Transport vehicle system

Abstract

This transport vehicle system comprises: a port having a weight acquisition unit for acquiring the weight of a container and a container type acquisition unit for acquiring a container type which is the type of the container; a higher-order controller for generating a transport request to transport a container from the port to a predetermined transport destination; and a transport vehicle controller for selecting one transport vehicle on the basis of the transport request and transmitting a transport command to the selected transport vehicle. When the container is set in place, the port transmits, to the higher-order controller, container information including the weight acquired at the weight acquisition unit and the container type acquired at the container type acquisition unit, and the higher-order controller generates the transport request on the basis of the received container information.

Description

Transport vehicle system

[0001] The present disclosure relates to a guided vehicle system.

[0002] As described in Patent Document 1, a conventional transport vehicle system is known that includes a stocker with an in-stocker transport means such as a stacker crane and an out-stocker transport means such as an overhead traveling vehicle. This system is provided with a storage means for storing a list of the IDs of items to be loaded and their destinations. An ID reader provided in the manual port (incoming port) of the stocker reads the ID of the item. If the ID of the item is found in the stored list, the item is sent directly to the outgoing port without being temporarily stored on a shelf in the stocker.

[0003] Japanese Patent Application Laid-Open No. 2005-162451

[0004] In a guided vehicle system, for example, containers containing semiconductor substrates and the like to be handled in a semiconductor factory are transported as goods. Depending on the system, multiple types of containers may be transported. The concept of container type includes the shape and weight (including the size) of the container. Furthermore, even if a container has a certain shape and size, the quantity and type of items (contents) contained within the container are not constant. It is also not easy for workers to check the quantity and type of contents in each container.

[0005] In a system that assumes that the type and contents of a container can change, it may not be appropriate to transport a container to a predetermined destination in response to a transport request. For example, the type of container may not be compatible with the destination, or the weight of the container containing the contents may not match the gripping or transporting capacity of the transport vehicle. If a transport command is generated without taking into account the type or weight of the container that does not meet various conditions, there is a risk of problems occurring in the transport operation or at the destination.

[0006] The present disclosure describes a transport vehicle system that can generate and transmit transport commands appropriately depending on the type or weight of a container.

[0007] [1] One aspect of the present disclosure is a transport vehicle system that has multiple types of transport vehicles and transports containers using each of the transport vehicles, and includes a port having a weight acquisition unit that acquires the weight of the container and a container type acquisition unit that acquires the container type, which is the type of container; a host controller that generates a transport request to transport the container from the port to a specified destination; and a transport vehicle controller that selects one of the transport vehicles based on the transport request and sends a transport command to the selected transport vehicle.When a container is placed on the port, the port sends container information including the weight acquired by the weight acquisition unit and the container type acquired by the container type acquisition unit to the host controller, and the host controller generates a transport request based on the received container information.

[0008] According to the transport vehicle system of [1], the port transmits the weight and type of the container to a host controller, and a transport request is generated based on the container information. Furthermore, the transport vehicle controller selects one of the transport vehicles based on the transport request and transmits a transport command to the selected transport vehicle. Since at least one of the weight and type of the container is taken into consideration when generating the transport request, the transport command is also generated and transmitted appropriately. For example, a transport command can be transmitted to an appropriate type of transport vehicle depending on the weight. Furthermore, a transport command can be transmitted to an appropriate type of transport vehicle that is compatible with a specific container type. According to the transport vehicle system of [1], a transport command can be generated and transmitted appropriately depending on the container type (type of container) or weight.

[0009] [2] In the transport vehicle system described in [1] above, the port may be a manual port where a worker manually places a container. In this case, transport commands can be appropriately generated for containers that are not managed by the system.

[0010] [3] In the transport vehicle system of [1] or [2] above, any one of the port, the upper controller, and the transport vehicle controller may have a first determination unit that determines whether a container corresponds to a transportable item based on at least one of the weight and the type of the container. According to the determination by the first determination unit, transport commands can be generated and transmitted (assigned) only for containers that are determined to correspond to transportable items.

[0011] [4] In the transport vehicle system of [3] above, the first determination unit may determine whether a container corresponds to a transportable item based on a first table showing combinations of container types and weights for transportable items. In this case, whether a container corresponds to a transportable item can be determined based on the container type (shape of the container, etc.) and weight.

