Transport System

Abstract

Provided is a transport system comprising transport vehicles and management control devices. In this invention, the transport vehicles transport goods by driving along a path. The management control device assigns to the transport vehicles a command to transport goods. The transport system comprises a route selection unit, a counting unit, and an adjustment unit. The route selection unit selects, on the basis of the transport command, a route on which the transport vehicles are to drive such that the cost of the route from origin to destination is minimized. The counting unit counts the number of transport vehicles entering a set area that has been set for the path. If an aggregate count value aggregating the numbers counted by the counting unit in an aggregation period exceeds a first threshold value, the adjustment unit increases the cost of a route that passes through the set area.

Description

[Technical Field]

[0001] The present invention mainly relates to a transport system including a transport vehicle and a control device. [Background technology]

[0002] Patent Document 1 discloses an article transport facility. The article transport facility includes an article transport vehicle that transports articles, and a control device that controls the article transport vehicle. The article transport vehicle is capable of traveling along a travel path. The control device determines a travel path for the article transport vehicle based on link cost. Link cost is a cost set for each link that makes up the travel path. The control device sets a travel path for the article transport vehicle by selecting links that reduce the link cost. Patent Document 1 also describes increasing the link cost depending on the number of other article transport vehicles present on the link. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-76970 Summary of the Invention [Problem to be solved by the invention]

[0004] The article transport equipment of Patent Document 1 determines whether to increase link costs based on the congestion status of each link only at the time the route is set. However, there is a possibility that link congestion status cannot be adequately estimated based on information only at a single point in time. For example, even if a link is congested at a certain point in time, the congestion may resolve naturally. In such a situation, increasing link costs will result in a detour route being set, reducing transport efficiency.

[0005] The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a transportation system that accurately determines the congestion state and performs processing to alleviate the congestion.

[0006] The problem to be solved by the present invention is as described above. Next, the means for solving this problem and the effects thereof will be explained.

[0007] According to an aspect of the present invention, there is provided a conveyance system having the following configuration. Specifically, the conveyance system includes a conveyance vehicle and a management control device. The conveyance vehicle conveys an item by traveling along a track. The management control device assigns a conveyance command for the item to the conveyance vehicle. The conveyance system includes a route selection unit, a counting unit, and an adjustment unit. The route selection unit selects a route for the conveyance vehicle to travel based on the conveyance command so as to minimize the cost of the route from the departure point to the destination. The counting unit counts the number of the conveyance vehicles entering a set area set on the track. The adjustment unit increases the cost of the route passing through the set area when a count aggregation value obtained by aggregating the number of counts by the counting unit during an aggregation period exceeds a first threshold. Processing devices are arranged along the track. The processing devices process the items transported by the transport vehicles. The area defined by the track includes a processing area and a connection area. The processing area is an area where the processing devices are arranged. The connection area connects the processing areas. The connection area includes a first line, a second line, a connection path, and a shortcut. The second line is arranged parallel to the first line. The connection path connects ends of the first line and the second line on the same side. The shortcut is provided separately from the connection path and connects a midpoint of the first line and a midpoint of the second line. The set area includes at least a portion of the processing area closest to the shortcut among the multiple processing areas. The counting unit counts the number of transport vehicles entering the set area from the connection area.

[0008] The count total is data on congestion from the past up to the time of calculation, and is therefore an effective indicator of the occurrence of congestion for transport vehicles. Therefore, by increasing the cost of passing through the route based on the count total, the congestion situation can be accurately determined and congestion for transport vehicles can be alleviated. Furthermore, since it is expected that many guided vehicles will travel in the connection area, congestion is likely to occur as the number of guided vehicles entering the set area from the connection area increases. Therefore, by counting the number of guided vehicles as described above, congestion can be alleviated. Furthermore, since shortcuts exist, many guided vehicles will pass through the shortcuts, resulting in deviations in the trajectories on which the guided vehicles travel. This makes congestion more likely to occur, so the congestion alleviation function can be effectively utilized.

[0009] The above-described transport system is preferably configured as follows: the adjustment unit determines whether the count total value in a first collection period exceeds the first threshold, and then determines whether the count total value in a second collection period exceeds the threshold, and a portion of the first collection period and a portion of the second collection period overlap in time.

[0010] This allows changes in the congestion status of transport vehicles to be detected earlier than when the first and second counting periods do not overlap in time.

[0011] In the above-described conveying system, it is preferable that the adjustment unit increases the cost of the route passing through the set area when the count aggregate value exceeds the first threshold value and the number of conveying vehicles located in the set area exceeds a second threshold value.

