Conveying system

Abstract

To provide a conveyance system capable of efficiently performing conveyance of an object to be conveyed between points by using a bidirectional conveyor.SOLUTION: A control device (50) of a conveyance system (1) alternately carries out a first mode for conveying an object to be conveyed, placed on a conveyor mechanism (a conveyor mechanism part 32) of a bidirectional conveyor device (30), in a first direction, and a second mode for conveying it in a second direction reverse to the first direction, and continues the first mode based on a prescribed first period that determines a continuing period of the first mode.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a conveyance system.

Background Art

[0002] A bidirectional conveyor capable of conveying an object to be conveyed in both directions is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the bidirectional conveyor disclosed in Patent Document 1 is provided as a backup line of parallel conveyors and does not normally convey an object to be conveyed. Therefore, a specific control method for conveying an object to be conveyed between locations using the bidirectional conveyor is not disclosed.

[0005] One aspect of the present invention aims to realize a conveyance system capable of efficiently conveying an object to be conveyed between locations using a bidirectional conveyor.

Means for Solving the Problems

[0006] To solve the above problems, a transport system according to one aspect of the present disclosure comprises a bidirectional conveyor device equipped with a conveyor mechanism capable of transporting objects in both directions, and a control device, wherein the control device controls the bidirectional conveyor device to alternately execute a first mode, which is a transport mode in which the objects to be transported placed on the conveyor mechanism are transported in a first direction, and a second mode, which is a transport mode in which the objects to be transported placed on the conveyor mechanism are transported in a second direction opposite to the first direction, and continues the first mode based on a predetermined first period that defines the duration of the first mode.

[0007] Each aspect of the present invention may be implemented by a computer, in which case a control program for the control device that enables the computer to implement the control device by operating the computer as each part (software element) of the control device, and a computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0008] According to one aspect of this disclosure, a transport system can be realized that can efficiently transport objects between at least two points using a bidirectional conveyor. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows an overview of the transport system according to Embodiment 1 of the present invention. [Figure 2] This is a functional block diagram showing the configuration of a transport system according to Embodiment 1 of the present invention. [Figure 3] This is a state transition diagram showing the three operating modes of the transport system according to Embodiment 1 of the present invention. [Figure 4] This is a state transition diagram showing the three operating modes of the transport system according to Embodiment 2 of the present invention. [Figure 5] This diagram shows an overview of the transport system according to Embodiment 3 of the present invention. [Modes for carrying out the invention]

[0010] [Embodiment 1] One embodiment of the present invention will be described in detail below. Figure 1 is a schematic diagram showing an overview of the transport system 1 according to Embodiment 1. Figure 2 is a functional block diagram showing the configuration of the transport system 1.

[0011] The transport system 1 comprises a first device 10, a second device 20, a bidirectional conveyor device 30, and a control device 50. In the transport system 1, each of these devices can communicate with each other and exchange information. The control device 50 of the transport system 1 can communicate with the higher-level system 2 and exchange information with it.

[0012] The higher-level system 2 is, for example, an information processing system that manages the production of products in a factory process. The higher-level system 2 instructs the control device 50 of the transport system 1 to transport individual products, semi-finished products, materials, jigs, and other items. The items that the higher-level system 2 instructs the control device 50 to transport become the transported objects B in the transport system 1.

[0013] <Bidirectional conveyor system 30> The bidirectional conveyor device 30 comprises a conveyor control unit 31 and a conveyor mechanism unit 32 controlled by the conveyor control unit 31. The bidirectional conveyor device 30 is a bidirectional conveyor device that transports an object B placed on the conveyor mechanism unit 32 in a first direction D1 and a second direction D2 that is opposite to the first direction D1.

[0014] In the transport system 1, the first direction D1 is the direction in which the object to be transported B is transferred from the first device 10 to the second device 20, and the second direction D2 is the direction in which the object to be transported B is transferred from the second device 20 to the first device 10. To make the explanation of the operation of the transport system 1 easier to understand, the first direction D1 will also be referred to as the forward direction D1 and the second direction D2 as the reverse direction D2 below, but these are merely expressions for convenience. Also, below, transport in the first direction D1 (forward direction) will be referred to as forward transport, and transport in the second direction D2 (reverse direction) will be referred to as reverse transport.

[0015] The bidirectional conveyor device 30 can perform the following operations. The conveyor control unit 31 of the bidirectional conveyor device 30 receives an instruction from the control device 50 to perform sequential conveyance. The conveyor control unit 31 then controls the conveyor mechanism 32 to perform sequential conveyance.

[0016] Furthermore, the conveyor control unit 31 receives an instruction from the control device 50 to perform reverse conveyance. The conveyor control unit 31 then controls the conveyor mechanism 32 to perform the reverse conveyance operation. In addition, the conveyor control unit 31 receives an instruction from the control device 50 to stop. The conveyor control unit 31 then controls the conveyor mechanism 32 to stop the conveyor mechanism 32.

