JP5277838B2 - Transport control device and transport system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To shorten a stop time of a conveyance vehicle as much as possible in a conveyance controller which is provided for each conveyance vehicle for conveying loads, such as a variety of substrates for manufacturing a semiconductor device, and determines how the conveyance vehicle is conveyed on a track according to map information. <P>SOLUTION: The conveyance controller is provided with: a first storage means 5b for storing reference map data including map elements; a communication means for receiving correction map data when the map elements are corrected; a second storage means 5a for storing the received correction map data; an update means 4 for extracting the stored correction map data in response to a prescribed trigger and replacing the stored reference map data with the correction map data extracted; and a control means 4 for determining how the conveyance vehicle conveys on the track according to the stored reference map data and controls the conveyance vehicle so that it conveys as determined. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention is provided in each transport vehicle for transporting loads such as various substrates for manufacturing semiconductor devices, for example, and a transport control device that determines how the transport vehicle is transported on a track according to map information, and this The present invention relates to a technical field of a transport system including a transport vehicle including such a device.

  As a transport system including this type of transport control device, for example, there is a system including a plurality of area controllers that are respectively disposed in a plurality of areas and that respectively manage one or a plurality of transport vehicles existing in each area ( Patent Document 1). According to the transport system, when the transport route is changed, the transport route information stored in one area controller among the plurality of area controllers is updated. Then, the updated transport route information is transmitted from the one area controller to the other area controllers, and the transport route information stored in the other area controllers is updated. Then, the updated conveyance route information is transmitted from each area controller to one or a plurality of conveyance vehicles under the control of the plurality of area controllers, and the conveyance route information stored in the plurality of conveyance vehicles is updated.

Japanese Patent Laid-Open No. 2004-227058

  However, according to the above-mentioned Patent Document 1, as a method of transmitting the conveyance route information to the conveyance vehicle, the conveyance route information is transmitted to one conveyance vehicle by one communication, or a plurality of conveyance is performed by one communication. It is described that the transport route information is simultaneously transmitted to the vehicle, and the communication time between the area controller and the transport vehicle is reduced. On the other hand, when transmitting the transport route information, there is no disclosure as to whether or not to stop at least a part of the transport vehicle, for example, because of concerns about accidents such as derailment of the transport vehicle due to switching of the transport route information. . For example, if the conveyance system is stopped for a long time for the communication during the execution of the conveyance process or the manufacturing process, the conveyance efficiency may be lowered. On the other hand, if at least a part of the transport system is not stopped, two transport vehicles having different transport route information may collide.

  In addition, the inventor of the present application knows that the stop time of the transport vehicle is prolonged depending on the amount of information transmitted from the transport controller such as an area controller, the writing performance to the storage means of the transport vehicle, etc. There is a technical problem that the conveyance efficiency may be significantly reduced.

  The present invention has been made in view of the above-described problems. For example, it is an object of the present invention to provide a transport control device and a transport system that can suppress a decrease in transport efficiency while shortening the stop time of the transport vehicle as much as possible. .

  In order to solve the above problems, the conveyance control device according to the present invention includes at least one of the mark arrangements readable by the conveyance vehicle as a map element, and how the conveyance vehicle conveys on the track. A first storage means for storing reference map data indicating a map, which serves as a reference for deciding whether or not to perform correction, and a correction map indicating a map in which the correction is reflected when the map element is corrected Communication means for receiving data from the map database provided outside the transport control device, second storage means for storing the received correction map data, and a second trigger in response to a predetermined trigger, The stored correction map data is extracted or copied from the storage means, and the stored reference map data is stored in the extracted or copied correction map data. In accordance with the update means for replacing or overwriting at least a part of the reference map data and the stored reference map data, it is determined how the transport vehicle is transported on the track, and is transported as determined. Control means for controlling the transport vehicle.

  According to the transport control apparatus of the present invention, for example, in a factory for manufacturing a semiconductor device, for example, a load such as FOUP (Front Opening Unified Pod) is loaded by a transport vehicle such as a vehicle, for example, a manufacturing apparatus, a stocker (or a stacker), or the like. One or a plurality of these devices are provided, for example, on a track such as a rail laid on the ceiling or floor. Here, a mark such as a barcode is attached to the track. The mark indicates, for example, an operation to be performed by the transport vehicle in addition to the stop position and the loading position of the transport vehicle. The transport vehicle transfers the load to and from various devices based on the marks, for example.

