Goods handling equipment

Abstract

To simply and appropriately control multiple conveying vehicles relating to a merged portion.SOLUTION: A control device 2 determines, in a sequence determining process, a passing sequence in accordance with a standby-time index I that is defined based on standby times Tf of multiple vehicles to be passed 1 at a merged portion 90. The standby time index I is determined by correcting the standby time Tf using a correction coefficient X that is defined in accordance with the state of each of the multiple vehicles to be passed 1.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of carrier vehicles traveling along a predetermined path and a control device for controlling the carrier vehicles.

Background Art

[0002] An example of such an article conveying facility is disclosed as a carrier truck system in Japanese Patent Application Laid-Open No. 2006-313463 (Patent Document 1). Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] In the system disclosed in Patent Document 1, a lock point is provided at a confluence of the traveling paths of the carrier vehicles (5), and the passage of the carrier vehicle (5) at the lock point is determined in units of a section (hereinafter referred to as "control section") provided with such a lock point.

[0004] Before entering the control section provided with the lock point, the carrier vehicle (5) makes a blocking request to the zone controller (11) to request rejection of the entry of other carrier vehicles (5) into the control section. When the zone controller (11) permits the passage of the control section for the carrier vehicle (5) that has made the blocking request, it gives a blocking permission and rejects the passage of other carrier vehicles (5). After the passage of the carrier vehicle (5), the zone controller (11) releases the blocking in the control section and becomes in a state where it can accept other carrier vehicles (5).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The technology disclosed in Patent Document 1 requires setting control sections and detecting when a transport vehicle (5) enters or exits a control section, which tends to make the control configuration complex. Furthermore, when determining the priority of transport vehicles (5) to pass through the merging section, it is desirable to consider the status of each transport vehicle (5) rather than just the timing of their entry into the control section, in order to aim for efficient operation of the entire system.

[0007] In light of the above situation, there is a need for a technology that can easily and appropriately control multiple transport vehicles involved in the merging section. [Means for solving the problem]

[0008] Multiple transport vehicles traveling along a predetermined route, An article transporting system comprising a control device for controlling the transport vehicle, The control device is configured to perform merging control at a merging point where multiple paths converge, thereby controlling the operation of multiple transport vehicles. At the same time, each of the multiple transport vehicles that are about to pass through the merging section will be designated as a vehicle to pass through. The merging control includes an order determination process that determines the order in which each of the multiple vehicles to pass through the merging section will pass through. The control device, in the sequence determination process, determines the passage order according to a waiting time index determined based on the waiting time of the multiple vehicles to pass at the merging section, The aforementioned waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the status of each of the multiple passing vehicles. 、 In the sequence determination process, the control device compares the waiting time index for each of the multiple vehicles to pass, and causes the vehicle with the largest waiting time index to pass before the other vehicles to pass. If the passing vehicle is transporting goods, the correction coefficient is set to be larger than when the passing vehicle is not transporting goods. .

[0009] According to this configuration, based on the waiting time of each passing target vehicle at the merging section, it is determined whether the passing target vehicle can pass. Therefore, a simple control configuration can be constructed. Further, the waiting time index serving as the basis for the passing determination is determined by correcting the actual waiting time with a correction coefficient determined according to the state of each passing target vehicle. Therefore, the passing determination takes into account the state of each passing target vehicle, and this can be achieved by a simple process of correcting the waiting time with the above correction coefficient. As described above, according to this configuration, it is possible to simply and appropriately control a plurality of carrier vehicles involved in the merging section. Furthermore, this configuration makes it easier to allow vehicles carrying goods to pass through the merging section with priority over vehicles not carrying goods.