[0017] <First device 10, second device 20> The first device 10 comprises a first control unit 11 and a first mechanism unit 12 controlled by the first control unit 11. The first mechanism unit 12 of the first device 10 can exchange the object to be conveyed B with the conveyor mechanism unit 32 of the bidirectional conveyor device 30. At this time, the first mechanism unit 12 exchanges the object to be conveyed B at a first position P1 on the conveyor mechanism unit 32.

[0018] The second device 20 includes a second control unit 21 and a second mechanism unit 22 controlled by the second control unit 21. The second mechanism unit 22 of the second device 20 can transfer the object to be conveyed B to and from the conveyor mechanism unit 32 of the bidirectional conveyor device 30. At this time, the second mechanism unit 22 transfers the object to be conveyed B at the second position P2 on the conveyor mechanism unit 32.

[0019] The first device 10 and the second device 20 can be, for example, stockers for storing articles. In this case, the first mechanism unit 12 can store the object to be conveyed B at a required position inside the first device 10 or take out the object to be conveyed B stored at the required position. The same applies to the second device 20. Also, the first device 10 or the second device 20 may be provided with a port that can appropriately transfer the object to be conveyed B to and from a device other than the bidirectional conveyor device 30.

[0020] At least one of the first device 10 and the second device 20 may be a device other than a stocker. The first device 10 may be a ceiling traveling conveyor system, a production device that performs required processing on semi-finished products, an inspection device, etc., as long as it can transfer the required object to be conveyed B to and from the bidirectional conveyor device 30 at the first position P1 on the conveyor mechanism unit 32. The same applies to the second device 20.

[0021] The first device 10 can perform the following operation. An instruction from the control device 50 to transfer a required article in the first device 10 to the bidirectional conveyor device 30 is transmitted to the first control unit 11 of the first device 10. Then, the first control unit 11 controls the first mechanism unit 12 to take out the article from the storage position and transfer it to the bidirectional conveyor device 30 as the object to be conveyed B at the first position P1 on the conveyor mechanism unit 32.

[0022] Furthermore, when the first control unit 11 receives an instruction from the control device 50 to accept the object to be transported, it makes the object B to be transported by the conveyor mechanism 32 of the bidirectional conveyor device 30 available for acceptance (waiting to accept). When the first control unit 11 detects that the object B has been transported to the first position P1, it controls the first mechanism 12 to pick up the object B from the conveyor mechanism 32. In other words, the first device 10 receives the object B from the bidirectional conveyor device 30.

[0023] Furthermore, the first control unit 11 reports information about the received transported object B to the control device 50. For this purpose, the first device 10 is equipped with an appropriate sensor for detecting the identification information of the transported object B. The identification information of the transported object B may be indicated by a code, mark, barcode, etc., attached to the outer surface of the transported object B. Alternatively, the identification information of the transported object B may be indicated by reading an RFID (Radio Frequency Identification) tag attached to the transported object B.

[0024] The first control unit 11 then controls the first mechanism unit 12 to house the received object B inside the first device 10 at an appropriate storage position. When the control device 50 communicates to the first control unit 11 that the instruction to receive the object B has been canceled, the first control unit 11 stops the acceptance of the object B by the conveyor mechanism unit 32 of the bidirectional conveyor device 30 (stops the acceptance standby state).

[0025] The second device 20 can perform the following operations. The second control unit 21 of the second device 20 receives an instruction from the control device 50 to transfer the required item within the second device 20 to the bidirectional conveyor device 30. The second control unit 21 then controls the second mechanism 22 to remove the item from its storage position and transfer it to the bidirectional conveyor device 30 as the item to be transported B at the second position P2 on the conveyor mechanism 32.

[0026] Furthermore, when the second control unit 21 receives an instruction from the control device 50 to accept the object to be transported, it makes the object B to be transported by the conveyor mechanism 32 of the bidirectional conveyor device 30 available for acceptance (waiting to accept). When the second control unit 21 detects that the object B has been transported to the second position P2, it controls the second mechanism 22 to pick up the object B from the conveyor mechanism 32. In other words, the second device 20 receives the object B from the bidirectional conveyor device 30.

[0027] Furthermore, the second control unit 21 reports information about the received transported object B to the control device 50. Therefore, 2nd device 20 The device is equipped with appropriate sensors to detect identification information of the object to be transported B. The second control unit 21 then controls the second mechanism unit 22 to house the received object to be transported B in an appropriate storage position inside the second device 20. When the control device 50 transmits a cancellation of the instruction to accept the object to be transported, the second control unit 21 stops the acceptance of the object to be transported B by the conveyor mechanism unit 32 of the bidirectional conveyor device 30 (stops the acceptance standby state).