[0012] This allows the current congestion situation to be taken into further consideration when making a judgment, so that the congestion situation can be judged more accurately and congestion in the transport vehicle can be alleviated.

[0013] The transport system is preferably configured as follows: a plurality of set areas are set, and the counting unit counts the number of transport vehicles that enter each set area.

[0014] This will help alleviate congestion at multiple locations.

[0019] The above-described conveyance system is preferably configured as follows. That is, the connection area includes an intermediate connection area, a first connection area, and a second connection area. The intermediate connection area includes the first line, the second line, the connection line, and the shortcut. The first connection area is disposed on a first side of the intermediate connection area in a plan view. The second connection area is disposed on a second side opposite the first side of the intermediate connection area in a plan view. The processing area includes a plurality of first processing areas and a plurality of second processing areas. The first processing area is connected to the first connection area and to the first line of the intermediate connection area. The second processing area is connected to the second connection area and to the second line of the intermediate connection area. The set area includes at least one first processing area closest to the shortcut and at least one second processing area closest to the shortcut.

[0020] Since transport vehicles heading from the first connection area to the second connection area mainly take shortcuts and pass through processing areas near the shortcuts, congestion is likely to occur in these processing areas. Therefore, by including these processing areas in the set area, congestion can be appropriately alleviated. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a block diagram of a transport system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic side view showing the configuration of the transport vehicle. [Figure 3] FIG. 2 is a schematic plan view showing each area formed by the track. [Figure 4] FIG. 10 is a schematic plan view showing the lines that make up the intermediate connection area and the processing area where congestion is likely to occur. [Figure 5] 10 is a flowchart showing a process of determining congestion and alleviating congestion. [Figure 6] 10 is a time chart showing the time taken for counting numbers to be collected; [Figure 7] FIG. 10 is a schematic plan view showing a route along which a transport vehicle will travel after a process for reducing congestion has been performed. DETAILED DESCRIPTION OF THE INVENTION

[0022] The transport system 1 shown in FIG. 1 is installed in a facility such as a semiconductor manufacturing factory or a logistics warehouse, and transports items. The items transported by the transport system 1 are containers that house wafers (semiconductor wafers). Specifically, the containers are FOUPs (Front-Opening Unified Pods) or wafer cassettes. The items may also be reticle pods that house reticles. When the transport system 1 is installed in a logistics warehouse, the items are products, parts, or the like stored in the logistics warehouse.

[0023] As shown in FIGS. 1 and 2, the conveyance system 1 includes a management control device 10, a conveyance vehicle 20, and a track 30.

[0024] The management control device 10 is a computer having an arithmetic unit such as a CPU, a storage device such as an HDD, SSD, or flash memory, and a communication device. The management control device 10 can execute various controls related to the transportation and processing of goods by reading and executing programs stored in the storage device. The above hardware and software work together to enable the computer to operate as a route selection unit 11, a counting unit 12, and an adjustment unit 13. The operations of these units will be described later.

[0025] The management control device 10 can use a communication device to send a transport command to the transport vehicle 20. The transport command is a command requesting the transport vehicle 20 to transport an item. The transport command includes, for example, a recipient of the item and a delivery destination of the item.

[0026] In this embodiment, the conveyance system 1 includes a plurality of management control devices 10. Each management control device 10 manages a plurality of conveyance vehicles 20. Each management control device 10 can wirelessly communicate with the conveyance vehicles 20 that it manages. Note that the conveyance system 1 may include only one management control device 10.

[0027] The transport vehicle 20 is an OHT (Overhead Hoist Transfer). The transport vehicle 20 is an unmanned vehicle that travels along a track 30 suspended from a ceiling 100 to perform a transport operation of transporting an article. The transport system 1 includes a plurality of transport vehicles 20.

[0028] The semiconductor manufacturing factory is provided with a plurality of processing devices 91. The processing devices 91 are arranged near the track 30 and are accessible by the transport vehicle 20 traveling along the track 30.

[0029] The processing device 91 has a placement unit 92 that receives the item 40 from the transport vehicle 20. The processing device 91 takes in the item 40 placed on the placement unit 92 and performs processing (for example, one process for manufacturing a semiconductor device) on the wafer contained in the item 40. When the transport system 1 is applied to a logistics warehouse or the like instead of a semiconductor factory, a storage shelf or the like for storing the item 40 is provided instead of the processing device 91.