[0010] Other goods handling equipment includes, Multiple transport vehicles traveling along a predetermined route, An article transporting system comprising a control device for controlling the transport vehicle, The control device is configured to perform merging control at a merging point where multiple paths converge, thereby controlling the operation of multiple transport vehicles. At the same time, each of the multiple transport vehicles that are about to pass through the merging section will be designated as a vehicle to pass through. The merging control includes an order determination process that determines the order in which each of the multiple vehicles to pass through the merging section will pass through. The control device, in the sequence determination process, determines the passage order according to a waiting time index determined based on the waiting time of the multiple vehicles to pass at the merging section, The aforementioned waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the status of each of the multiple passing vehicles. In the sequence determination process, the control device compares the waiting time index for each of the multiple vehicles to pass, and causes the vehicle with the largest waiting time index to pass before the other vehicles to pass. Some or all of the aforementioned transport vehicles are equipped with power storage devices for storing electricity. A charging station for charging the energy storage device is provided just before the aforementioned confluence section. If the amount of electricity stored in the energy storage device mounted on the vehicle to be passed is less than or equal to a predetermined standard remaining amount, the correction coefficient is set so that the waiting time index is smaller than when the amount of electricity stored in the energy storage device is greater than the standard remaining amount.

[0011] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0012] [Figure 1] Plan view of the article conveying facility [Figure 2] Control block diagram [Figure 3] Diagram showing an example of merging control [Figure 4] Diagram showing correction of waiting time [Figure 5] Diagram showing comparison of waiting time indices [Figure 6] This diagram shows an example where a charging station is located before a merging point. [Figure 7] A diagram showing the correction of the waiting time according to another embodiment. [Modes for carrying out the invention]

[0013] The following describes an embodiment of the goods transport equipment with reference to the drawings.

[0014] As shown in Figure 1, the goods transport equipment 100 includes a plurality of transport vehicles 1 that travel along a predetermined route 9, and a control device 2 (see Figure 2) that controls the transport vehicles 1.

[0015] In this embodiment, the path 9 is set at a position spaced above the floor. For example, the path 9 is constructed using rails installed near the ceiling. The transport vehicle 1 is configured as a so-called overhead transport vehicle and travels along the rails along the path 9.

[0016] Multiple transfer target locations 8 are provided along the route 9. The transfer target locations 8 are located below the route 9. The transport vehicle 1 is configured to transfer items (not shown) between the transfer target locations 8 by raising and lowering the items.

[0017] Each of the multiple transport vehicles 1 is configured to receive transport commands from a higher-level control device (not shown) that centrally manages the equipment, and to perform tasks according to those transport commands. For example, a transport command includes information about the source and destination of the goods to be transported. A transport vehicle 1 that receives a transport command transports the goods from the source to the destination. The source and destination include the transfer target locations 8 mentioned above.

[0018] Various items can be handled by the item handling equipment 100. In this example, the item handling equipment 100 is used in a semiconductor manufacturing plant. Therefore, items include substrate containers (so-called FOUPs: Front Opening Unified Pods) that house substrates (wafers, panels, etc.) and reticle containers (so-called reticle pods) that house reticles. In this case, the transport vehicle 1 transports items such as substrate containers and reticle containers along the route 9 between each process.

[0019] In this embodiment, the transfer target location 8 includes a processing device 80 that performs processing on articles, and a mounting table 81 positioned adjacent to the processing device 80. "Processing on articles" refers to processing of the contents (substrates and reticles) contained in the articles which serve as containers. The transport vehicle 1 receives articles that have been processed by the processing device 80 from the mounting table 81, or hands over articles that have not yet been processed by the processing device 80 to the mounting table 81. The processing device 80 performs various processes, such as thin film formation, photolithography, and etching.

[0020] As shown in Figure 2, the control device 2 is configured to communicate with the transport vehicle 1. The control device 2 includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through the cooperation of this hardware and a program executed on the processor such as a computer.

[0021] The control device 2 and the transport vehicle 1 are configured to send and receive signals to each other. When the transport vehicle 1 is about to pass through a junction 90 (see Figure 3) where multiple paths 9 converge, it requests permission to pass from the control device 2. When the control device 2 grants permission for the transport vehicle 1 to pass through the junction 90, it issues permission to pass to the transport vehicle 1. The request for permission to pass is sent and received as a request for passage signal. The permission to pass is sent and received as a permission to pass signal.

[0022] In this embodiment, the transport vehicle 1 is equipped with a transport control unit 10 and a timer 11. In this embodiment, the transport vehicle 1 is further equipped with a power storage device 12. The transport vehicle 1 can perform various operations such as driving and transferring using the power stored in the power storage device 12. All transport vehicles 1 in the goods transport equipment 100 may be equipped with a power storage device 12, or only some of the transport vehicles 1 may be equipped with a power storage device 12. That is, some or all of the multiple transport vehicles 1 are equipped with a power storage device 12 that stores electricity.