  Here, for example, the reference map data such as the map information and the teaching information is changed with respect to the map element, for example, the mark pasting position is changed. In this case, the same reference map data including the contents of the change described above is distributed to all the transport vehicles traveling along the track. However, depending on the information amount of the reference map data and the number of transport vehicles, At least some of them may be stopped for a relatively long time.

  However, in the present invention, for example, when a map element is corrected in accordance with a change in an actual trajectory or the like during traveling of a transport vehicle, first, by a communication unit, for example, a memory provided in an OHVC (OverHead Vehicle Controller) or the like. Correction map data is received from the map database side. Here, the “correction map data” may be virtual reference map data for correcting the reference map data, for example, and is not actually used at the time of transportation. The “correction map data” may be referred to as “adjusted map data” in the sense that the reference map data is adjusted according to a change in the trajectory or the like corresponding to the map element. Then, the correction map data is stored by the second storage means. Therefore, at this point, it is possible to perform a trial run according to the correction map data, but there is no change in the reference map data itself. That is, at this time, the reference map data is not updated.

  After that, for example, when a predetermined trigger is received by the updating means, the correction map data is extracted from the second storage means without delay or after a predetermined time has elapsed, and the first storage is performed with the extracted correction map data. At least part of the reference map data in the means is replaced (i.e., the reference map data is updated). Here, the “predetermined trigger” may be, for example, a signal from the outside of the transport vehicle, or a command instructed inside the transport vehicle after satisfying a predetermined condition. The “at least part” in the reference map data may be, for example, only the part of the map that has been modified, or the entire map.

  When the reference map data is updated in this manner, thereafter, for example, by a mark whose paste position has been changed according to the updated reference map data stored in the first storage means by a control means such as a controller. One state of transport is determined. Then, the transport vehicle is controlled as determined.

  Thus, when the transport vehicle receives the correction map data, the transport vehicle is never stopped. Moreover, by receiving a predetermined trigger, the reference map data is updated in a relatively short time without actually receiving. Therefore, the time required to update the reference map data, that is, the time for stopping the transport vehicle can be suppressed to a relatively short time.

  As described above, the correction map data related to the reference map data to be updated is set, the carrier vehicle is not stopped when the correction map data is distributed, and the carrier vehicle (actually, only when the reference map data is updated). , At least a part) is stopped, the stop time of the transport vehicle can be shortened, and a decrease in transport efficiency can be suppressed.

  In one aspect of the transport control apparatus of the present invention, the update means receives the update control signal indicating that the stored reference map data is updated as the predetermined trigger. Replace or overwrite at least a portion of the reference map data.

  According to this aspect, for example, after the correction map data is stored by the second storage unit, the update control signal is received by the communication unit. Then, at least a part of the reference map data stored in the first storage unit is replaced by the update unit. In this way, in response to receiving the update control signal, the reference map data is replaced to prevent the reference map data from being inadvertently updated.

  In another aspect of the transport control apparatus of the present invention, the control means may be configured such that the transport vehicle is a part of a transport plan of how the transport vehicle is transported on the track according to the correction map data. The update means decides how to make a trial run on the track, and replaces or overwrites at least a part of the reference map data in response to the completion of the trial run of the transport vehicle as the predetermined trigger.

  According to this aspect, for example, after the correction map data is stored by the second storage means, the state of the trial run is determined by the control means according to the stored correction map data. Here, the “trial run” may include, for example, a run for confirming the adaptability of the stored correction map data. Such a trial run may be simulated by a CPU provided in the control means, for example. Good. “Adaptability” in the correction map data may mean, for example, that the correction map data can be read and that no error is detected as a result of the simulation. “Confirmation” in such adaptability may mean detection, verification, and verification by simulation, information analysis, or the like. When such adaptability is confirmed, a signal indicating the completion of the trial run is transmitted, for example, by the control means. Then, the signal from the control means is received by the updating means, and at least a part of the reference map data is replaced. As described above, the reference map data can be safely updated by replacing the reference map data in response to the completion of the trial run.

  In another aspect of the transport control apparatus of the present invention, the control means may be configured so that the transport vehicle is on the track during at least a part of a period during which the update means replaces or overwrites at least a part of the reference map data. After at least a part of the period has elapsed, the transport vehicle is determined to resume transport on the track.