[0012] [5] In the transport vehicle system of [3] or [4] above, the port's weight acquisition unit may be capable of detecting the container's planar weight balance, and the first determination unit may determine whether the container is a transportable item by taking into account the container's planar weight balance. For example, if a container with poor weight balance and excessive weight imbalance in planar direction is forcibly transported, the likelihood of trouble occurring in the transport vehicle increases. By taking into account the container's planar weight balance when determining whether the container is a transportable item, such trouble can be avoided.

[0013] [6] In any one of the transport vehicle systems [1] to [5] above, any one of the port, the host controller, and the transport vehicle controller may have a second determination unit that determines whether a container corresponds to an acceptable item based on at least one of the weight and type of the container and a predetermined destination. The determination by the second determination unit can prevent a container that is not intended for (unacceptable from) the destination from being transported to the destination. Even if an input error occurs in a mode in which information is manually entered by an operator, a transport command can be prevented from being generated.

[0014] [7] In any one of the transport vehicle systems [1] to [6] above, the container type acquisition unit of the port may be an input unit that inputs the container type based on the appearance of the container placed on the port or a read of an identifier assigned to the container. In this case, the port can automatically acquire information regarding the shape of the container, etc.

[0015] [8] In any one of the transport vehicle systems [1] to [6] above, the container type acquisition unit of the port may be an input unit into which the container type is input by an operator. In this case, there is no need to install a special reading device in the port. The operator can input information about the shape of the container, etc., into the port.

[0016] According to the present disclosure, a transport command can be generated and transmitted appropriately according to the container type (type of container) or weight.

[0017] FIG. 1 is a diagram showing the transfer of a container between a transport vehicle and a port in a transport vehicle system according to an embodiment of the present disclosure. FIG. 2 is a block diagram showing the functional configurations of a port, a host controller, and a transport vehicle controller. FIG. 3 is a diagram showing a weighing scale side section provided in a port. FIG. 4 is a diagram showing an example of a container transport procedure in a port, a host controller, and a transport vehicle controller. FIGS. 5(a) and 5(b) are each a diagram showing another reading device for a container type. FIG. 6 is a diagram showing another weighing scale side section capable of measuring weight balance.

[0018] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicated description will be omitted.

[0019] The basic components of the transport vehicle system S of this embodiment, that is, the transport vehicle 1 and the port 30, will be described with reference to Fig. 1. As shown in Fig. 1, the transport vehicle system S is applied to, for example, a clean room (semiconductor factory) where semiconductor devices are manufactured. The transport vehicle system S includes a track 200 installed near the ceiling of a building that constitutes the clean room or the like, and a plurality of transport vehicles 1 that travel along the track 200.

[0020] The track 200 is suspended from the ceiling, for example. The track 200 is a travel path for the transport vehicles 1. Each transport vehicle 1 travels along the track 200. The track 200 passes over or near one or more ports 30, for example. The layout of the track 200 may be determined appropriately depending on the arrangement of processing equipment (not shown) and the like in the clean room. The arrangement of the ports 30 may also be determined appropriately.

[0021] The transport vehicle 1 is also referred to as an overhead transport vehicle or an overhead traveling vehicle. The transport vehicle 1 transports the container 10 while holding the container 10. There are multiple types of containers 10 that can be used in the transport vehicle system S (in other words, that can be transported). In this specification, the term "type of container 10" is synonymous with the term "container type." The type of container 10 that can be used in the transport vehicle system S is not particularly limited. Examples of types of containers 10 include a FOUP (Front Opening Unified Pod), a FOSB (Front Opening Shipping Box), a SMIF (Standard Mechanical Interface) Pod, a frame cassette, and a reticle pod.

[0022] In the transport vehicle system S, each transport vehicle 1 transfers containers 10 between each port 30. In this embodiment, at least one port 30 is a manual port on which an operator manually places a container 10. Multiple ports 30 may be manual ports. The port 30 has a placement portion 30a at a height such that the operator who has transported the container 10 can place the container 10. The container 10 is placed on the placement portion 30a. The placement portion 30a is provided with three positioning pins 43 that engage (or fit) with the bottom surface of the container 10. The positioning pins 43 are not shown in FIG. 1 . The container 10 may be placed on the port 30, which is a manual port, by an operator operating a transport device such as a forklift.