[0023] The transport control unit 10 is a device configured around the central processing unit and is configured to control the operation of the transport vehicle 1. The transport control unit 10 also transmits and receives signals with the control device 2. The timer 11 is configured to measure the elapsed time from any given point in time. In this embodiment, the timer 11 measures the elapsed time from the moment the transport vehicle 1 requests permission to pass. However, the start time of measurement by the timer 11 may be set as appropriate.

[0024] Figure 3 shows a state in which multiple transport vehicles 1 are about to pass through a merging section 90 where multiple paths 9 merge. In the illustrated example, two paths 9 merge to form the merging section 90. One of the two paths 9 is a straight path 91 that merges into the merging section 90 in a straight line, and the other is a curved path 92 that merges into the merging section 90 in a curved line. Whether a path 9 is a straight path 91 or a curved path 92 is determined relatively in relation to the multiple paths 9 that merge into the merging section 90. In other words, of the two merging paths 9, the one with a larger curve curvature is designated as the curved path 92, and the other as the straight path 91. That is, even a straight path 91 may have a curve.

[0025] The control device 2 is configured to perform merging control at the merging section 90 where multiple paths 9 converge, thereby controlling the operation of multiple transport vehicles 1.

[0026] Here, each of the multiple transport vehicles 1 that attempt to pass through the merging section 90 at the same time is designated as a vehicle to pass 1. "Passing at the same time" means passing through the merging section 90 within a predetermined set period. This set period is, for example, 3000 msec to 5000 msec. For each of the multiple transport vehicles 1, if the time determined based on their travel speed and the distance from their current position to the merging section 90 falls within the set period, then these multiple transport vehicles 1 are designated as vehicles to pass 1. In the illustrated example, the transport vehicle 1 indicated by "A" and the transport vehicle 1 indicated by "B" are designated as vehicles to pass 1. Hereafter, these two vehicles to pass 1 may be referred to as vehicle to pass A and vehicle to pass B, respectively.

[0027] The merging control includes an order determination process that determines the order in which multiple vehicles 1 pass through the merging section 90. In the order determination process, the decision to allow or deny the passage of each vehicle 1 is made based on a waiting time index I calculated for each of the multiple vehicles 1.

[0028] In this embodiment, the vehicle to pass 1 notifies the control device 2 of its own waiting time index I. Then, in the sequence determination process, the control device 2 compares the waiting time index I for each of the multiple vehicles to pass 1 and grants permission to pass through the merging section 90 to the vehicle with the larger waiting time index I.

[0029] The waiting time index I is determined by correcting the waiting time Tf with a correction coefficient X determined according to the state of each of the multiple passing vehicles 1. In this embodiment, the waiting time index I is corrected so that it becomes a larger value as the correction coefficient X increases. In this example, the waiting time index I is determined by adding the correction coefficient X to the waiting time Tf.

[0030] In this embodiment, when a passing vehicle 1 is transporting goods, the correction coefficient X is set to be larger than when the passing vehicle 1 is not transporting goods. In this example, the correction coefficient X is set to be larger. A transport vehicle 1 that is transporting goods is in the middle of performing a task and may need to arrive at its destination urgently. On the other hand, a transport vehicle 1 that is not transporting goods may not have a determined destination, so its urgency tends to be relatively lower. With the above configuration, the correction coefficient X for a passing vehicle 1 that is transporting goods is set to be larger, making it easier to allow that passing vehicle 1 to pass through the merging section 90 preferentially over passing vehicle 1 that is not transporting goods.

[0031] In the illustrated example, vehicle A is not transporting any goods (presence or absence of goods: "None"). On the other hand, vehicle B is transporting goods (presence or absence of goods: "Yes"). Therefore, when focusing on the presence or absence of goods, the correction factor Xb for passing vehicle B is greater than the correction factor Xa for passing vehicle A, which is an element that includes this possibility.