  According to this aspect, for example, upon receipt of the update control signal, the control unit stops the transport vehicle on the track. Then, replacement of the reference map data is started by the updating means. Thereafter, when the replacement of the reference map data is completed, the control means resumes the transport on the track by the transport vehicle. Thus, by stopping the transport vehicle only during the replacement period of the reference map data, the stop time of the transport vehicle can be shortened. Moreover, since the transport vehicle is stopped during the replacement of the reference map data, it is possible to prevent the vehicle from traveling based on the incomplete data being replaced and causing a collision or the like.

  In another aspect of the transport control apparatus of the present invention, the communication means, when the map element is corrected at a level at which the transport vehicle can travel on the track, Received from the map database side, the control means decides to continue the transport by the transport vehicle during the reception of the correction map data by the communication means.

  According to this aspect, when the map element is corrected at a level at which the transport vehicle can travel on the track, the map data for correction from the map database side is received by the communication means. During this reception, the transport by the transport vehicle is continued by the control means. Here, the “travelable level” means, for example, a level that does not hinder travel even if correction is made during travel of the transport vehicle. “Correction” at such a travelable level may mean, for example, a new addition of a track, various devices, and a mark, and a change in stored information stored in the mark. As described above, by continuing the conveyance by the conveyance vehicle during the reception of the correction map data in accordance with the correction level, the stop time of the conveyance vehicle can be shortened to the maximum.

  In another aspect of the transport control apparatus of the present invention, the communication means receives the correction map data for each area in which the entire area where the trajectory is laid is divided, and the second storage means Separately, the received correction map data is stored, and the updating means replaces or overwrites at least a part of the stored reference map data for each area.

  According to this aspect, the map data for correction is received for each area by the communication means. Then, the received correction map data is stored for each area by the second storage means. Then, at least a part of the stored reference map data is replaced by the update means for each area. In this way, by handling the correction map data and the reference map data for each area, it is only necessary to update the reference map data corresponding to the area to be corrected, and the update time (that is, the time for stopping the transport vehicle). Can be further shortened. In addition, the amount of data transmitted and received for correction data can be reduced. The second storage means may provide only one area for storing the correction map data, or may provide a plurality of areas by area (that is, corresponding to the number of areas). When only one storage area is provided, each time the correction map data is received, one storage area is updated. When a plurality of storage areas are provided, a plurality of correction map data having different areas are received in parallel and stored in the corresponding storage areas, thereby receiving and storing a plurality of correction map data. And the reference map data can be updated quickly.

  In order to solve the above problems, the first transport system of the present invention includes a transport vehicle including the transport control device described above, the map database that distributes the correction map data to the transport vehicle, and the predetermined trigger. Update control means for transmitting an update control signal for updating the stored reference map data.

  According to the first transport system of the present invention, when a map element is modified according to a change in actual trajectory or the like, the map data for correction is distributed to the transport vehicle by the map database. Then, in the transport vehicle, the delivered map data for correction is received by the transport control device, and the received map data for correction is stored. After that, the map data for correction should be changed from a temporary one to a full one (that is, promoted to the reference map data) at an appropriate timing, for example, by an update control means provided in OHVC, An update control signal is transmitted. Then, at least a part of the stored reference map data is replaced by the transport control device in the transport vehicle without delay or after a predetermined time has elapsed. Thus, if the distribution of the correction map data and the transmission of the signal for urging the update of the reference map data are performed to a plurality of transport vehicles, the reference map data can be updated quickly. Further, at that time, it is possible to shorten the stop time of each transport vehicle and to suppress a decrease in transport efficiency in the entire transport system.

  In order to solve the above-described problem, the second transport system of the present invention divides the entire region where the track is laid into a plurality of areas, and each of the divided areas and between the plurality of areas. A transport system for transporting a load by one or a plurality of transport vehicles respectively traveling, wherein the track is disposed, the various devices are disposed along the track, and the one or the plurality of transport vehicles are attached to the track. A map including at least one of the mark arrangements readable by each of the map elements as a map element and serving as a reference for determining how the one or more transport vehicles are transported on the track. First storage means for storing the reference map data shown for each of the plurality of areas as a plurality of reference map data portions divided to correspond to each of the plurality of areas, of the plurality of areas When the map element related to the area is corrected, the correction map data portion indicating the map portion reflecting the correction is received from the map database side and the stored reference map data portion is Communication means for receiving an update control signal for updating, second storage means for storing the received correction map data portion, and receiving the update control signal as a trigger from the second storage means The stored correction map data portion is extracted or copied, and the one of the corrected or copied correction map data portion corresponding to the one area stored in the first storage means. Updating means for replacing or overwriting at least part of the reference map data portion of the reference map, and a plurality of reference maps stored by the first storage means Control means for determining how the one or more transport vehicles are transported on the track according to the data portion, and controlling the one or more transport vehicles so as to transport as determined. The correction map data portion and the plurality of reference map data portions are stored for each of the plurality of areas and the conveyance control device mounted on each of the one or the plurality of conveyance vehicles, and the correction map data portion And the update control means for transmitting the update control signal to the communication means for each of the plurality of areas.