[0030] The following provides a further detailed description of the configuration of the transport vehicle 20. As shown in Figures 1 and 2, the transport vehicle 20 includes a transport control device 21, a traveling unit 22, a transport unit 23, and a housing .

[0031] The transport control device 21 is a computer having an arithmetic unit such as a CPU, a storage device such as an HDD, an SSD, or a flash memory, and a communication device. The transport control device 21 controls each part of the transport vehicle 20 by reading and executing a program stored in the storage device. The communication device can communicate with the management control device 10 via wired or wireless communication.

[0032] The traveling unit 22 includes a traveling motor and wheels. The traveling motor generates a rotational driving force under the control of the transport control device 21. The rotational driving force generated by the traveling motor rotates the wheels, causing the transport vehicle 20 to travel along the track 30.

[0033] The conveying unit 23 includes a winding mechanism 24, a hanging belt 25, and a gripping unit 26. The winding mechanism 24 includes a lifting motor. The winding mechanism 24 can wind and unwind the hanging belt 25 using the driving force generated by the lifting motor. The gripping unit 26 is connected to the lower end of the hanging belt 25. The gripping unit 26 can be switched between a state in which it grips the item 40 and a state in which it releases its grip on the item 40.

[0034] With this configuration, the article 40 can be received by lowering the article 40 using the hanging belt 25 and gripping the article 40 using the gripping unit 26. Furthermore, after the transport vehicle 20 arrives at the destination, the article 40 can be handed over to the loading unit 92 by lowering the article 40 using the hanging belt 25 and releasing the grip of the article 40 by the gripping unit 26.

[0035] The gripping unit 26 may grip the side or bottom surface of the article 40. The transport unit 23 is not limited to a configuration that grips and transports the article 40, but may also be configured to have a transport platform on which the article 40 is placed and transported.

[0036] Next, the layout of the track 30 of this embodiment will be described with reference to FIG.

[0037] In this embodiment, the track 30 is one-way, and the travel direction of the transport vehicle 20 is predetermined. The arrows shown in Fig. 3 indicate the travel direction of each track 30. Note that the track 30 is not limited to being one-way, and may be capable of travelling in both directions.

[0038] The area defined by the track 30 can be divided into a processing area and a connection area. The processing area is an area primarily used to process items 40, and is an area where processing equipment 91 are arranged along the track 30. Note that the main purpose of the processing area is to process items 40, and the processing area may also be used auxiliary to transport items 40. The processing area includes multiple intrabays. An intrabay is an area where the load ports of multiple processing equipment 91 are arranged facing each other. The connection area is an area that connects processing areas, and is an area primarily used to transport items 40. Note that the main purpose of the connection area is to transport items 40, and a small number of processing equipment 91 may be arranged in the connection area. The connection area includes multiple interbays. An interbay is an orbital track connected to multiple intrabays.

[0039] As shown in FIG. 3 , the conveyance system 1 includes a first connection region 41, a second connection region 42, and an intermediate connection region 43 as connection regions. The first connection region 41, the second connection region 42, and the intermediate connection region 43 each correspond to an interbay. In a plan view, the first connection region 41 is disposed on a first side (upper side in the figure) across the intermediate connection region 43, and the second connection region 42 is disposed on a second side (lower side in the figure) opposite the first side across the intermediate connection region 43. In this embodiment, the distance from the first connection region 41 to the intermediate connection region 43 is the same as the distance from the second connection region 42 to the intermediate connection region 43, but they may be different. The number of connection regions may be one, two, or four or more. The longitudinal directions of the first connection region 41, the second connection region 42, and the intermediate connection region 43 are parallel to each other. Alternatively, the longitudinal directions of at least two of the multiple connection regions may be perpendicular in a plan view.

[0040] 3, the transfer system 1 includes, as processing regions, a plurality of first processing regions 45 and a plurality of second processing regions 46. Each of the first processing region 45 and the second processing region 46 corresponds to an intrabay.

[0041] The first processed region 45 is disposed between the first connection region 41 and the intermediate connection region 43 in a plan view, and is connected to both the first connection region 41 and the intermediate connection region 43. The first processed regions 45 are arranged side by side in one direction (the longitudinal direction of the first connection region 41, etc.).

[0042] The second processing region 46 is disposed between the second connection region 42 and the intermediate connection region 43 in a plan view, and is connected to both the second connection region 42 and the intermediate connection region 43. The second processing regions 46 are disposed side by side in one direction (the longitudinal direction of the first connection region 41, etc.). Furthermore, the longitudinal direction of the first processing region 45 and the second processing region 46 is perpendicular to the longitudinal direction of the first connection region 41, etc.