[0028] <Control device 50> The control device 50 comprises a transport control unit 51 and a storage unit 52, which is a memory for storing information. The storage unit 52 stores a forward transport waiting list L1, a reverse transport waiting list L2, and a transport in progress list L3.

[0029] The transport control unit 51 determines the operating mode of the transport system 1 in response to the transport instruction for items from the higher-level system 2. The transport system 1 has three operating modes: stop mode, first mode, and second mode, which will be described later. The transport control unit 51 also appropriately issues instructions to the first device 10, the second device 20, and the bidirectional conveyor device 30 in accordance with the operating mode and the transport instruction for items from the higher-level system 2, thereby achieving efficient bidirectional transport between the first device 10 and the second device 20.

[0030] Since the control device 50 is an information processing system, as is well known about information processing systems, it may be composed of, for example, a general-purpose computer, but this is not necessarily required. In other words, the functions of the transport control unit 51 may be constructed across multiple physically distributed devices. Similarly, each list L1 to L3 stored in the storage unit 52 may also be constructed across multiple physically distributed devices.

[0031] For example, all or some of the functions of the transport control unit 51 may be constructed as a system that is substantially inseparable from the higher-level system 2. Also, the information processing performed by all or some of the functions of the transport control unit 51 may be executed within the first device 10, the second device 20, or the bidirectional conveyor device 30. For example, each of the lists L1 to L3 of the storage unit 52 may be incorporated in whole or in part into the higher-level system 2 as a substantially inseparable system. Also, each of the lists L1 to L3 may be stored in whole or in part within the first device 10, the second device 20, or the bidirectional conveyor device 30.

[0032] <Overview of the operation of the transport system 1> The operation of the transport system 1 is described below. First, an overview of the operation of the transport system 1 is given. The transport system 1 transports the object B to be transported from the first device 10 to the second device 20. 2nd device 20 from 1st device 10 When there are enough objects B to be transported in both directions, the system operates as follows:

[0033] The conveying system 1 alternately executes a first mode and a second mode. Here, the first mode is a conveying mode in which the object to be conveyed B, which should be conveyed from the first device 10 to the second device 20 (forward conveying), is conveyed from the first device 10 to the second device 20 (forward conveying) using the bidirectional conveying device 30. The second mode is a conveying mode in which the object to be conveyed B, which should be conveyed from the second device 20 to the first device 10 (reverse conveying), is conveyed from the second device 20 to the first device 10 (reverse conveying) using the bidirectional conveying device 30.

[0034] In other words, the first mode is a conveying mode in which the object B placed on the conveyor mechanism is conveyed in the forward direction D1 (first direction). The second mode is a conveying mode in which the object B placed on the conveyor mechanism is conveyed in the reverse direction D2 (second direction).

[0035] In this case, the switching between the first mode and the second mode is performed as follows: After the start of the first mode, when a predetermined first period, which determines the duration of the first mode, has elapsed, i.e., when the first period time-up, the transport system 1 completes the transport of the transport object B that is being transported at that time, and then switches to the second mode. However, this does not apply if there is no transport object B to be transported from the second device 20 to the first device 10 (reverse transport).

[0036] Furthermore, after the start of the second mode, when a predetermined second period, which determines the duration of the second mode, has elapsed, i.e., when the second period time-up, the transport system 1 will complete the transport of the transport object B that is currently being transported and then switch to the first mode. However, this does not apply if there are no transport object B to be transported (transported sequentially) from the first device 10 to the second device 20.

[0037] On the other hand, if, during the first period, there are objects B to be transported in the second mode, and the transport system 1 runs out of objects B to be transported in the first mode, it will switch to the second mode even before the end of the first period after the transport of the objects B currently being transported is completed. Similarly, if, during the second period, there are objects B to be transported in the first mode, and the transport system 1 runs out of objects B to be transported in the second mode, it will switch to the first mode after the transport of the objects B currently being transported is completed.

[0038] In other words, if, during the first period, there are objects B to be transported from the second device 20 to the first device 10 using the bidirectional conveyor device 30, and the objects B to be transported from the first device 10 to the second device 20 using the bidirectional conveyor device 30 have run out, the transport system 1 will switch to the second mode even before the end of the first period, after the transported objects B have arrived at the second position P2.

[0039] Similarly, if, during the second period, there are objects B to be transported from the first device 10 to the second device 20 using the bidirectional conveyor device 30, and the objects B to be transported from the second device 20 to the first device 10 using the bidirectional conveyor device 30 have run out, the transport system 1 will switch to the first mode even before the end of the second period, after the transported objects B have arrived at the first position P1. In this way, the transport system 1 utilizes a single conveyor device, and by switching the direction of transport of the conveyor device in an appropriate manner, efficient transport in both directions is achieved.