  According to the second transport system of the present invention, for example, in a factory for manufacturing semiconductor devices, for example, a load such as FOUP is transported on a track such as a rail by a transport vehicle such as a vehicle. Here, the “track” is laid in an entire area such as a ceiling or a floor, for example, and the “all area” is a set (for example, “module”) corresponding to a unit for controlling and managing transfer in the transfer system, for example. It is divided according to the area that shows. In each of the “areas”, for example, one or a plurality of manufacturing apparatuses that perform various processes such as a film forming process, a heat treatment, and an etching process on a load such as FOUP, and various processes are performed by the manufacturing apparatus. Work devices such as one or a plurality of stockers that store the load temporarily or continuously for a predetermined time are arranged.

  Each area described above corresponds to, for example, OHVC, a map database provided in the OHVC, and update control means. For example, OHVC instructs a plurality of transport vehicles to transport the FOUP, for example, according to the transport process in the semiconductor device manufacturing process. During the transportation, for example, one reference map data portion corresponding to one area is managed by one OHVC (in other words, one map database and one update control means). Here, “management” may mean, for example, verification, storage, update, and distribution of one reference map data portion. When other reference map data portions corresponding to other areas are managed by other OHVC (in other words, other map database and other update control means) for other areas than one area, for example. To do.

  In the present invention, for example, when a map element related to one area is corrected during traveling of a plurality of transport vehicles, one reference map data portion is distributed to another area by one map database. Is done. By the distribution, reference map data in a plurality of areas is unified. Then, in another area, the one reference map data portion distributed by another map database is distributed inside the other area. By the distribution, in each transport vehicle in another area, the distributed one reference map data portion is stored by the first storage means.

  On the other hand, one map data portion for correction is distributed to one area by one map database. Due to the distribution, the distributed correction map data portion is stored by the second storage means in each transport vehicle in one area. After that, the update control signal is sent by one update control means at an appropriate timing such as the timing when the correction map data should be changed from a temporary one to a full one (that is, promoted to the reference map data). Sent. Then, in each transport vehicle in one area, the correction stored in the second storage unit by the update unit without delay or after a predetermined time has elapsed in response to the reception of the update control signal by the communication unit. The work map data part is taken out, and at least a part of the one reference map data part stored in the first storage means is replaced with the taken out correction map data part. By the replacement, one reference map data part of one map database, one reference map data part in a transport vehicle in one area, and one reference map data part in a transport vehicle in another area are the same. It becomes. Then, in all the transport vehicles on the track, the control means determines the transport state according to the one reference map data portion, and the transport is controlled as determined.

  Thereby, when the one reference map data part is updated (that is, distributed and stored) in the transport vehicle in another area, the transport vehicle in the other area is not stopped at all. In addition, when delivering one reference map data portion to a transport vehicle in one area where a map element is modified, the transport vehicle in the one area is never stopped. Furthermore, by transmitting an update control signal to the transport vehicle in one area, the one reference map data portion is updated in a relatively short time in the transport vehicle in the one area. Therefore, the time required to update the reference map data, that is, the time for stopping the transport vehicle can be suppressed in a relatively short time.

  As described above, the correction map data part related to the reference map data part to be updated is set, and the reference map data part is distributed to other areas where the correction is not applied to the map element, and the map element is corrected. Stop the transport vehicle by stopping the transport vehicle only when updating the reference map data portion in one area without stopping the transport vehicle at the time of distributing the correction map data portion to the added one area. It is possible to shorten the time and suppress a decrease in conveyance efficiency.