[0043] Next, the intermediate connection area 43 will be described in more detail with reference to FIG. 4, and the cause of congestion of the transporting vehicles 20 will be described.

[0044] As shown in FIG. 4, the intermediate connection area 43 includes a first line 43a, a second line 43b, a connection line 43c, and a shortcut 43d.

[0045] The first line 43a is a track 30 arranged along the longitudinal direction of the intermediate connection region 43. The first line 43a may include a path that is inclined or curved with respect to the longitudinal direction of the intermediate connection region 43. In this embodiment, the first lines 43a are arranged in pairs. By arranging the first lines 43a in pairs, the transport of the articles 40 can be performed efficiently. For example, when the first first line 43a is congested, the transport vehicle 20 can avoid the congestion by using the second first line 43a, thereby shortening the transport time of the articles 40. The second line 43b is a track 30 arranged parallel to the first line 43a. Any description regarding the first line 43a also applies to the second line 43b unless a contradiction arises.

[0046] The connecting paths 43c are arranged on one and the other longitudinal sides (left and right sides in FIG. 4) of the first line 43a and the second line 43b, respectively. One connecting path 43c is a track 30 that connects the ends of the first line 43a and the second line 43b on one side in the longitudinal direction. The other connecting path 43c is a track 30 that connects the ends of the first line 43a and the second line 43b on the other side in the longitudinal direction.

[0047] The shortcut 43d is a track 30 that connects a midway portion of the first track 43a in the longitudinal direction with a midway portion of the second track 43b in the longitudinal direction. The shortcut 43d is a route for shortening the travel distance of the transport vehicle 20 when transporting the article 40.

[0048] When the guided vehicle 20 heads from the first connection area 41 to the second connection area 42, it passes through the intermediate connection area 43. More specifically, the guided vehicle 20 travels to the second connection area 42 via the first connection area 41, the first processing area 45, the first track 43a, the second track 43b, and the second processing area 46. When moving from the first track 43a to the second track 43b, it passes through the connection path 43c or the shortcut 43d. However, the shortcut 43d is frequently selected in order to shorten the travel distance of the guided vehicle 20. When heading from the second connection area 42 to the first connection area 41, the guided vehicle 20 passes through the above-mentioned areas or passages in reverse order.

[0049] Here, shortcuts 43d are not provided for all first processing regions 45 (or second processing regions 46). In other words, the intervals at which shortcuts 43d are provided are longer than the intervals at which first processing regions 45 (or second processing regions 46) are provided. Therefore, after passing through a shortcut 43d, the transport vehicle 20 often travels to the second connection region 42 via a specific second processing region 46 closest to the shortcut 43d (for example, the second processing region 46 shown on the right side of FIG. 4). As a result, congestion occurs in the specific second processing region 46, causing the transport vehicle 20 to stop or move slowly, resulting in reduced transport efficiency. Similarly, when the transport vehicle 20 travels from the second connection region 42 to the first connection region 41, it often travels to the first connection region 41 via a specific first processing region 45 closest to the shortcut 43d. As a result, congestion is likely to occur in this specific first processing region 45.

[0050] Next, the process of determining congestion and alleviating congestion will be described with reference to FIGS.

[0051] Each management control device 10 of this embodiment manages one first processing area 45 (or one second processing area 46). As described above, each management control device 10 manages the guided vehicles 20 within the area that it manages.

[0052] When it becomes necessary to transport an article 40 by a transport vehicle 20, the management control device 10 transmits a transport command to the transport vehicle 20 that it manages. Furthermore, the route selection unit 11 of the management control device 10 selects a route that the transport vehicle 20 will take from the departure point to the destination.

[0053] Specifically, the route selection unit 11 selects a route using costs. Route search using costs is well known, so it will be explained briefly below. A cost is set for each route. For example, the longer the route, the higher the cost of that route. Also, even if the route length is the same, the cost of a curved route is higher than the cost of a straight route. The route selection unit 11 selects a route so that the total cost of the route from the departure point to the destination is minimized.

[0054] In this embodiment, a predetermined area is set, and congestion in that area is determined. Hereinafter, this area will be referred to as a set area. In this embodiment, all first processing areas 45 are individually set as set areas, and all second processing areas 46 are individually set as set areas. Note that only a specific first processing area 45 or a specific second processing area 46 may be set as a set area. For example, it is preferable to set at least the first processing area 45 and second processing area 46 closest to the shortcut 43d (the first one passed through after passing through the shortcut 43d) as set areas.