[0023] The transport vehicle system S may include a storage shelf (not shown) suspended from the ceiling, or may include a storage shelf (not shown) installed on the floor F. A "storage shelf" is also called a "buffer." The "storage shelf" is a concept that also includes an automatic storage device such as a stocker.

[0024] Each transport vehicle 1 has a frame unit 2, a traveling unit 3, a lateral unit 4, a lifting drive unit 6, and a gripping unit 7. The frame unit 2 includes frames provided on the front and rear sides in the extension direction (traveling direction) of the track 200. The traveling unit 3 travels along the track 200 by receiving a contactless supply of power, for example, from a high-frequency current line laid along the track 200. The driving method for the traveling unit 3 may be an electric motor drive method, a linear motor drive method, or any other known drive method. The lateral unit 4 moves the lifting drive unit 6 and the gripping unit 7 laterally (to the side in the traveling direction of the transport vehicle 1).

[0025] The lifting drive unit 6 lifts and lowers the gripping unit 7. The lifting drive unit 6 lifts and lowers the gripping unit 7 by winding or unwinding the belt B. The gripping unit 7 grips (holds) the container 10 in a specified orientation. The gripping unit 7 has a pair of grippers 8, 8. The pair of grippers 8, 8 are opened and closed by a drive motor and a link mechanism to grip or release the grip of the container 10. The transport vehicle 1 may also have a known configuration other than the above. A rotation unit that rotates the lifting drive unit 6 about a central axis (rotation axis) along the Z direction may be provided between the lateral unit 4 and the lifting drive unit 6. Furthermore, another rotation unit that rotates the gripping unit 7 about a central axis (rotation axis) along the Z direction may be provided between the lifting drive unit 6 and the gripping unit 7.

[0026] In this embodiment, the transport vehicle system S includes multiple types of transport vehicles 1. The type of transport vehicle 1 refers to, for example, the type of container 10 that can be grasped (held) and the transport capacity. Each transport vehicle 1 is compatible with one or more types of container 10. A certain transport vehicle 1 may be compatible with all types of containers 10. The type of container 10 that can be grasped varies depending on the type (i.e., container type) of each container 10. The container type mainly refers to the shape of the grasped portion of the container 10 and the size (size) of the container body. The "transport capacity" of a container 10 is a concept that includes the range of weights of containers 10 that can be grasped and transported (meaning the container 10 including its contents). The weight range of containers 10 that can be grasped and transported may be rephrased as the upper limit of the weight of containers 10 that can be grasped and transported. In the transport vehicle system S, each transport vehicle 1 transports compatible types of containers 10.

[0027] The transport vehicle system S of this embodiment is configured to properly transport the container 10 to its designated destination even when the weight of the container 10 placed on the port 30 is unknown (at least, the weight is not known to the operator, and the weight is not quantified). Even for a container 10 (item or article) with an unknown weight, a transport request and transport command are generated for the container 10, and the transport command is assigned to a transport vehicle 1 suitable for the container 10. As a result, the container 10 is transported from the port 30 to its destination without any problems. Note that if there is no transport vehicle 1 suitable for the container 10, or if it is determined that the container 10 is unsuitable for transport due to another factor, the transport of the container 10 is stopped by issuing an error report, etc.

[0028] The detailed configuration of the transport vehicle system S that realizes the above functions will be described with reference to Figures 2 to 4. The transport vehicle system S includes one or more manual ports (ports 30), a host controller 100 that generates a transport request to transport a container 10 on the port 30 from the port 30 to a predetermined destination, and a transport vehicle controller 50 that generates a transport command based on the transport request and transmits the transport command to one of the transport vehicles 1 (assigning the transport command). Each of the host controller 100 and the transport vehicle controller 50 is a computer including an electronic control unit configured with a processor such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other storage media. The port 30 includes a placement section 30a on which a container 10 is placed by an operator, a weighing scale side section 42 (described later), and a reader 41 for the identifier 11 (see Figure 3). The port 30 is similar to the upper controller 100 and the transport vehicle controller 50 in that it has a port control unit 30C and a memory unit 36, and includes an electronic control unit composed of a processor such as a CPU, ROM, RAM, and other storage media.

[0029] Fig. 2 is a block diagram showing the functional configurations of the port 30, the upper controller 100, and the transport vehicle controller 50. Fig. 3 is a diagram showing a side portion of a weight scale provided in the port 30. Fig. 4 is a diagram showing an example of a transport procedure for a container 10 in the port 30, the upper controller 100, and the transport vehicle controller 50.