In one aspect of the second transport system of the present invention, a plurality of reference map data portions provided in each of the plurality of areas, stored by the map database, and a plurality of stored by the first storage means. Detection means for detecting a difference between reference map data parts, and reference map data having the difference among the plurality of reference map data parts stored in the map database when the difference is detected by the detection means And a determination means for determining whether or not the correction map data portion stored in the second storage means is the same, and the update control means is determined to be the same by the determination means If it is, the update control signal for updating the reference map data portion having the difference, the one located inside the first area or Transmitted to the number of transport vehicles, the map database, is determined not to be identical by said determination unit, when the reference map data portion having the difference corresponds to the one area, the said corrected map data portion Delivering to the one or a plurality of transport vehicles in one area, and when the determination means determines that they are not the same, and the reference map data portion having the difference does not correspond to the one area, A reference map data portion having a difference is distributed to the one or a plurality of transport vehicles in the one area.

  According to this aspect, for example, when the update of one reference map data portion is finished and the stop of the transport vehicle in one area is released, the plurality of reference map data in one map database is detected by the detecting means. A difference between the portion and a plurality of reference map data portions in the transport vehicle in one area is detected. Here, the “difference” may be, for example, a difference between actual data in the reference map data portion, or may be a difference in update date / time, data amount, version number, or the like.

  When there is a difference due to such detection, the reference map data portion having the difference in the one map database and the correction map data portion in the transport vehicle in the one area are the same by one determination means. It is determined whether or not. If the determinations are the same, an update control signal is transmitted by one update control means, and one reference map data portion is replaced with a correction map data portion in one map database. On the other hand, if the reference map data portion that is not the same and has a difference corresponds to one area by the determination, the map data portion for correction is distributed inside the one area by one map database. As a result of the distribution, the distributed correction map data portion is stored in the transport vehicle in one area, and thereafter, the one reference map data portion is switched in the stored correction map data portion. Also, if the reference map data portion that is not the same and has a difference does not correspond to one area by the determination, the reference map data portion having a difference is distributed to the inside of the one area by one map database. By the distribution, the reference map data portion having the difference is stored in the transport vehicle in one area.

  Thereby, for example, in the transport vehicle traveling in one area, the correction map data portion corresponding to the one area is stored. Then, when the transport vehicle immediately travels in another area than the one area, one reference map data corresponding to one area according to the state of the correction map data portion stored in the transport vehicle The part can be updated in a relatively short time.

  In another aspect of the second transport system of the present invention, the control means includes the one of the update means during at least a part of a period during which at least a part of the one reference map data part is replaced or overwritten. The one or more transport vehicles in the area stop on the track, and after at least part of the period has elapsed, the one or more transport vehicles in the one area are transported on the track. Decide to resume.

  According to this aspect, for example, upon receipt of the update control signal in one area, the control means stops the transport vehicle in the one area on the track. Then, replacement of one reference map data portion is started by the updating means. Thereafter, when the replacement of the one reference map data portion is completed, the control means resumes the transportation on the track by the transportation vehicle in the one area. As described above, the transportation vehicle stop time can be shortened by stopping the transportation vehicle in one area only during the replacement period of one reference map data portion. Moreover, since the transport vehicle is stopped during the replacement of the reference map data, it is possible to prevent the vehicle from traveling based on the incomplete data being replaced and causing a collision or the like.

  In another aspect of the second transport system of the present invention, the control means may be arranged in the one area when the update means starts replacing or overwriting at least a part of the one reference map data portion. The one or more transport vehicles that are present stop all at once on the track, and among the one or more transport vehicles in the one area, the transport vehicle that has been replaced or overwritten is on the track. Decide to resume transport in order.

  According to this aspect, considering that the replacement time of the same reference map data portion differs depending on the transport vehicle, for example, in one area, when the update control signal is received, Cars in the area are stopped on the track all at once. Then, replacement of one reference map data portion is started by the updating means. Thereafter, the transportation on the track is sequentially restarted from the transport vehicle in which the replacement of the one reference map data portion is completed by the control means. In this way, it is possible to further reduce the stop time of the transport vehicle by restarting the transport sequentially from the transport vehicle that has been replaced without stopping the transport vehicle in one area at the same time.

  The operation and other advantages of the present invention will become apparent from the best mode for carrying out the invention described below.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)

  First, the configuration of the transport system according to the first embodiment of the present invention will be described. FIG. 1 shows the functions of the transport system according to the first embodiment, and FIG. 2 shows the data structure of the storage means of FIG.

  In FIG. 1, the transport system 100 according to the present embodiment includes a path 1, a plurality of vehicles 3, a transport controller 10, and a manufacturing instruction unit 20. The manufacture instructing unit 20 is connected to the transfer controller 10 by wire, and instructs the transfer controller 10 to transfer or transfer a FOUP (not shown) according to the semiconductor device manufacturing process.