[0055] Each management control device 10 performs the process shown in Fig. 5 for the first processing area 45 or the second processing area 46 that it manages. First, the counting unit 12 of the management control device 10 counts the number of guided vehicles 20 entering the set area (S101). For example, the counting unit 12 determines that a guided vehicle 20 has entered the set area when the guided vehicle 20 passes through the entry route 46a shown in Fig. 4. The entry route 46a is a route that connects the intermediate connection area 43 and the second processing area 46. However, counting may also be performed based on whether or not the guided vehicle 20 has passed through a predetermined position downstream of the entry route 46a.

[0056] There are various methods by which the counting unit 12 can detect the passage of the guided vehicles 20 along the entry route 46a. For example, for guided vehicles 20 managed by the management control device 10, the counting unit 12 can grasp the position of the guided vehicles 20 based on the control content. Furthermore, for guided vehicles 20 managed by another management control device 10, the counting unit 12 can grasp the position of the guided vehicles 20 based on a notification from the other management control device 10 or a higher-level control device. Alternatively, a sensor that detects the guided vehicles 20 may be provided on the entry route 46a, and the counting unit 12 may count the guided vehicles 20 that have passed along the entry route 46a based on the detection result of this sensor. Furthermore, the counting unit 12 may count the guided vehicles 20 that have passed along the entry route 46a based on position information received from the guided vehicles 20.

[0057] Next, the management control device 10 determines whether the counting period has elapsed (S102). The counting period is a period during which the number of guided vehicles 20 entering a set area is counted. In this embodiment, the counting period is set as shown in FIG. 6. The counting period is a predetermined period (for example, several minutes), and is updated as appropriate. As shown in FIG. 6, two temporally adjacent counting periods overlap in part in time. For example, a part of the first counting period and a part of the second counting period overlap in part in time. Note that this counting period is just an example, and for example, the counting periods do not have to overlap in time.

[0058] If the management control device 10 determines that the counting period has not elapsed, it continues counting the number of guided vehicles 20 until the counting period has elapsed. If the management control device 10 determines that the counting period has elapsed, it determines whether the count count value for the counting period has exceeded a first threshold (S103). The count count value is a value obtained by tallying the number of counts for the counting period. The count count value is, for example, the total number of counts for the counting period, but may also be the time average value of the number of counts for the counting period. Furthermore, the counting may be performed by, for example, weighting the number of counts more heavily for time periods closer to the present.

[0059] The count aggregate value is a value relating to the congestion of the set area from the past to the present. Therefore, compared to a value relating to congestion at a single point in time, the count aggregate value may more accurately represent the congestion situation. For example, even if the set area is congested at a certain point in time, if the count aggregate value is small, it is likely that the congestion in the set area is gradually decreasing. Therefore, by using the count aggregate value, the current and near-future congestion situation in the set area can be more accurately determined.

[0060] There are various methods for determining the first threshold, but it can be determined, for example, by the following method: That is, the correlation between the count tally value and the congestion state of the set area is found through experiments, simulations, or actual operation, and the first threshold can be determined based on the count tally value corresponding to when the congestion state of the set area is high.

[0061] When the management control device 10 determines that the count total value for the totaling period exceeds the first threshold, it determines whether the number of guided vehicles 20 located in the set area exceeds the second threshold (S104). The management control device 10 can identify the guided vehicles 20 located in the set area using the same method as in step S101. The second threshold is a threshold for determining whether the set area is currently congested. Therefore, the second threshold is set to, for example, the number of guided vehicles 20 when the set area is so congested that the speed of the guided vehicles 20 traveling in the set area decreases, or a number that is a certain number smaller than that. At least one of the first threshold and the second threshold may be changeable by the user or provider of the conveyance system 1. Note that the determination using the second threshold is auxiliary and can be omitted.

[0062] If the adjustment unit 13 of the management control device 10 determines that the threshold value is exceeded in both the determinations of step S103 and step S104, it sets the cost of the route entering the set area (for example, the entry route 46a) to "high" (S105). In this embodiment, the cost of the route entering the set area has two stages: "normal" and an even higher "high." Therefore, when the cost is in the "normal" state, if the cost is changed to "high," the cost increases. This increases the cost of the route passing through the set area.

[0063] Furthermore, if the management control device 10 determines that the cost is equal to or less than the threshold in at least either step S103 or step S104, the adjustment unit 13 sets the cost of the route entering the set area to "normal" (S106). That is, if the congestion in the set area is resolved (or if there are signs of resolution), the cost of the route will return from "high" to "normal."