[0032] In this embodiment, when a passing vehicle 1 is located on a straight road 91 that merges into the merging section 90 in a straight line, the correction coefficient X is set to increase the waiting time index I compared to when the passing vehicle 1 is located on a curved road 92 that merges into the merging section 90 in a curve. In this example, the correction coefficient X is set to be large. A passing vehicle 1 traveling on a straight road 91 tends to travel at a higher speed than a passing vehicle 1 traveling on a curved road 92. As a whole, the system can be operated efficiently by prioritizing passing vehicles 1 that tend to travel at relatively higher speeds to pass through the merging section 90.

[0033] In the illustrated example, vehicle A is located on curved path 92 (travel path: curved path). Vehicle B is located on straight path 91 (travel path: straight path). Therefore, when focusing on the path 9 traveled by vehicle A, the correction coefficient Xb for vehicle B contains an element that makes it larger than the correction coefficient Xa for vehicle A.

[0034] In this embodiment, the correction coefficient X is set so that the waiting time index I increases as the degree of congestion J in the route 9 on which the vehicle 1 to pass is located increases. In this example, the correction coefficient X is set to be large. This makes it easier for the vehicle 1 to pass, located in route 9 with a relatively high degree of congestion J, to pass through the merging section 90 with priority over the vehicle 1 to pass, located in route 9 with a relatively low degree of congestion J. Therefore, the travel of the vehicle 1 to pass, located in route 9 with a relatively high degree of congestion J, can be made smoother, thereby making the degree of congestion J more uniform across the entire route 9. The "degree of congestion J" is determined based on the number of transport vehicles 1 within a predetermined area of ​​route 9. Alternatively, when focusing on a single transport vehicle 1, it may be determined based on the time the transport vehicle 1 is stopped, its driving speed, or the time it takes to pass through a specific designated section. The "degree of congestion J" is preferably determined quantitatively by numerical representation. For example, the degree of congestion J may be determined by a numerical value on a scale of 1 to 5.

[0035] In the illustrated example, only vehicle A is present on route 9, where vehicle A is located, and the congestion level J is set to "1" (congestion level: 1). Multiple transport vehicles 1 are present on route 9, where vehicle B is located, and the congestion level J is set to "3" (congestion level: 3). Therefore, focusing on the congestion level J, the correction coefficient Xa for vehicle A is not affected by the congestion level J. The correction coefficient Xb for vehicle B is affected by the congestion level J, and the correction coefficient Xb contains elements that increase it.

[0036] As described above, the correction coefficient X is determined by considering various indicators, and for each of the multiple passing vehicles 1, the correction coefficient X is added to the waiting time Tf to determine the waiting time index I.

[0037] In the illustrated example, for passing vehicle A, the correction factor Xa is set to "0" as it is not affected by the presence or absence of goods, the travel route, and the congestion level J. Therefore, the correction factor Xa of "0" is added to the waiting time Tf of passing vehicle A, which is "4000 msec," and the waiting time index I for passing vehicle A becomes "4000." For passing vehicle B, the correction factor Xb is set to "2000" as it is affected by all the indicators, including the presence or absence of goods, the travel route, and the congestion level J. Therefore, the correction factor Xa of "2000" is added to the waiting time Tf of passing vehicle B, which is "3000 msec," and the waiting time index I for passing vehicle B becomes "5000." In this example, the waiting time index I is considered a dimensionless value without units. However, in this example, since the waiting time index I is obtained by adding the correction factor X to the waiting time Tf, its unit may be "msec," the same as the waiting time Tf. Alternatively, a unit other than "msec" may be used as the unit for the waiting time index I.

[0038] Figure 4 is a graph with the waiting time Tf on the horizontal axis and the waiting time index I on the vertical axis. After the passing vehicle 1 stops at stopping point S, the waiting time Tf and the waiting time index I gradually begin to increase. These are measured by timers 11 installed in each passing vehicle 1.

[0039] As mentioned above, in this example, the correction factor Xa for passing vehicle A is "0", so the graph is not affected even when the correction factor Xa is added to the waiting time Tf. On the other hand, the correction factor Xb for passing vehicle B is a positive value (2000 in this example), so when the correction factor Xb is added to the waiting time Tf, the graph is shifted upwards.