  The conveyance controller 10 creates a conveyance schedule based on an instruction from the manufacturing instruction unit 20, and comprehensively controls each vehicle 3 according to the created conveyance schedule. The transport controller 10 is connected to a plurality of vehicles 3 by radio. In the present embodiment, the transport controller 10 includes a map information generation unit 11, a distribution unit 12, and a stop control unit 13.

  The map information generation unit 11 functions as a part of the “map database” according to the present invention, and the map that has been corrected when the map element related to the route 1 (an example of the “trajectory” according to the present invention) is corrected. Based on the elements, adjustment map data (an example of “correction map data” according to the present invention) is generated. In addition, when a non-adaptive signal, which will be described later, is received, the map information generation unit 11 generates the adjusted map data based on the changed map data again, or the distribution unit 12 redistributes the adjusted map data. Do.

  The map information generation unit 11 generates operation map data (an example of “reference map data” according to the present invention) when receiving an adaptation signal described later and a stop signal described later. Regarding the generation, the map information generation unit 11 copies the latest adjustment map data generated recently, and uses the copied map as operation map data, that is, switches the copy of the adjustment map data to operation map data. The map information generation unit 11 stores the generated adjusted map data and operation map data in a memory (not shown).

  The distribution unit 12 functions as a part of the “map database” according to the present invention, and distributes the adjusted map data by the map information generation unit 11 to the plurality of vehicles 3. The distribution unit 12 functions as a part of the “update control unit” according to the present invention, and when the operation map data is generated by the map information generation unit 11, the switching signal (the “update control signal” according to the present invention). One example) is distributed to a plurality of vehicles 3. The switching signal indicates an instruction to switch a copy of the latest adjusted map data to the latest operational map data.

  The stop control unit 13 controls the stop of the specific element of the transport system 100. The stop control unit 13 transmits a stop signal for instructing to stop traveling to the plurality of vehicles 3 when receiving an adaptation signal described later. On the other hand, the stop control part 13 transmits the stop cancellation | release signal for canceling | releasing driving | running | working stop to the some vehicle 3, when the update completion signal mentioned later is received.

  Each of the plurality of vehicles 3 can load FOUPs as an example of the “transport vehicle” according to the present invention, and is controlled by the transport controller 10 to transport or transfer the FOUPs to a work device (not shown). Each of the plurality of vehicles 3 includes a control unit 4 and a memory 5.

  The control unit 4 controls each unit of the vehicle 3 as an example of the “control unit” according to the present invention, and causes the FOUP to be transported and transferred. The controller 4 controls the traveling of the vehicle 3 according to the latest operation map data during the transportation and transfer.

  The memory 5 stores adjustment map data and operational map data from the distribution unit 12 as an example of “first storage means” and “second storage means” according to the present invention. In FIG. 2, the memory 5 stores map data including adjustment map data and operation map data. Regarding the storage method, the adjustment map data and the operation map data are stored in the areas 5a and 5b, respectively. The memory 5 updates the area 5 a every time the adjustment map data is distributed by the distribution unit 12. The memory 5 updates the area 5b every time the switching signal is distributed by the distribution unit 12. That is, the memory 5 copies the latest adjusted map data stored in the area 5a in accordance with the instruction indicated by the switching signal, and stores the copied map data in the area 5b as operational map data.

  As described above, in this embodiment, the control unit 4 and the memory 5 provided in each vehicle 3 constitute an example of the “transport control device” according to the present invention.

The control unit 4 further determines whether or not the latest adjusted map data stored in the memory 5 is adaptable. About the determination method, the control part 4 analyzes the newest adjustment map data by inputting the newest adjustment map data into a predetermined simulation program. When an error is output by the analysis, the control unit 4 determines that the latest adjusted map data is not adaptable, and transmits a non-adaptive signal to the transport controller 10. On the other hand, if no error is output, it is determined that the latest adjusted map data is adaptable, and an adaptation signal is transmitted to the transport controller 10. When the control unit 4 finishes updating the operation map data, the control unit 4 transmits an update end signal to the transport controller 10.
(Information distribution process of the first embodiment)

  Next, information distribution processing by the transport system according to the first embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is a sequence chart showing the information distribution processing according to the first embodiment.