[0064] The adjustment unit 13 may change the cost of the route within the set area instead of changing the cost of the route entering the set area. In either case, the cost of the route passing through the set area increases, so that the number of guided vehicles 20 traveling in the set area can be changed.

[0065] If the cost is changed in steps S105 and S106, the management control device 10 notifies the cost change (S107). Specifically, the management control device 10 notifies all of the guided vehicles 20 that it manages of the cost change. Furthermore, the management control device 10 notifies the other management control devices 10 of the cost change. Thereafter, the other management control devices 10 notify the guided vehicles 20 that they manage of the cost change. Note that this notification method is one example, and, for example, notification may be sent to all of the management control devices 10 via a higher-level control device. Alternatively, if the guided vehicles 20 do not need to store the cost, notification of the cost to the guided vehicles 20 may be omitted. Thereafter, the management control device 10 proceeds to the next aggregation period (S108) and performs the processes from steps S101 to S107 again.

[0066] The following describes the effect of changing the cost from "normal" to "high." For example, as shown in FIG. 7, consider a case where there are second processing areas 461 and 462, and the cost of entry route 461a entering second processing area 461 is changed from "normal" to "high." In this case, because selecting entry route 461a would increase the cost, route selection unit 11 selects a route that does not pass through entry route 461a, even if it is a longer route. In the example shown in FIG. 7, a route that passes through second processing area 462 rather than second processing area 461 is selected.

[0067] However, if the destination of the transfer vehicle 20 is the second processing area 461, the transfer vehicle 20 cannot reach the second processing area 461 unless it passes through the entry route 461a. Therefore, the route selection unit 11 selects a route that passes through the entry route 461a.

[0068] Furthermore, when a route that passes through the entry route 461a has already been set at the time of receiving notification that the cost has been changed from "normal" to "high," the route selection unit 11 may determine whether it is possible to change to a route that does not pass through the entry route 461a in time. If it is determined that it is possible to change to a route that does not pass through the entry route 461a, the route selection unit 11 may change to a route that does not pass through the entry route 461a. This allows congestion in the second processing area 461 to be alleviated even earlier.

[0069] As described above, the conveyance system 1 of this embodiment includes a guided vehicle 20 and a management control device 10. The guided vehicle 20 conveys an item 40 by traveling along a track 30. The management control device 10 assigns a command to convey the item 40 to the guided vehicle 20. The conveyance system 1 of this embodiment includes a route selection unit 11, a counting unit 12, and an adjustment unit 13. The route selection unit 11 selects a route for the guided vehicle 20 to travel based on the conveyance command so as to minimize the cost of the route from the departure point to the destination. The counting unit 12 counts the number of guided vehicles 20 entering a set area set on the track 30. The adjustment unit 13 increases the cost of the route passing through the set area when the count aggregation value obtained by aggregating the number of counts by the counting unit 12 during the aggregation period exceeds a first threshold.

[0070] The count total is data relating to congestion from the past up to the time of counting, and is therefore an effective indicator of the occurrence of congestion in the transport vehicle 20. Therefore, by increasing the cost of passing through the route based on the count total, the congestion situation can be accurately determined and congestion in the transport vehicle 20 can be alleviated.

[0071] In the transport system 1 of this embodiment, the adjustment unit 13 determines whether the count total value in a first counting period exceeds a first threshold, and then determines whether the count total value in a second counting period exceeds a threshold. A part of the first counting period and a part of the second counting period overlap in time.

[0072] This allows changes in the congestion status of the transportation vehicles 20 to be detected earlier than when the first and second counting periods do not overlap in time.

[0073] In the conveying system 1 of this embodiment, the adjustment unit 13 increases the cost of the route passing through the set area when the count aggregate value exceeds a first threshold value and the number of conveying vehicles 20 located in the set area exceeds a second threshold value.

[0074] This allows the judgment to be made with further consideration given to the current congestion situation, so that the congestion situation can be judged more accurately and congestion of the transport vehicle 20 can be alleviated.

[0075] In the transport system 1 of this embodiment, a plurality of set areas are set. The counting unit 12 counts the number of transport vehicles 20 that enter each set area.

[0076] This makes it possible to alleviate congestion in multiple locations. Also, if the cost of a route passing through a certain set area increases, causing congestion in another set area, congestion in the newly congested set area can be alleviated.