[0040] <Details of the operation of each device in the transport system 1> Next, we will explain in detail, with reference to Figure 3, how the overall operation of the transport system 1 as outlined above is realized by the operation of the control device 50 and the specific operation of each device in accordance with the instructions of the control device 50. Figure 3 is a state transition diagram showing the three operating modes of the transport system 1: stop mode, first mode, and second mode.

[0041] Regardless of the operating mode of the transport system 1, the control device 50 performs the following interrupt processing: writing information to the forward transport waiting list L1 and the reverse transport waiting list L2. Note that in the initial state, no information regarding the transport object B is written to each list.

[0042] When the control device 50 receives an instruction from the higher-level system 2 to transfer an item stored in the first device 10 from the first device 10 to the second device 20, it adds the item as transport target B to the forward transport waiting list L1 in the storage unit 52. When the control device 50 receives an instruction from the higher-level system 2 to transfer an item stored in the second device 20 from the second device 20 to the first device 10, it adds the item as transport target B to the reverse transport waiting list L2 in the storage unit 52.

[0043] <Operation details: Stop mode> In the initial state of the transport system 1, the transport control unit 51 of the control device 50 determines that the operating mode of the transport system 1 is the stop mode. When the operating mode of the transport system 1 transitions to the stop mode, the transport control unit 51 instructs the bidirectional conveyor device 30 to stop the conveyor mechanism 32.

[0044] In stop mode, when the object to be transported B is added to the forward transport waiting list L1, the transport control unit 51 decides that the operating mode of the transport system 1 will transition to the first mode ("Forward transport instruction" in Figure 3). In stop mode, when the object to be transported B is added to the reverse transport waiting list L2, the transport control unit 51 decides that the operating mode of the transport system 1 will transition to the second mode ("Reverse transport instruction" in Figure 3).

[0045] <Operation Details: Mode 1> When the state of the transport system 1 transitions to the first mode, the transport control unit 51 of the control device 50 starts counting the first period. The transport control unit 51 also instructs the bidirectional conveyor device 30 that the conveyor mechanism 32 should perform sequential transport.

[0046] Upon receiving the instruction from the control device 50, the conveyor control unit 31 of the bidirectional conveyor device 30 controls the conveyor mechanism 32 to perform forward transport, that is, to transport the placed object to be transported in the forward direction D1 (first direction). Furthermore, the transport control unit 51 instructs the second device 20 to enter a receiving standby state. Upon receiving the instruction from the control device 50, the second control unit 21 of the second device 20 controls the second mechanism 22 to enter a receiving standby state.

[0047] In the first mode, the transport control unit 51 sequentially instructs the first device 10 to hand over the transport object B listed in the sequential transport waiting list L1 to the bidirectional conveyor device 30. In this case, the transport control unit 51 removes the transport object B that has been instructed to be handed over from the sequential transport waiting list L1 and enters it into the transport in progress list L3. Each time the first control unit 11 of the first device 10 receives such an instruction from the control device 50, it controls the first mechanism unit 12 to hand over the transport object B to the bidirectional conveyor device 30 at the first position P1.

[0048] Furthermore, as an interrupt process, when the control device 50 receives a report from the second device 20 that the object to be transported B has arrived at the second position P2, it removes the information regarding the object to be transported B from the transporting list L3. In this way, the forward transport waiting list L1 indicates in real time that the object to be transported B listed in the forward transport waiting list L1 is waiting to be transported to the second device 20. Also, in the first mode, the transporting list L3 indicates in real time that the object to be transported B listed in the transporting list L3 is being transported to the second device 20.

[0049] If the number of transportable objects B listed in the forward transport waiting list L1 runs out, the transport control unit 51 decides that after there are no more transportable objects B listed in the transporting list L3, if there are transportable objects B listed in the reverse transport waiting list L2, the operation mode of the transport system 1 will transition to the second mode (Figure 3, "Waiting for reverse transport, no forward transport"). This is to enable transport from the second device 20 to the first device 10 even before the time limit of the first period is reached, thereby increasing the efficiency of transporting transportable objects B.

[0050] Furthermore, if the number of transportable objects B listed in the forward transport waiting list L1 runs out, the transport control unit 51 determines that, if there are no transportable objects B listed in the reverse transport waiting list L2, the operation mode of the transport system 1 will transition to stop mode after there are no more transportable objects B listed in the transporting list L3 (Figure 3, "No reverse transport waiting, no forward transport"). This is to stop unnecessary operation of the bidirectional conveyor device 30 and reduce energy consumption.