  In FIG. 3, first, in the transport controller 10, the map information generating unit 11 generates adjusted map data, and the internal memory of the transport controller 10 is updated (step S51). Then, the generated adjustment map data is distributed to the plurality of vehicles 3 by the distribution unit 12 (step S52). Then, in each vehicle 3, the adjustment map data is updated by the memory 5 (step S53). Then, the control unit 4 determines whether or not the updated adjusted map data is adaptable. If there is no adaptability according to the determination result, the process of step S51 is performed (that is, the map information generating unit 11 generates the adjusted map data again).

  On the other hand, when the adjustment map data is adaptable, the stop control unit 13 stops the traveling of the plurality of vehicles 3 in the transport system 100 (step S54). Then, the map information generation unit 11 switches the copy of the latest adjusted map data generated recently to the latest operational map data (step S55). Then, the distribution unit 12 transmits a switching signal to the plurality of vehicles 3 (step S56), and the operational map data is updated with a copy of the adjusted map data stored in the memory 5 in accordance with the instruction indicated by the switching signal. (Step S57). Then, the stop control means 13 cancels the travel stop of the vehicle 3 and restarts each part of the transport system 100 (step S58). Thereby, a series of information distribution processing is completed.

As described above, according to the information distribution process of the first embodiment, the adjustment map data related to the operation map data to be updated is set, the vehicle 3 is not stopped at the time of distribution of the adjustment map data, and the operation map data is updated. By stopping the vehicle 3 only, it is possible to shorten the stop time of the vehicle 3 and suppress a decrease in the conveyance efficiency.
(Second Embodiment)

  Next, the structure of the conveyance system which concerns on 2nd Embodiment of this invention is demonstrated. FIG. 4 shows the configuration of the transfer system according to the second embodiment, FIG. 5 shows the data structure of the storage means provided in each of the plurality of transfer controllers and the transfer vehicle of FIG. 4, and FIG. A plurality of areas corresponding to the plurality of transport controllers are shown. In the second embodiment, elements that are configured substantially the same as those in the transport system in FIG. 1 are not described and are denoted by the same reference numerals, and only differences from the transport system in FIG. 1 are described.

  4, the transport system 300 according to the present embodiment includes a path 1, a plurality of vehicles 103, a transport controller 110x (110a, 110b... 110f), and a manufacturing instruction unit 120. The manufacturing instruction unit 120 is connected to the plurality of transport controllers 110 by wire, and instructs the plurality of transport controllers 110 to transport or transfer the FOUP.

  The route 1 is laid over a plurality of areas Ax. In FIG. 6, a plurality of areas Ax is an example of a “plurality of areas” according to the present invention, and each unit indicates a unit that divides operational map data across all routes 1.

  The plurality of transport controllers 110x correspond to the plurality of areas Ax, respectively. The plurality of transport controllers 110x divide the operation map data so as to correspond to each of the plurality of areas Ax, and set the operation map data portion (an example of the “reference map data portion” according to the present invention) for each area. Each transport controller 110x is wirelessly connected to the vehicle 103 in the area Ax corresponding to itself, and manages the operation map data portion corresponding to itself while controlling the connected vehicle 3. Each transport controller 110x includes a map information generation unit 111, a distribution unit 112, a stop control unit 113, a memory 114, and a difference determination unit 115.

  Next, each part of each transport controller 110x will be described. In FIG. 6, six transport controllers 110a to 110f correspond to six areas A1 to A6, respectively. Here, the area in which the operational map data portion is changed (“one area” in the present invention) is “A1” (that is, the area set on the leftmost and upper side in FIG. 6), and the operational map data portion is changed. Areas that are not performed ("other areas" in the present invention) are referred to as "A2 to A6".

  The map information generation unit 111 (hereinafter simply referred to as “the map information generation unit 111 of the area A1”) included in the transport controller 110a corresponding to the area A1 is corrected when the map element related to the area A1 is corrected. Based on the map element, an adjustment map data portion (an example of the “correction map data portion” according to the present invention) is generated. The map information generation part 111 of area A1 produces | generates an operation | use map data part, when the stop signal mentioned later is received. For the generation, the map information generation unit 111 copies the latest adjusted map data part that has been recently generated, and sets the copied part as the operation map data part. On the other hand, in each map information generation part 111 of area A2-A6, unless the map element concerning own area A2-A6 is corrected, the production | generation of an adjustment map data part and an operation | use map data part is not performed.

  As an example of the “map database” according to the present invention, the distribution unit 112 in the area A1 distributes the operation map data portion by the map information generation unit 111 in the area A1 to the transport controllers 110b to 110f in the areas A2 to A6. By the distribution, all the transport controllers 110a to 110f always have the same operation map data portion.