[0040] Figure 5 is a time chart from the perspective of the control device 2 that performs the sequence determination process. In the illustrated example, vehicle A stops at stopping point S before vehicle B, and the counting of the waiting time Tf (waiting time index I) starts from that point. For vehicle B, which stops at stopping point S later than vehicle A, the counting of the waiting time Tf (waiting time index I) starts at a later point than vehicle A.

[0041] However, for vehicle B, the correction coefficient Xb is set to a large value due to the influence of each indicator. Therefore, at the time the control device 2, which performs the sequence determination process, decides whether to allow vehicle 1 to pass, the waiting time indicator I(5000) for vehicle B is larger than the waiting time indicator I(4000) for vehicle A. Consequently, the control device 2 compares the waiting time indicators I of both vehicles and grants permission for vehicle B to pass through the merging section 90.

[0042] In this way, the control device 2, in the sequence determination process, compares a waiting time index I determined based on the waiting time Tf of multiple passing vehicles 1 at the merging section 90, and allows the passing vehicle 1 with the largest waiting time index I to pass before the other passing vehicles 1.

[0043] As described above, in this embodiment, the transport vehicle 1 is equipped with an energy storage device 12 (see Figure 2). The energy storage device 12 is, for example, a battery or a capacitor.

[0044] Figure 6 shows a specific junction 90 among the multiple junctions 90 present in the goods transport equipment 100.

[0045] As shown in Figure 6, in this embodiment, a charging station 7 for charging the energy storage device 12 is provided before the confluence section 90. For example, a power supply line for contactless power supply is provided in a part of the path 9, and the area where the power supply line is provided is designated as the charging station 7. In this embodiment, of the straight path 91 and the curved path 92 that merge into the confluence section 90, the charging station 7 is provided in the curved path 92.

[0046] In this embodiment, when the amount of electricity stored in the energy storage device 12 mounted on the vehicle 1 to pass is less than or equal to a predetermined standard remaining amount, the correction coefficient X is set so that the waiting time index I is smaller compared to when the amount of electricity stored in the energy storage device 12 is greater than the standard remaining amount. In this example, the correction coefficient X is set to be small. As a result, the waiting time index I tends to be relatively small. Therefore, the vehicle 1 to pass, equipped with an energy storage device 12 whose amount of electricity is less than or equal to the standard remaining amount, is more likely to wait before the merging section 90. As a result, the vehicle 1 to pass can use its waiting time Tf to store energy in the energy storage device 12 at the charging station 7.

[0047] Furthermore, as mentioned above, in the curved section 92 where the travel speed of the passing vehicle 1 tends to be relatively low, the correction coefficient X becomes relatively small to begin with, making it more likely that the passing vehicle 1 on the curved section 92 will wait before the merging section 90. In this embodiment, since a charging station 7 is provided on the curved section 92, it is possible to create a situation where the passing vehicle 1 can easily charge.

[0048] In this embodiment, when the amount of energy stored in the energy storage device 12 mounted on the vehicle to pass through 1 is below the standard remaining amount, and there is no charging station 7 before the merging section 90 that the vehicle to pass through 1 is about to pass through, the correction coefficient X is set to make the waiting time index I larger compared to when the amount of energy stored in the energy storage device 12 is greater than the standard remaining amount. In this example, the correction coefficient X is set to be large. In such cases, by setting the correction coefficient X to be large, the waiting time index I tends to become a relatively large value. Therefore, the vehicle to pass through 1 equipped with an energy storage device 12 whose energy amount is below the standard remaining amount can easily pass through the merging section 90 without a charging station 7, and can easily be charged at other charging stations 7, etc., earlier.

[0049] In the illustrated example, priority is given to vehicle B, located on the straight road 91, passing through the merging section 90. If vehicle B is able to pass through the merging section 90 before vehicle A, vehicle B can proceed to the charging station 7 located elsewhere earlier and charge there.

[0050] [Other Embodiments] Next, other embodiments will be described.