[0051] When the time limit for the first period expires, that is, when the first period has elapsed since the transition to the first mode, the transport control unit 51 stops issuing instructions to the first device 10 to hand over the transport object B. Then, after the transport object B is no longer listed in the transport in progress list L3, if the transport object B is listed in the reverse transport waiting list L2, the transport control unit 51 decides that the operating mode of the transport system 1 will transition to the second mode (Figure 3, "Time limit expired while waiting for reverse transport"). This is to achieve bidirectional transport of the transport object B by alternating between the first and second modes.

[0052] Furthermore, the transport control unit 51 determines that if there are no more transport objects B listed in the transporting list L3, and if there are no more transport objects B listed in the reverse transport waiting list L2, the operation mode of the transport system 1 will transition back to the first mode (Figure 3, "Reverse transport waiting"). none(Time's up). This allows for the transfer from the first device 10 to the second device 20, thereby increasing the efficiency of transporting the object B. If the system transitions back to the first mode from the first mode, the transport control unit 51 may shorten the first period more than usual.

[0053] <Operation Details: Mode 2> When the state of the transport system 1 transitions to the second mode, the transport control unit 51 of the control device 50 starts counting the second period. The transport control unit 51 also instructs the bidirectional conveyor device 30 that the conveyor mechanism 32 should perform reverse transport.

[0054] Upon receiving the instruction from the control device 50, the conveyor control unit 31 of the bidirectional conveyor device 30 controls the conveyor mechanism 32 to perform reverse conveyance, that is, to convey the placed object to be conveyed in the reverse direction D2 (second direction). Furthermore, the conveyance control unit 51 instructs the first device 10 to enter a receiving standby state. Upon receiving the instruction from the control device 50, the first control unit 11 of the first device 10 controls the first mechanism 12 to enter a receiving standby state.

[0055] In the second mode, the transport control unit 51 sequentially instructs the second device 20 to hand over the transport object B listed in the reverse transport waiting list L2 to the bidirectional conveyor device 30. In this case, the transport control unit 51 removes the transport object B that has been instructed to be handed over from the reverse transport waiting list L2 and enters it into the transport in progress list L3. Each time the second device 20 receives such an instruction from the control device 50, the second control unit 21 controls the second mechanism 22 to hand over the transport object B to the bidirectional conveyor device 30 at the second position P2.

[0056] Furthermore, as an interrupt process, when the control device 50 receives a report from the first device 10 that the object to be transported B has arrived at the first position P1, it removes the information regarding the object to be transported B from the transporting list L3. In this way, the reverse transport waiting list L2 indicates in real time that the object to be transported B listed in the reverse transport waiting list L2 is waiting to be transported to the first device 10. Also, in the second mode, the transporting list L3 indicates in real time that the object to be transported B listed in the transporting list L3 is being transported to the first device 10.

[0057] reverse If the transport object B listed in the transport waiting list L2 runs out, the transport control unit 51 decides that after the transport object B listed in the transporting list L3 is gone, if the transport object B is listed in the forward transport waiting list L1, the operation mode of the transport system 1 will transition to the first mode (Figure 3, "Forward transport waiting, no reverse transport"). This is to enable transport from the first device 10 to the second device 20 even before the time limit of the second period is reached, thereby increasing the efficiency of transporting the transport object B.

[0058] Furthermore, if the number of transportable objects B listed in the reverse transport waiting list L2 runs out, the transport control unit 51 determines that, if there are no transportable objects B listed in the forward transport waiting list L1, the transport system 1 will transition to the stop mode after there are no more transportable objects B listed in the transporting list L3 (Figure 3, "No forward transport waiting, no reverse transport"). This is to stop unnecessary operation of the bidirectional conveyor device 30 and reduce energy consumption.

[0059] When the second period ends, that is, when the second period has elapsed since the transition to the second mode, the transport control unit 51 stops issuing instructions to the second device 20 to hand over the transport object B. Then, after the transport object B is no longer listed in the transport in progress list L3, if the transport object B is listed in the sequential transport waiting list L1, the transport control unit 51 decides that the operating mode of the transport system 1 will transition to the first mode (Figure 3, "Time out while waiting for sequential transport"). This is to achieve bidirectional transport of the transport object B by alternating between the first and second modes.

[0060] Furthermore, the transport control unit 51 determines that if there are no more transport objects B listed in the transporting list L3, and if there are no transport objects B listed in the sequential transport waiting list L1, the operation mode of the transport system 1 will transition back to the second mode (Figure 3, "Sequential transport waiting list"). none (Time's up). This allows for the transfer from the second device 20 to the first device 10, thereby increasing the efficiency of transporting object B. If the system transitions back to the second mode from the second mode, the transport control unit 51 may shorten the second period more than usual.