[0030] First, the configuration of the port 30 will be described with reference to Figures 2 and 3. The port 30 includes a port control unit 30C, a memory unit 36, an operation panel 38, and a communication unit 39 (see Figure 2). The port 30 further includes a reader 41 and a weighing scale side unit 42 (see Figure 3). The operation panel 38 includes a display unit such as a touch panel display. The touch panel display may also serve as an operation unit operated by an operator. The operation panel 38 may include an operation unit separate from the display unit. The communication unit 39 is capable of communicating information with the communication unit 109 of the host controller 100.

[0031] As shown in FIG. 3 , the mounting portion 30a on the upper surface of the port 30 is provided with, for example, three positioning pins 43. The three positioning pins 43 are arranged, for example, at the vertices of a triangle in a plan view and are engageable with three recesses (not shown) formed on the bottom surface of the container 10. When the container 10 is placed on the mounting portion 30a, the container 10 is supported in a predetermined orientation by the positioning pins 43. The positioning pins 43 are compatible with multiple types of containers 10. The weighing scale side unit 42 measures the weight of the container 10 via the three positioning pins 43. The weighing scale side unit 42 outputs the weight of the container 10 to the weight acquisition unit 33. The weight acquisition unit 33 acquires the weight of the container 10.

[0032] A predetermined identifier 11 is attached to the container 10 on its surface or inside (near the bottom) of the container 10. The identifier 11 includes information about a container ID unique to the container 10. The identifier 11 may include only information about the container ID, but may also include other information. The identifier 11 may include information about the container type in addition to information about the container ID. In this case, the container type is linked to the container ID. A reader 41 is provided in the port 30 at a position where the identifier 11 attached to the container 10 on the mounting section 30a can be read. Known contactless reading technologies may be applied to the identifier 11 and the reader 41. The identifier 11 may be an RF tag, in which case the reader 41 may be an RF reader. Alternatively, the identifier 11 may be a barcode, in which case the reader 41 may be a barcode reader. The identifier 11 may also be a QR code (registered trademark), in which case the reader 41 may be a QR code reader. Predetermined information is stored depending on the format of each identifier 11, and the reader 41 reads the information.

[0033] The port control unit 30C includes a first input unit 31, a second input unit 32, a weight acquisition unit 33, and a determination unit 34. The storage unit 36 ​​also includes a container type / weight table 37 used for determination by the determination unit 34.

[0034] The first input unit 31 is a unit for inputting the container ID and container type of the container 10, and corresponds to the "container type acquisition unit for acquiring the container type" described in the claims. The second input unit 32 is a unit for inputting the destination of the container 10 when the destination is specified. The reader 41 reads the container ID based on the identifier 11 assigned to the container 10, and if the container ID is associated with a container type, the reader 41 inputs the container type into the first input unit 31. Alternatively, the container type may be input manually by the operator using the operation panel 38. In this case, the container type is input into the first input unit 31 from the operation panel 38.

[0035] In the transport vehicle system S, when a container 10 is placed on the port 30, the port control unit 30C links the container ID and container type of the container 10. The port control unit 30C also links the container ID of the container 10 to the weight of the container 10 measured by the weighing scale unit 42 and acquired by the weight acquisition unit 33. That is, the container ID, container type, and container weight are treated as a single unit as container information. If necessary, the port control unit 30C links the container ID of the container 10 to the destination entered in the second input unit 32. Note that if the operator does not know the destination of the container 10, if the destination of the container 10 is undetermined at the time of placement on the port 30, or if the operator knows the destination of the container 10 but forgets to enter it, the destination is not entered in the second input unit 32. In this case, the destination of the container 10 is provided (by an operator, for example) in the upper controller 100, and the container ID and the destination are linked.

[0036] When a container 10 is placed on the placement unit 30a, the communication unit 39 of the port 30 transmits container information including the container ID, the container weight acquired by the weight acquisition unit 33, and the container type acquired by the first input unit 31, as well as a port number (described later) corresponding to the placement unit 30a, to the upper controller 100. Note that if a transport destination is input to the second input unit 32, the communication unit 39 of the port 30 also transmits the transport destination in addition to the container information.