[0077] In the conveying system 1 of this embodiment, processing devices 91 are arranged along the track 30. The processing devices 91 process the items 40 conveyed by the conveying vehicles 20. The area formed by the track 30 includes a processing area and a connection area. The processing area is an area where the processing devices 91 are arranged. The connection area connects the processing areas. The set area includes at least a portion of the processing area. The counting unit 12 counts the number of conveying vehicles 20 entering the set area from the connection area.

[0078] Since it is expected that many transport vehicles 20 will be traveling in the connection area, congestion is likely to occur as the number of transport vehicles 20 entering the set area from the connection area increases. Therefore, by counting the number of transport vehicles 20 as described above, congestion can be alleviated.

[0079] In the conveyance system 1 of this embodiment, the connection area includes a first line 43a, a second line 43b, a connecting line 43c, and a shortcut 43d. The second line 43b is arranged parallel to the first line 43a. The connecting line 43c connects the ends of the first line 43a and the second line 43b on the same side. The shortcut 43d is provided separately from the connecting line 43c and connects a midpoint of the first line 43a to a midpoint of the second line 43b. The set area includes at least a portion of the processing area closest to the shortcut 43d among the multiple processing areas.

[0080] Because of the existence of the shortcut 43d, an increased number of guided vehicles 20 pass through the shortcut 43d, resulting in a deviation in the trajectory along which the guided vehicles 20 travel. This makes congestion more likely to occur, so the congestion alleviation function can be effectively utilized.

[0081] In the conveyance system 1 of this embodiment, the connection region includes an intermediate connection region 43, a first connection region 41, and a second connection region 42. The intermediate connection region 43 includes a first line 43a, a second line 43b, a connection line 43c, and a shortcut 43d. The first connection region 41 is disposed on a first side of the intermediate connection region 43 in a planar view. The second connection region 42 is disposed on a second side of the intermediate connection region 43 opposite the first side in a planar view. The processing region includes a plurality of first processing regions 45 and a plurality of second processing regions 46. The first processing region 45 is connected to the first connection region 41 and to the first line 43a of the intermediate connection region 43. The second processing region 46 is connected to the second connection region 42 and to the second line 43b of the intermediate connection region 43. The set area includes at least one first processing area 45 closest to the shortcut 43d and at least one second processing area 46 closest to the shortcut 43d.

[0082] Since the transport vehicle 20 heading from the first connection area 41 to the second connection area 42 mainly passes through shortcuts and processing areas near the shortcuts, congestion is likely to occur in these processing areas. Therefore, by including these processing areas in the set area, congestion can be appropriately alleviated.

[0083] This embodiment includes the following features 1 to 7. [Feature 1] a transport vehicle that transports an article by traveling along a track; a management control device that assigns a transport command for the article to the transport vehicle; A transport system comprising: a route selection unit that selects a route along which the transport vehicle will travel so as to minimize the cost of the route from the departure point to the destination based on the transport command; a counting unit that counts the number of the transport vehicles that enter a set area set on the track; an adjustment unit that increases the cost of a route that passes through the set area when a count aggregation value obtained by aggregating the number of counts by the counting unit during an aggregation period exceeds a first threshold; A transport system comprising: [Feature 2] The conveying system according to feature 1, the adjustment unit determines whether the count total value in a first collection period exceeds the first threshold, and then determines whether the count total value in a second collection period exceeds a threshold; A transportation system, wherein a part of the first aggregation period and a part of the second aggregation period overlap in time. [Feature 3] The conveying system according to feature 1 or 2, The adjustment unit increases the cost of a route passing through the set area when the count aggregate value exceeds the first threshold and the number of transport vehicles located in the set area exceeds a second threshold. [Feature 4] The conveying system according to any one of the first to third features, A plurality of the setting areas are set, The counting unit counts the number of the transport vehicles that enter each of the set areas. [Feature 5] The conveying system according to any one of features 1 to 4, Processing devices are arranged along the track, the processing device processes the items transported by the transport vehicle; The region formed by the orbit is a processing area in which the processing device is disposed; a connection region that connects the processing regions; Including, the set area includes at least a part of the processing area, The counting unit counts the number of the transport vehicles that enter the set area from the connection area. [Feature 6] The transport system according to feature 5, The connection region is The first line and a second line arranged in parallel to the first line; a connection line connecting the ends of the first line and the second line on the same side; a shortcut provided separately from the connection line and connecting a midway portion of the first line and a midway portion of the second line; Including, A transport system, wherein the set area includes at least a part of the processing area that is closest to the shortcut among the plurality of processing areas. [Feature 7] The transport system according to feature 6, The connection region is an intermediate connection area including the first line, the second line, the connection line, and the shortcut; a first connection region disposed on a first side in a plan view with the intermediate connection region interposed therebetween; a second connection region disposed on a second side opposite to the first side in a plan view, with the intermediate connection region interposed therebetween; Including, The processing area is a plurality of first processing regions connected to the first connection region and connected to the first line of the intermediate connection region; a plurality of second processing regions connected to the second connection region and connected to the second line of the intermediate connection region; Including, A transport system, wherein the set area includes at least one first processing area closest to the shortcut and at least one second processing area closest to the shortcut.