[0061] [Embodiment 2] Other embodiments of the present invention will be described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0062] In the transport system 1 according to Embodiment 2, the control device 50 receives a priority for the transport object B to be transported from the higher-level system 2 along with the transport instruction for the goods, and performs processing according to that priority, except that it is the same as Embodiment 1. The changes from Embodiment 1 will be explained below with reference to the state transition diagram in the case of Embodiment 2 shown in Figure 4.

[0063] Furthermore, "high priority" refers to a state where there is a great need to transport the goods as soon as possible, and "low priority" refers to a state where there is a small need to transport the goods as soon as possible. In the following, for illustrative purposes, priority will be represented by a number from 0 to 100, and the closer the number is to 100, the higher the priority. In the transport system 1 according to Embodiment 2, a priority threshold is set for each of the first device 10 and the second device 20. For example, suppose the threshold for the first device 10 is set to 50 and the threshold for the second device 20 is set to 70.

[0064] When the operating mode of the transport system 1 is the first mode, the transport instruction given from the higher-level system 2 to the control device 50 to transfer an item from the second device 20 to the first device 10 has a priority less than the threshold of 70 set for the second device 20. In this case, the operation of the transport system 1 is the same as in Embodiment 1, except for the following point. During the first period, the transport control unit 51 of the control device 50 instructs the first device 10 to hand over the transport target items B listed in the sequential transport waiting list L1 to the bidirectional conveyor device 30 in order of priority.

[0065] On the other hand, if the operating mode of the transport system 1 is the first mode, and a transport instruction is given from the higher-level system 2 to the control device 50 to transfer an item from the second device 20 to the first device 10, and the priority of this instruction is 70 or higher, which is the threshold set for the second device, then the transport control unit 51 of the control device 50 immediately decides that the operating mode of the transport system 1 will transition to the second mode (referred to as "reverse transport emergency instruction" in Figure 4).

[0066] The transport control unit 51 of the control device 50, during the second period of the second mode, displays a reverse transport waiting list. L2From the list of transportable objects B, the second device 20 is instructed to hand over the objects to the bidirectional conveyor device 30 in order of priority. The first device 10, which has entered a waiting state due to the transition to the second mode, receives the transportable objects B that have arrived at the first position P1 via the conveyor mechanism 32 of the bidirectional conveyor device 30, and reports this to the transport control unit 51.

[0067] When the transport control unit 51 transitions to the second mode, it moves the information of the transported object B, which was listed in the transporting list L3, from the transporting list L3 to the forward transport waiting list L1 upon receiving a report of acceptance from the first device 10. This is to put the transported object B back into the forward transport waiting list.

[0068] When the operating mode of the transport system 1 is the second mode, the transport instruction given from the higher-level system 2 to the control device 50 to transfer an item from the first device 10 to the second device 20 has a priority less than the threshold 50 set for the first device 10. In this case, the operation of the transport system 1 is the same as in Embodiment 1, except for the following point. During the second period, the transport control unit 51 of the control device 50 instructs the second device 20 to hand over the transport target items B listed in the reverse transport waiting list L2 to the bidirectional conveyor device 30, in order of decreasing priority.

[0069] On the other hand, if the operating mode of the transport system 1 is the second mode, and a transport instruction issued from the higher-level system 2 to the control device 50 to transfer an item from the first device 10 to the second device 20 has a priority of 50 or higher than the threshold set for the first device, then the transport control unit 51 of the control device 50 immediately decides that the operating mode of the transport system 1 will transition to the first mode (referred to as "sequential transport emergency instruction" in Figure 4).

[0070] During the first period of the first mode, the transport control unit 51 of the control device 50 instructs the first device 10 to hand over the transport objects B listed in the sequential transport waiting list L1 to the bidirectional conveyor device 30 in order of priority. The second device 20, which has entered an acceptance waiting state due to the transition to the first mode, accepts the transport objects B that have arrived at the second position P2 via the conveyor mechanism 32 of the bidirectional conveyor device 30 and reports this to the transport control unit 51.

[0071] When the transport control unit 51 transitions to the first mode, it moves the information of the transport target B, which was listed in the transporting list L3, from the transporting list L3 to the reverse transport waiting list upon receiving a report of acceptance from the second device 20. L2 Move it to the next location. This is to prepare the transported object B for reverse transport again.

[0072] According to the transport system 1 of Embodiment 2, regardless of which mode the transport system 1 is in, it is possible to transport objects that have a high need for early transport according to priority, as quickly as possible. In the above description of Embodiment 2, an example was shown where priority is set numerically, but the priority information transmitted from the higher-level system 2 to the control device 50 may also be information on whether or not it should be prioritized (should be transported urgently).

[0073] [Embodiment 3] Figure 5 shows an overview of the transport system 1A according to Embodiment 3 of the present invention. In addition to the configuration of the transport system 1 according to Embodiment 1, the transport system 1A further includes a unidirectional conveyor device 40 equipped with a conveyor mechanism 42 that enables the transport of the object to be transported B from the first device 10 to the second device 20 in only one direction.