[0037] The upper controller 100 includes a general control unit 100C, a memory unit 106, and a communication unit 109. Based on the container information received from the port 30, the general control unit 100C generates a transfer request to transfer the container 10 to be transferred (the container 10 placed on the port 30) from the port 30 to a predetermined destination. The general control unit 100C includes an information acquisition unit 101, a determination unit 102, and a transfer request generation unit 103. The memory unit 106 also includes a container information / transfer destination table 107 used for determination in the determination unit 102. The upper controller 100 may include an operation unit such as a keyboard and a mouse so that an operator (worker) can input the destination.

[0038] The transport request generated by the transport request generation unit 103 includes a container ID, a port number which is a unique number assigned to the port 30 from which the container is to be transported, and the location of the destination (unloading location). A port number is assigned to each port 30. The port number may also be referred to as a station number. Multiple port numbers may be assigned to each port 30. In this case, each port number is set according to the type of container 10. From the port number, the transport vehicle controller 50 can identify the location of the port 30 from which the container is to be transported (loading location) and the type of transport vehicle 1 that can transport the container 10.

[0039] The transport vehicle controller 50 stores each port number, the location of the port corresponding to the port number, and the type of transport vehicle corresponding to the port number. When the transport vehicle controller 50 receives a transport request from the upper controller 100, it performs a predetermined route search by referring to the port number of the port 30 from which the transport originates (including the location of the port 30, i.e., the loading location), the location of the predetermined destination, and the type of transport vehicle 1 that matches both the container type and container weight, and selects one appropriate transport vehicle 1. The transport vehicle controller 50 generates a transport command for the selected transport vehicle 1. The transport command commands the appropriate transport vehicle 1 to travel to the port 30 from which the transport originates, grab (transfer) the container 10, grab the container 10, travel to the predetermined destination, and unload (transfer) the container 10 at the predetermined destination. The transport vehicle controller 50 transmits the transport command to the selected transport vehicle 1 (assigns the transport command). When the transport vehicle 1 receives the transport command, it travels in accordance with the transport command and transports the container 10 (i.e., performs a transfer operation).

[0040] Next, an example of a transport procedure for a container 10 will be described with reference to Fig. 4. As shown in Fig. 4, when a container 10 is placed on a port 30, the container 10 is transported under the cooperative control of the port 30, the upper controller 100, and the transport vehicle controller 50. However, if information about the container 10 is shared among these three components, some determination processes may be performed by another controller (or port). In other words, the control units of the port control unit 30C, the overall control unit 100C, and the transport vehicle controller 50 can have the other control units perform the determination processes and calculation processes in each unit.

[0041] As shown in FIG. 4 , the port control unit 30C of the port 30 determines whether a container 10 has been placed (placed) on the placement unit 30a. The port control unit 30C repeats this determination until the container 10 is placed, and when it determines that the container 10 has been placed (step S01; YES), it measures the container weight (step S02). Next, the port control unit 30C reads the container information (step S03). That is, the first input unit 31 inputs the container type, and the weight acquisition unit 33 acquires the container weight. When an input operation is performed by the operator, the second input unit 32 inputs the destination of the container 10.

[0042] Next, the determination unit 34 of the port control unit 30C determines whether the container 10 corresponds to a transportable item based on the container weight and container type (step S04). In this case, the determination unit 34 corresponds to the first determination unit described in the claims. At this time, the determination unit 34 uses the container type / weight table 37. The container type / weight table 37 is a first table that shows combinations of container types and weights for transportable items. More specifically, the container type / weight table 37 is a table that shows upper weight limits according to container type. If the container weight for a certain container type is below the upper limit, the determination by the determination unit 34 is OK. If the container weight for a certain container type exceeds the upper limit, the determination by the determination unit 34 is NG.

[0043] If the determination unit 34 determines that the container type and weight are NG (step S04; NO), the port control unit 30C issues an error signal from the operation panel 38 or a notification unit (not shown) (step S05). The error may be indicated by a display on the display unit or by a sound (including voice). Then, the generation of a transport request by the host controller 100 and the generation of a transport command by the transport vehicle controller 50 are not performed (are canceled).