[0084] The preferred embodiment of the present invention has been described above, but the above configuration can be modified, for example, as follows.

[0085] In the above embodiment, the route selection unit 11, the counting unit 12, and the adjustment unit 13 are provided in the management control device 10. Alternatively, at least one of these may be provided in the transport vehicle 20 (transport control device 21). In other words, the process of determining and alleviating congestion may be performed by the management control device 10 or the transport vehicle 20.

[0086] In the above embodiment, the region is divided into a connection region and a processing region, and the processing region is set as the set region, but the set region in the above embodiment is just an example. For example, the connection region may be set as the set region, or a part of the processing region or a part of the connection region may be set as the set region. Furthermore, the track 30 and the processing device 91 may be arranged so that the connection region and the processing region cannot be clearly separated.

[0087] As described above, the layout of the track 30 is an example and is not limited to the layout shown in the above embodiment. For example, a layout in which multiple processing areas are connected by multiple tracks (connection areas) may be used. In this case, if one track is congested, the cost of that track increases, and other tracks are used preferentially.

[0088] The flowcharts shown in the above embodiments are merely examples, and some processes may be omitted, the contents of some processes may be changed, or new processes may be added. [Explanation of symbols]

[0089] 1. Transport system 10 Management control device 11 Route selection section 12 Counting section 13 Adjustment part 20 Transport Vehicle 21 Transport control device 30 orbits 41 First connection area 42 Second connection area 43 Intermediate Connection Area 45 First processing area 46 Second processing area

Claims

1. a transport vehicle that transports an article by traveling along a track; a management control device that assigns a transport command for the article to the transport vehicle; A transport system comprising: a route selection unit that selects a route along which the transport vehicle will travel so as to minimize the cost of the route from the departure point to the destination based on the transport command; a counting unit that counts the number of the transport vehicles that enter a set area set on the track; an adjustment unit that increases a cost of a route that passes through the set area when a count total obtained by totaling the count numbers of the count unit during a totalization period exceeds a first threshold; Equipped with Processing devices are arranged along the track, the processing device processes the items transported by the transport vehicle; The region formed by the orbit is a processing area in which the processing device is disposed; a connection region that connects the processing regions; Including, The connection region is The first line, a second line arranged in parallel to the first line; a connection line connecting the ends of the first line and the second line on the same side; a shortcut provided separately from the connection line and connecting a midway portion of the first line and a midway portion of the second line; Including, the set area includes at least a part of the processing area that is closest to the shortcut among the plurality of processing areas; The counting unit counts the number of the transport vehicles that enter the set area from the connection area.

2. 2. The transport system according to claim 1, the adjustment unit determines whether the count total value in a first collection period exceeds the first threshold, and then determines whether the count total value in a second collection period exceeds a threshold; A transportation system, wherein a part of the first aggregation period and a part of the second aggregation period overlap in time.

3. 2. The transport system according to claim 1, A transportation system characterized in that the adjustment unit increases the cost of a route passing through the set area when the count aggregate value exceeds the first threshold and the number of transport vehicles located in the set area exceeds a second threshold.

4. 2. The transport system according to claim 1, A plurality of the setting areas are set, The counting unit counts the number of the transport vehicles that enter each of the set areas.

5. 2. The transport system according to claim 1, The connection region is an intermediate connection area including the first line, the second line, the connection line, and the shortcut; a first connection region disposed on a first side in a plan view with the intermediate connection region interposed therebetween; a second connection region disposed on a second side opposite to the first side in a plan view, with the intermediate connection region interposed therebetween; Including, The processing area is a plurality of first processing regions connected to the first connection region and connected to the first line of the intermediate connection region; a plurality of second processing regions connected to the second connection region and connected to the second line of the intermediate connection region; Including, A transport system, wherein the set areas include at least one of the first processing areas closest to the shortcut and at least one of the second processing areas closest to the shortcut.

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