[0051] (1) In the above embodiment, an example was described in which the waiting time index I is determined by adding a correction coefficient X to the waiting time Tf. However, the waiting time index I may not be limited to such an example, and may be determined by multiplying and adding the correction coefficient X to the waiting time Tf. In this case, as shown in Figure 7 for example, the slope of the graph changes due to multiplication, and the graph shifts upward due to addition. However, the waiting time index I may also be determined by multiplication by the correction coefficient X alone. Alternatively, the waiting time index I may be determined by subtracting or dividing the waiting time Tf by the correction coefficient X, in addition to the above. Even in this case, the waiting time index I is set to be a large value when calculated using the correction coefficient X. That is, there are various methods for calculating the correction coefficient X on the waiting time index I, but the correction coefficient X is set according to various situations so that the waiting time index I becomes a large value as a result of the calculation. For example, the smaller the correction coefficient X, the larger the waiting time index I may be.

[0052] (2) In the above embodiment, an example was described in which the correction coefficient X is set to be larger for a passing vehicle 1 that is transporting goods than for a passing vehicle 1 that is not transporting goods. However, the example is not limited to this example, and even if all of the multiple passing vehicles 1 that can pass through the merging section 90 at the same time are transporting goods, the priority of passing between passing vehicles 1 that are transporting goods may be determined by setting the correction coefficient X considering at least one of the contents of the goods being transported, the contents of the transport command given, and the destination of the goods. In other words, the priority of goods transport may be reflected in the correction coefficient X.

[0053] (3) In the above embodiment, an example was described in which the correction coefficient X is determined by various factors such as whether the passing vehicle 1 is transporting goods, the route 9 on which the passing vehicle 1 is located (straight road 91 or curved road 92), and the degree of congestion J. However, the correction coefficient X may be set for each of the above factors, without being limited to such an example (i.e., multiple correction coefficients X may be set). In this case, the waiting time index I is determined by calculating all of the multiple correction coefficients X for the waiting time Tf.

[0054] (4) In the above embodiment, an example was described in which the correction coefficient X is set to be larger when the passing vehicle 1 is located on a straight road 91 where the traveling speed tends to be relatively high than when the passing vehicle 1 is located on a curved road 92 where the traveling speed tends to be relatively low. However, the example is not limited to this example, and the magnitude of the correction coefficient X may be set from the viewpoint of the traveling speed of the passing vehicle 1, regardless of the shape of the route 9. That is, the correction coefficient X may be set to be larger as the traveling speed of the passing vehicle 1 before the merging section 90 increases, or conversely, the correction coefficient X may be set to be smaller as the traveling speed decreases.

[0055] (5) In the above embodiment, the control device 2, in the sequence determination process, compares a waiting time index I determined based on the waiting time Tf of a plurality of passing vehicles 1 at the merging section 90, and describes an example in which the passing vehicle 1 with the largest waiting time index I is allowed to pass before the other passing vehicles 1. However, the control device 2 is not limited to such an example, and in the sequence determination process, it is sufficient to determine the passing order according to the waiting time index I. For example, the control device 2 may calculate the waiting time index I by taking the reciprocal of the value obtained by correcting the waiting time Tf with a correction coefficient X, and allow the passing vehicle 1 with the smallest waiting time index I to pass before the other passing vehicles 1.

[0056] (6) In the above embodiment, when the control device 2 allows a transport vehicle 1 to pass through the merging section 90, an example of granting permission to pass through the transport vehicle 1 has been described. This permission to pass through may be granted to multiple transport vehicles 1 at once. In this case, the control device 2 may specify the order of passage based on the waiting time index I of each transport vehicle 1 and then grant permission to pass through to each transport vehicle 1. This allows the transport vehicles 1 to pass through the merging section 90 without interfering with each other.

[0057] (7) In the above embodiment, an example was described in which the timer 11 measures the elapsed time from the time the transport vehicle 1 requests permission to pass. However, the timer 11 is not limited to this example, and may also measure the elapsed time from the time the transport vehicle 1 stops at the stopping point S set before the merging section 90.

[0058] (8) In the above embodiment, an example was described in which the transport vehicle 1 is equipped with a timer 11. However, the control device 2 may also be equipped with a timer 11, without being limited to such examples. In this case, the timer 11 provided in the control device 2 may be used to measure the elapsed time since each transport vehicle 1 stopped before reaching the merging section 90.