[0044] If the determination unit 34 determines that the container type and weight are acceptable (step S04; YES), the determination unit 34 transmits the container information to the host controller 100 (step S06). The overall control unit 100C of the host controller 100 determines whether it is waiting for input of a destination (step S11). The overall control unit 100C repeats this determination until a destination is input. If it determines that a destination has been input (step S11; YES), the determination unit 102 determines whether the container 10 corresponds to an acceptable item in terms of either the container weight or the container type and the predetermined destination. In this case, the determination unit 102 corresponds to the second determination unit described in the claims. At this time, the determination unit 102 uses a container information / destination table 107. The container information / destination table 107 is a second table showing combinations of the container weight and the container type of acceptable items and the destination. If the container type and weight of the container 10 correspond to the container type and / or weight permitted at the destination, the judgment by the judgment unit 102 is OK. If the container type and weight of the container 10 do not correspond to the container type and / or weight permitted at the destination, the judgment by the judgment unit 102 is NG.

[0045] If the determination unit 102 determines that the container information and the transport destination are NG (step S12; NO), the integrated control unit 100C issues an error from a notifying unit (not shown) or the like (step S13). The error may be indicated by a display on the display unit or by a sound (including voice). When an error is issued, the cause or reason for the error is also notified. Then, the generation of a transport request by the upper controller 100 and the generation of a transport command by the transport vehicle controller 50 are not performed (are canceled).

[0046] When the determination unit 102 determines that the container information and the transport destination are OK (step S12; YES), the integrated control unit 100C transmits a transport request to the transport vehicle controller 50 (step S14). This transport request includes the container ID, the port number of the port 30 from which the container is transported (including the position of the port 30, i.e., the loading position), and the position of the destination (unloading position).

[0047] When the transport vehicle controller 50 receives a transport request from the host controller 100, it selects one of the transport vehicles 1 based on the transport request and generates a transport command (step S21). The transport vehicle controller 50 then transmits the transport command to the selected transport vehicle 1 (step S22). Through the above series of processes, the transport vehicle 1 travels and transports the container 10 (i.e., performs a transfer operation) in accordance with the transport command generated by the transport vehicle controller 50. If an NG judgment is made in either step S04 or S12, the transport of the container 10 is not performed. In response to the error notification, the operator takes appropriate action, such as performing work to eliminate the cause of the error in the container 10.

[0048] According to the transport vehicle system S of this embodiment, the port 30 transmits the weight and container type of the container 10 to the host controller 100, and a transport request is generated based on the container information. Furthermore, the transport vehicle controller 50 selects one of the transport vehicles 1 based on the transport request and transmits a transport command to the selected transport vehicle 1. By taking into consideration at least one of the weight and container type of the container 10 when generating the transport request, the transport command is also generated and transmitted appropriately. For example, a transport command can be transmitted to an appropriate type of transport vehicle depending on the weight. Furthermore, a transport command can be transmitted to an appropriate type of transport vehicle suited to a specific container type. According to the transport vehicle system of this embodiment, a transport command can be generated and transmitted appropriately depending on the container type (type of container 10) or weight. Even if the weight of a container 10 is unknown, when the container 10 is placed on the port 30, a transport request and transport command are generated for the container 10, and the transport command is assigned to a transport vehicle 1 suited to the container 10.

[0049] The port 30 is a manual port on which an operator manually places the container 10. This allows a transport command to be generated appropriately for a container 10 that is not managed by the system.

[0050] The port 30 has a determination unit 34 that determines whether the container 10 corresponds to a transportable item based on at least one of the weight and the container type of the container 10. According to the determination by the determination unit 34, a transport command can be generated and transmitted (assigned) only for the container 10 that is determined to correspond to a transportable item.

[0051] The determination unit 34 determines whether the container 10 corresponds to a transportable item based on a first table that shows combinations of container types and weights for transportable items. This makes it possible to determine whether the container 10 corresponds to a transportable item based on the container type (shape of the container 10, etc.) and weight.

[0052] The upper controller 100 has a determination unit 102 that determines whether the container 10 corresponds to an acceptable item based on at least one of the weight and type of the container 10 and a predetermined destination. The determination by the determination unit 102 can prevent a container 10 that is not intended for (cannot be accepted by) the destination from being transported to the destination. Even if there is an input error when information is manually entered by an operator, it is possible to prevent a transport command from being generated.

[0053] The first input unit 31 of the port 30 may be an input unit into which the container type is input based on the appearance of the container 10 placed on the port 30 or a read of an identifier attached to the container 10. In this case, the port 30 can automatically acquire information regarding the shape of the container 10, etc.