[0074] In the transport system 1A of Embodiment 3, the unidirectional conveyor 40 is used preferentially over the bidirectional conveyor 30 for transporting objects B from the first device 10 to the second device 20. Therefore, in the transport system 1A of Embodiment 3, if the number of objects B waiting to be transported from the first device 10 to the second device 20 is less than a predetermined number, the system treats it as if there are no objects B to be transported from the first device 10 to the second device 20 using the bidirectional conveyor 30. In this case, the objects B to be transported from the first device 10 to the second device 20 are transported by the unidirectional conveyor 40.

[0075] In other words, in the transport system 1A according to Embodiment 3, when the number of transport objects B to be transported from the first device 10 to the second device 20 that are waiting to be transported exceeds a predetermined number, the transport objects B are placed in the sequential transport waiting list in Embodiment 1. L1 It is treated as the transported object B that should be described. The operation of the bidirectional conveyor device 30 of the transport system 1A is the same as in the case of the transport system 1 according to Embodiment 1.

[0076] The transport system 1A may further include a unidirectional conveyor device equipped with a unidirectional conveyor mechanism capable of transporting the object B from the second device 20 to the first device 10 in one direction only. In this case as well, the object B to be transported from the second device 20 to the first device 10 using the bidirectional conveyor device 30 is selected in the same manner.

[0077] Embodiment 3 Conveying system 1A According to the report, by providing a unidirectional conveyor system in addition to the bidirectional conveyor system 30, flexible and efficient conveying can be achieved according to the quantity of objects B to be conveyed.

[0078] [Examples of implementation using software] The functions of each of the control device 50, the first control unit 11, the second control unit 21, and the conveyor control unit 31 (hereinafter referred to as "devices") can be realized by programs that cause the computers to function as the devices.

[0079] In this case, the device includes a computer having at least one general-purpose control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this general-purpose control device and storage device, the functions described in each of the embodiments are realized.

[0080] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0081] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0082] 〔summary〕 A transport system according to Embodiment 1 of the present disclosure comprises a bidirectional conveyor device equipped with a conveyor mechanism capable of transporting objects in both directions, and a control device, wherein the control device controls the bidirectional conveyor device to alternately execute a first mode, which is a transport mode in which the objects to be transported placed on the conveyor mechanism are transported in a first direction, and a second mode, which is a transport mode in which the objects to be transported placed on the conveyor mechanism are transported in a second direction opposite to the first direction, and continues the first mode based on a predetermined first period that defines the duration of the first mode.

[0083] In the transport system according to aspect 2 of the present disclosure, in aspect 1, if, during the first period, there are objects to be transported that should be transported in the second mode, and the objects to be transported in the first mode run out, the control device executes the second mode even before the end of the first period after the predetermined transport of the objects being transported is completed.

[0084] A transport system according to aspect 3 of the present disclosure further comprises, in aspect 1 or 2 above, a first device that transfers the object to be transported to the bidirectional conveyor at a first position on the conveyor mechanism and the bidirectional conveyor, and a second device that transfers the object to be transported to the bidirectional conveyor at a second position on the conveyor mechanism and the bidirectional conveyor, wherein the control device controls the bidirectional conveyor, the first device, and the second device, and in the first mode, transfers the object to be transported from the first device to the second device using the bidirectional conveyor through the bidirectional conveyor. In the second mode, the objects to be transported are transported from the second device to the first device using the bidirectional conveyor device. During the first period, if there are objects to be transported from the second device to the first device using the bidirectional conveyor device, and the objects to be transported from the first device to the second device using the bidirectional conveyor device run out, the second mode is executed after the transported objects have arrived at the second position, even if it is before the end of the first period.

[0085] In the transport system according to aspect 4 of the present disclosure, in aspect 3, if the first period ends while there is an object to be transported from the first device to the second device using the bidirectional conveyor device during the execution of the first mode, the control device executes the second mode after the transport object has arrived at the second position.

[0086] In the transport system according to aspect 5 of the present disclosure, in aspect 3 or 4 above, a priority is determined for each object to be transported, indicating the degree to which it is necessary to transport it as soon as possible. If, during the execution of the first mode, an object to be transported from the second device to the first device using the bidirectional conveyor device arises whose priority is above a predetermined threshold, the control device immediately terminates the first mode and executes the second mode.

[0087] A transport system according to aspect 6 of the present disclosure further comprises a unidirectional conveyor device capable of unidirectional transport of the objects to be transported from the first device to the second device, in any of aspects 3 to 5 above, wherein the control device, when the number of objects to be transported from the first device to the second device is less than or equal to a predetermined number, determines that there are no objects to be transported from the first device to the second device using the bidirectional conveyor device, and transports the objects to be transported from the first device to the second device through the unidirectional conveyor device.