[0059] (9) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0060] [Summary of this embodiment] The following is a summary of this embodiment.

[0061] Multiple transport vehicles traveling along a predetermined route, An article transporting system comprising a control device for controlling the transport vehicle, The control device is configured to perform merging control at a merging point where multiple paths converge, thereby controlling the operation of multiple transport vehicles. At the same time, each of the multiple transport vehicles that are about to pass through the merging section will be designated as a vehicle to pass through. The merging control includes an order determination process that determines the order in which each of the multiple vehicles to pass through the merging section will pass through. The control device, in the sequence determination process, determines the passage order according to a waiting time index determined based on the waiting time of the multiple vehicles to pass at the merging section, The waiting time index is determined by correcting the waiting time with a correction coefficient that is determined according to the status of each of the multiple passing vehicles.

[0062] According to this configuration, the decision to allow or deny a vehicle to pass is made based on the waiting time at the merging point for each vehicle. Therefore, a simple control configuration can be constructed. Furthermore, the waiting time index that forms the basis for the decision to allow or deny a vehicle to pass is determined by correcting the actual waiting time with a correction coefficient that is determined according to the state of each vehicle. Therefore, the decision to allow or deny a vehicle to pass takes into account the state of each vehicle, and this can be achieved through a simple process of correcting the waiting time with the above correction coefficient. As described above, this configuration makes it possible to control multiple transport vehicles involved in the merging point in a simple and appropriate manner.

[0063] In the sequence determination process, the control device preferably compares the waiting time index for each of the multiple vehicles to pass and allows the vehicle with the largest waiting time index to pass before the other vehicles.

[0064] This configuration allows for a correlation between increases and decreases in waiting time and increases and decreases in the waiting time index. Therefore, it becomes easier to easily control multiple transport vehicles involved in the merging section.

[0065] Preferably, the correction coefficient is set such that, when the passing vehicle is transporting goods, the waiting time index is larger than when the passing vehicle is not transporting goods.

[0066] This configuration makes it easier to allow vehicles carrying goods to pass through the merging section in priority over vehicles not carrying goods.

[0067] When the vehicle to pass is located on a straight road that merges linearly into the merging section, it is preferable that the correction coefficient be set such that the waiting time index is larger compared to when the vehicle to pass is located on a curved road that merges curvedly into the merging section.

[0068] Vehicles traveling on straight sections tend to travel at higher speeds than those traveling on curved sections. From a system design perspective, prioritizing the passage of these vehicles, which tend to travel at relatively higher speeds, at merging points can lead to more efficient operation. This configuration makes it easier to allow vehicles located on straight sections to pass through merging points with priority over vehicles located on curved sections. Therefore, it becomes easier to operate the entire system efficiently.

[0069] It is preferable that the correction coefficient is set such that the waiting time index increases as the degree of congestion on the route in which the passing vehicle is located increases.

[0070] This configuration makes it easier to allow vehicles located on routes with relatively high congestion to pass through merging points in priority over vehicles located on routes with relatively low congestion. Therefore, it is possible to equalize the level of congestion across the entire route, and consequently, it becomes easier to operate the entire system efficiently.

[0071] Some or all of the aforementioned transport vehicles are equipped with power storage devices for storing electricity. A charging station for charging the energy storage device is provided just before the aforementioned confluence section. Preferably, the correction coefficient is set such that, when the amount of electricity stored in the energy storage device mounted on the passing vehicle is less than or equal to a predetermined standard remaining amount, the waiting time index is smaller compared to when the amount of electricity stored in the energy storage device is greater than the standard remaining amount.

[0072] With this configuration, if the amount of electricity stored in the energy storage device installed in the vehicle being passed is below a predetermined standard remaining amount, the correction coefficient is set to be small, so the waiting time index is unlikely to be a large value. Consequently, the vehicle being passed will have a lower priority and will be more likely to wait at the merging point. Furthermore, with this configuration, it becomes possible to charge the energy storage device during the time when the vehicle being passed with the energy storage device is waiting at the merging point.

[0073] When the amount of electricity stored in the power storage device mounted on the vehicle to pass is less than or equal to the standard remaining amount, and there is no charging station before the merging section that the vehicle to pass is about to pass through, it is preferable that the correction coefficient be set to increase the waiting time index compared to when the amount of electricity stored in the power storage device is greater than the standard remaining amount.