[0054] The first input unit 31 of the port 30 may be an input unit into which the container type (such as the shape of the container 10) is input by an operator. In this case, there is no need to install a special reading device in the port 30. The operator can input the container type into the port 30 by, for example, manual input. The container type may also be input by a method (input operation) other than manual input, for example, by voice input by the operator.

[0055] Although the embodiments of the present disclosure have been described above, the present invention is not limited to the above embodiments. For example, the container type acquisition unit may acquire the container type based on information obtained by means other than those of the above embodiments. As shown in FIG. 5( a), a camera 46 that identifies the container type may be provided instead of the identifier 11 and reader 41. As shown in FIG. 5( b), a LiDAR 47 that identifies the container type may be provided instead of the identifier 11 and reader 41. In these cases, the port control unit 30C may identify the container type based on image data or reflected light data.

[0056] As shown in FIG. 6 , the weight scale side portions 42A, 42B, and 42C of the port 30 may be composed of three weight scales individually connected to the positioning pins 43A, 43B, and 43C, respectively. In this case, the weight acquisition unit 33 of the port 30 can detect the planar weight balance of the container 10, and the first determination unit can determine whether the container 10 is a transportable item by taking into account the planar weight balance of the container 10. When the container 10 is used to store tools or parts, detecting such invisible internal weight balance is also useful. For example, forcibly transporting a container 10 with poor weight balance and excessive weight imbalance in the planar direction increases the likelihood of problems occurring with the transport vehicle. By taking into account the planar weight balance of the container 10 when determining whether the container is a transportable item, such problems can be avoided.

[0057] The port 30 is not limited to a manual port. For example, a container 10 of unknown weight may be carried in from outside the transport vehicle system by a machine (transport device) such as an AGV and placed on the port 30. That is, the port 30 may be a port on which a package is placed by the transport device, which detects the placement of the package, reads necessary information from the package, and is incorporated into the control of the system.

[0058] The first determination unit may determine whether or not the container 10 corresponds to a transportable item based on only one of the container weight and the container type.

[0059] Rather than selecting a transport vehicle 1 based on a port number, the transport vehicle controller 50 may select a transport vehicle 1 based on information about the container 10 that has been input (or received) in another manner.

[0060] 1...transport vehicle, 10...container, 30...port, 30C...port control unit, 31...first input unit (container type acquisition unit), 33...weight acquisition unit, 34...determination unit (first determination unit), 37...container type / weight table, 50...transport vehicle controller, 100...host controller, 100C...overall control unit, 102...determination unit (second determination unit), 103...transport request generation unit, S...transport vehicle system.

Claims

1. A transport vehicle system having multiple types of transport vehicles and transporting containers using each of the transport vehicles, comprising: a port having a weight acquisition unit that acquires the weight of the container and a container type acquisition unit that acquires the container type, which is the type of container; a host controller that generates a transport request to transport the container from the port to a specified destination; and a transport vehicle controller that selects one of the transport vehicles based on the transport request and sends a transport command to the selected transport vehicle; when the container is placed on the port, the port transmits container information including the weight acquired by the weight acquisition unit and the container type acquired by the container type acquisition unit to the host controller, and the host controller generates a transport request based on the received container information.

2. The transport vehicle system according to claim 1, wherein the port is a manual port onto which a worker manually places the container.

3. A transport vehicle system as described in claim 1 or 2, wherein any one of the port, the upper controller, and the transport vehicle controller has a first determination unit that determines whether the container is a transportable item based on at least one of the weight and container type of the container.

4. A transport vehicle system as described in claim 3, wherein the first determination unit determines whether the container corresponds to a transportable item based on a first table showing combinations of container type and weight for the transportable item.

5. A transport vehicle system as described in claim 3, wherein the weight acquisition unit of the port is capable of detecting the planar weight balance of the container, and the first determination unit determines whether the container is a transportable item by taking into account the planar weight balance of the container.

6. A transport vehicle system as described in claim 1 or 2, wherein any one of the port, the upper controller, and the transport vehicle controller has a second determination unit that determines whether the container corresponds to an acceptable item based on at least one of the weight and type of the container and the specified destination.

7. A transport vehicle system as described in claim 1 or 2, wherein the container type acquisition unit of the port is an input unit in which the container type is input based on the appearance of the container placed on the port or a reading of an identifier assigned to the container.

8. The transport vehicle system according to claim 1 or 2, wherein the container type acquisition unit of the port is an input unit into which a container type is input by an operator.

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