[0088] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0089] 1. 1A Conveyor System 10 1st device 11 First Control Unit 12 1st mechanism section 20 Second device 21 Second Control Unit 22 2nd mechanism section 30 Bidirectional conveyor system 31 Conveyor Control Unit 32 Conveyor mechanism section (conveyor mechanism) D1 1st direction, forward direction D2 2nd direction, reverse direction P1 1st position P2 2nd position 40. Unidirectional conveyor system 42 Conveyor Mechanism 50 Control device 51 Transport Control Unit 52 Storage section L1 Sequential transport waiting list L2 Reverse transport waiting list L3 In-Transport List

Claims

1. A bidirectional conveyor system equipped with a conveyor mechanism capable of transporting objects in both directions, A control device is provided, The control device is Controlling the aforementioned bidirectional conveyor device, A first mode is a conveying mode in which the object to be conveyed, placed on the conveyor mechanism, is conveyed in a first direction, A second mode is a transport mode in which the object to be transported, placed on the conveyor mechanism, is transported in a second direction opposite to the first direction. The first mode is continued based on a predetermined first period that defines the duration of the first mode, and the second mode is continued based on a predetermined second period that defines the duration of the second mode, and these modes are executed alternately. A transport system that, during the first period, if there are objects to be transported in the second mode, and the objects to be transported in the first mode run out, executes the second mode based on the second period, even if it is before the end of the first period, after the predetermined transport of the objects being transported is completed.

2. A first device that exchanges the object to be conveyed with the bidirectional conveyor device at a first position on the conveyor mechanism, The conveyor mechanism further includes a second device at a second position on the conveyor mechanism for exchanging the object to be conveyed with the bidirectional conveyor device, The control device is Controlling the bidirectional conveyor system, the first device, and the second device, In the first mode, the object to be transported is transported from the first device to the second device using the bidirectional conveyor device, and in the second mode, the object to be transported is transported from the second device to the first device using the bidirectional conveyor device, During the first period, if there are objects to be transported from the second device to the first device using the bidirectional conveyor system, and there are no more objects to be transported from the first device to the second device using the bidirectional conveyor system, The transport system according to claim 1, wherein the second mode is executed after the transport object has arrived at the second position, even before the end of the first period.

3. The control device is If, during the execution of the first mode, the first period ends while there is an object to be transported from the first device to the second device using the bidirectional conveyor device, The transport system according to claim 2, wherein the second mode is executed after the transported object has arrived at the second position.

4. For each of the aforementioned transported objects, a priority level is determined indicating the degree to which it is necessary to transport them as soon as possible. The control device is The transport system according to claim 2 or 3, wherein, during the execution of the first mode, if an object to be transported is generated that should be transported from the second device to the first device using the bidirectional conveyor device, and the priority of the second device is above a predetermined threshold, the first mode is immediately terminated and the second mode is executed.

5. A bidirectional conveyor device equipped with a conveyor mechanism capable of conveying objects in both directions, A first device that exchanges the object to be conveyed with the bidirectional conveyor device at a first position on the conveyor mechanism, A second device is provided at a second position on the conveyor mechanism for exchanging the object to be conveyed with the bidirectional conveyor device, A control device is provided, The control device is Controlling the aforementioned bidirectional conveyor device, A first mode is a conveying mode in which the object to be conveyed, placed on the conveyor mechanism, is conveyed in a first direction, The conveying mode is a second mode in which the object to be conveyed, placed on the conveyor mechanism, is conveyed in a second direction opposite to the first direction, and this mode is executed alternately. The first mode is continued based on a predetermined first period that determines the duration of the first mode, and further, The control device is Controlling the bidirectional conveyor system, the first device, and the second device, In the first mode, the object to be transported is transported from the first device to the second device using the bidirectional conveyor device, and in the second mode, the object to be transported is transported from the second device to the first device using the bidirectional conveyor device, During the first period, if there are objects to be transported from the second device to the first device using the bidirectional conveyor system, and there are no more objects to be transported from the first device to the second device using the bidirectional conveyor system, A transport system that executes the second mode even before the end of the first period after the transported object has arrived at the second position, The system further includes a unidirectional conveyor system capable of unidirectional transport of the object to be transported from the first device to the second device, The control device is If the number of objects to be transported from the first device to the second device is less than or equal to a predetermined number, Assume there are no objects to be transported from the first device to the second device using the bidirectional conveyor system. A transport system that transports an object to be transported from the first device to the second device via the unidirectional conveyor device.

6. The control device is If, during the execution of the first mode, the first period ends while there is an object to be transported from the first device to the second device using the bidirectional conveyor device, The transport system according to claim 5, wherein the second mode is executed after the transported object has completed arriving at the second position.

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