriately and then proceed to the target downstream area, thereby allowing the target guided vehicle to pass through the lift rail appropriately.

[0097] In one embodiment, After exiting the lift rail, the target guided vehicle preferably transmits a main line entry notification signal to the control system to notify the control system that the target guided vehicle has entered the target downstream area.

[0098] With this configuration, the control system can know that the target guided vehicle has exited the lift rail and actually entered the target downstream area by receiving the main line entry notification signal. Therefore, it is not necessary to install presence sensors to detect the presence or absence of a guided vehicle in the first downstream area and the second downstream area, which can reduce costs.

[0099] In one embodiment, The control system is capable of grasping the estimated positions of each of the multiple transport vehicles along the transport route, and if, after sending the exit permission signal to the target transport vehicle, the main line entry notification signal is not received from the target transport vehicle within a predetermined time, it is preferable to determine whether the target transport vehicle is entering the target downstream area based on the estimated position of the target transport vehicle.

[0100] This configuration makes it possible to avoid the control system from mistakenly determining that the transport vehicle has not yet entered the target downstream area when it is unable to receive the main line entry notification signal due to a communication error, etc. This prevents a decrease in the transport efficiency of the entire article transport facility.

[0101] In one embodiment, the control system includes a lifting control device that controls the lifting device, and a host control device that controls the plurality of transport vehicles and the lifting control device, It is preferable that the transport vehicle transmits and receives signals to and from the host control device by wireless communication using radio waves.

[0102] According to this configuration, signals are transmitted and received between the host control device and the multiple transport vehicles via wireless radio communication, allowing for appropriate control of each transport vehicle. Furthermore, the position information of each transport vehicle can be acquired without the need to separately install hardware constituting a communication device, such as an optical communication device. This eliminates hardware constraints, increasing the degree of freedom in setting the entry request section and the preceding request section, and reducing the cost of the product transport equipment.

[0103] It is sufficient for the article transport facility according to the present disclosure to achieve at least one of the above-described effects. [Explanation of symbols]

[0104] 1. Goods transport equipment 2 Transport vehicles 2T target transport vehicle 2N Asymmetrical transport vehicle 3 First running rail 4 Second running rail 5 Lifting device 6. Control System 51 Lifting rail 61 Upper control device 62 Lifting control device 611 Area Control Device 612 Integrated Control Device B Goods AU1 1st upstream area AU2 Second upstream area AUT target upstream area AD1 1st downstream area AD2 2nd downstream area ADT target downstream area AL Lifting area ZI approach request section ZP Preceding request section P1 1st position P2 2nd position PT target position PN Non-symmetric position Sdp advance request signal SDI entry request signal SDO Exit Request Signal Snr Local line enters notification signal Sai Entry Permission Signal Sao Exit Permission Signal

Claims

1. a plurality of transport vehicles for transporting articles; a first traveling rail on which the transport vehicle travels; a second traveling rail disposed below the first traveling rail and on which the transport vehicle travels; a lifting device that lifts and lowers the transport vehicle between the first traveling rail and the second traveling rail; a control system for controlling the transport vehicle and the lifting device, the first traveling rail is divided into a first upstream region upstream of a lifting region in which the lifting device is disposed and a first downstream region downstream of the lifting region, the second traveling rail is divided into a second upstream region upstream of the lifting region and a second downstream region downstream of the lifting region, the lifting device includes a lifting rail on which the transport vehicle can travel and which moves up and down in the lifting area; When the lifting rail is in a first position, it connects the first upstream region and the first downstream region of the first traveling rail, and when the lifting rail is in a second position, it connects the second upstream region and the second downstream region of the second traveling rail, the transport vehicle is configured to transmit an entry request signal to the control system requesting permission to enter the lifting rail when the transport vehicle is in an entry request section set in each of the first upstream area and the second upstream area, and to transmit a precedence request signal to the control system when the transport vehicle is in a precedence request section set upstream of the entry request section in each of the first upstream area and the second upstream area, Among the plurality of transport vehicles, the transport vehicle to be targeted is designated as a target transport vehicle, and the transport vehicles other than the target transport vehicle are designated as non-target transport vehicles; one of the first upstream region and the second upstream region where the target guided vehicle is located is defined as a target upstream region; Of the first position and the second position, the one corresponding to the target upstream region is defined as a target position, and the other position different from the target position is defined as a non-target position, The control system includes: when receiving the entry request signal from the target guided vehicle, transmitting an entry permission signal to the target guided vehicle to permit it to enter the elevator rail, on condition that the elevator rail is at the target position and the non-target guided vehicle is not on the elevator rail; When the advance request signal is received from the target transport vehicle, if the non-target transport vehicle is not on the lift rail and the entry request signal has not been received from the non-target transport vehicle, and if the lift rail is not at the target position, a pre-lifting process is performed to move the lift rail to the target position.

2. 2. The article transport facility according to claim 1, wherein when the control system receives the advance request signal from the target transport vehicle, it maintains the position of the lift rail at the target position if the lift rail is at the target position, provided that it has not received the entry request signal from the non-target transport vehicle.

3. The control system includes: When the non-target guided vehicle is on the lifting rail, the operation of the lifting device according to the path of the non-target guided vehicle on the lifting rail takes priority over the preliminary lifting process; 2. The article transport equipment according to claim 1, wherein, when the non-target transport vehicle is not on the lifting rail, if the entry request signal is received from the non-target transport vehicle after the advance request signal is received from the target transport vehicle but before the entry request signal is received from the target transport vehicle, the operation of the lifting device according to the path of the non-target transport vehicle takes priority over the advance lifting process.

4. Of the first downstream area and the second downstream area, the area through which the target guided vehicle passes is defined as a target downstream area, The target transport vehicle is Entering the lift rail on the condition that the entry permission signal is received, After entering the lifting rail, an exit request signal is transmitted to the control system to request permission to enter the target downstream area; The control system includes: when receiving the exit request signal from the target guided vehicle, transmitting an exit permission signal to the target guided vehicle to permit it to enter the target downstream area, on condition that the lift rail is at one of the first position and the second position, which corresponds to the target downstream area; The target transport vehicle is The article transport facility according to claim 1 , wherein the article transport facility exits the lift rail and enters the target downstream area on the condition that the exit permission signal is received.

5. The article transport facility according to claim 4 , wherein the target transport vehicle, after exiting the lift rail, transmits a main line entry notification signal to the control system to notify the control system that the target transport vehicle has entered the target downstream area.

6. 6. The article transport facility according to claim 5, wherein the control system is capable of grasping the estimated positions of each of the plurality of transport vehicles along the transport route, and if the main line entry notification signal is not received from the target transport vehicle within a predetermined time after sending the exit permission signal to the target transport vehicle, the control system determines whether the target transport vehicle is entering the target downstream area based on the estimated position of the target transport vehicle.

7. the control system includes a lifting control device that controls the lifting device, and a host control device that controls the plurality of transport vehicles and the lifting control device, The article transport facility according to claim 1 , wherein the transport vehicle transmits and receives signals to and from the host control device via wireless communication using radio waves.

Images