[0074] With this configuration, if the amount of electricity stored in the energy storage device is below the standard remaining amount and there is no charging station before the merging point that the vehicle is about to pass through, a large correction coefficient is set, so the waiting time index tends to be a large value. Therefore, it is possible to make it easier for vehicles with the amount of electricity stored in the energy storage device below the standard remaining amount to pass through merging points without charging stations, and to make it easier to charge at other charging stations earlier. [Industrial applicability]

[0075] The technology disclosed herein can be used in an article transport system comprising a plurality of transport vehicles that travel along a predetermined route, and a control device that controls the transport vehicles. [Explanation of symbols]

[0076] 100: Goods handling equipment 1: Transport vehicle 12: Energy storage device 2: Control device 7: Charging Station 9: Route 90: Confluence 91: Straight road 92: Curved road Tf: Waiting time X: Correction factor I: Latency index J: Congestion level

Claims

1. Multiple transport vehicles traveling along a predetermined route, An article transporting system comprising a control device for controlling the transport vehicle, The control device is configured to perform merging control at a merging point where multiple paths converge, thereby controlling the operation of multiple transport vehicles. At the same time, each of the multiple transport vehicles that are about to pass through the merging section will be designated as a vehicle to pass through. The merging control includes an order determination process that determines the order in which each of the multiple vehicles to pass through the merging section will pass through. The control device, in the sequence determination process, determines the passage order according to a waiting time index determined based on the waiting time of the multiple vehicles to pass at the merging section, The aforementioned waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the status of each of the multiple passing vehicles. In the sequence determination process, the control device compares the waiting time index for each of the multiple vehicles to pass, and causes the vehicle with the largest waiting time index to pass before the other vehicles to pass. A goods transporting system in which, when the passing vehicle is transporting goods, the correction coefficient is set so that the waiting time index is larger than when the passing vehicle is not transporting goods.

2. Multiple transport vehicles traveling along a predetermined route, An article transporting system comprising a control device for controlling the transport vehicle, The control device is configured to perform merging control at a merging point where multiple paths converge, thereby controlling the operation of multiple transport vehicles. At the same time, each of the multiple transport vehicles that are about to pass through the merging section will be designated as a vehicle to pass through. The merging control includes an order determination process that determines the order in which each of the multiple vehicles to pass through the merging section will pass through. The control device, in the sequence determination process, determines the passage order according to a waiting time index determined based on the waiting time of the multiple vehicles to pass at the merging section, The aforementioned waiting time index is determined by correcting the waiting time with a correction coefficient determined according to the status of each of the multiple passing vehicles. In the sequence determination process, the control device compares the waiting time index for each of the multiple vehicles to pass, and causes the vehicle with the largest waiting time index to pass before the other vehicles to pass. Some or all of the aforementioned transport vehicles are equipped with power storage devices for storing electricity. A charging station for charging the energy storage device is provided just before the aforementioned confluence section. A goods transporting system in which, when the amount of electricity stored in the power storage device mounted on the vehicle to be transported is less than or equal to a predetermined standard remaining amount, the correction coefficient is set so that the waiting time index is smaller than when the amount of electricity stored in the power storage device is greater than the standard remaining amount.

3. The article transport equipment according to claim 2, wherein, when the amount of electricity stored in the power storage device mounted on the vehicle to be transported is less than or equal to the standard remaining amount, and there is no charging station before the merging section that the vehicle to be transported is about to pass through, the correction coefficient is set to increase the waiting time index compared to when the amount of electricity stored in the power storage device is greater than the standard remaining amount.

4. The article transport equipment according to any one of claims 1 to 3, wherein the correction coefficient is set so that the waiting time index is larger when the vehicle to be transported is located on a straight road that merges in a straight line into the merging section compared to when the vehicle to be transported is located on a curved road that merges in a curved line into the merging section.

5. The article transport equipment according to any one of claims 1 to 3, wherein the correction coefficient is set so as the degree of congestion in the route on which the passing vehicle is located increases, the waiting time index increases.

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