  Each distribution unit 112 in the areas A2 to A6 distributes the operation map data portion from the distribution unit 112 in the area A1 to the vehicle 103 in its own region A2 to A6.

  As an example of the “map database” according to the present invention, the distribution unit 112 in the area A1 distributes the adjustment map data portion by the map information generation unit 111 in the area A1 to the vehicle 103 in the area A1.

  As an example of the “update control unit” according to the present invention, the distribution unit 112 in the area A1 sends a switching signal to its own area A1 when the operation map data part is generated by the map information generation unit 111 in the area A1. Delivered to the existing vehicle 103. The switching signal indicates an instruction to switch the copy of the latest adjustment map data portion to the latest operation map data portion corresponding to its own area A1.

  The stop control unit 113 in the area A1 controls the stop of the traveling system elements in the transport controller 110a in the area A1 and the vehicle 103 in the area A1. The stop control unit 113 in the area A1 transmits a stop signal for instructing the stop of the traveling system element to the plurality of vehicles 103 after the adjustment map data portion is updated on the vehicle 103 side. On the other hand, after the operation map data portion is updated on the vehicle 103 side, the stop control unit 113 in the area A1 transmits a stop release signal for releasing the stop of the traveling system elements to the plurality of vehicles 103.

  The memory 114 in the area A1 stores the adjustment map data portion and the operation map data portion generated by the map information generation unit 111 in the area A1. Each memory 114 in the areas A2 to A6 stores the operation map data portion distributed by the distribution unit 112 in the area A1.

  In FIG. 5A, each memory 114 stores map data including an adjustment map data portion and a plurality of operation map data portions. As shown in FIG. 5A, the adjustment map data portion is data for temporary storage generated last (in other words, recently) based on the map element corresponding to its own area A1. Each of the plurality of operation map data portions is operation data recently generated or updated based on map elements corresponding to each of the six areas A1 to A6. One adjustment map data portion and six operation map data portions each include information indicating a version. For example, the memory 114 stores an adjustment map data portion whose version is “2” and an operation map data portion whose version is “1” for the area A1.

  Regarding the timing of storage by the memory 114, the memory 114 of the area A1 has an adjustment map data portion corresponding to the generated area A1 each time the adjustment map data portion is generated by the map information generation unit 111 of the area A1, And its version. Each time the operational map data portion is distributed by the distribution unit 112 of the area A1, the memories 114 of the areas A2 to A6 store the operational map data portion corresponding to the distributed area A1 and its version.

  Each of the plurality of vehicles 103 is controlled by the transport controller 110 in its own area Ax, and executes FOUP transport or transfer. Each vehicle 103 includes a control unit 104 and a memory 105.

  The control unit 104 controls each unit of the vehicle 103 in accordance with the latest operational map data portion stored in the memory 105. As the vehicle 103 moves, the control unit 104 sets an operation map data portion corresponding to the area Ax in which the vehicle 103 exists among the six operation map data portions.

  The memory 105 of the vehicle 103 in the area A1 stores the adjustment map data portion distributed by the distribution unit 112 in the area A1. The memory 105 of the vehicle 103 in the area A1 updates the operation map data portion corresponding to the area A1 according to the switching signal distributed by the distribution unit 112 in the area A1. The memory 105 of the vehicle 103 in the areas A2 to A6 stores the operation map data portion distributed by the distribution unit 112 of the area A1.

  In FIG. 5B, the memory 105 stores map data including an adjustment map data portion and a plurality of operation map data portions in the same manner as the memory 114. For example, for the area A2, the memory 105 stores an adjustment map data portion whose version is “4” and an operation map data portion whose version is “3”.

  Regarding the storage timing by the memory 105, the memory 105 of the vehicle 3 in the area A1 updates the adjustment map data portion and its version each time the adjustment map data portion is distributed by the distribution unit 112 of the area A1. The memory 105 of the vehicle 3 in the area A1 updates the operation map data part of the area A1 and its version each time the switching signal is distributed by the distribution unit 112 of the area A1. The memory 105 of the vehicle 3 in the areas A2 to A6 updates the operation map data part and its version each time the operation map data part of the area A1 is distributed by the distribution unit 112 of the area A1.

  The difference determination unit 115 provided in each conveyance controller 110x functions as an example of the “detection unit” according to the present invention in areas A2 to A6 where the map data portion is not changed. Each difference determination unit 115 in each of the areas A2 to A6 has operation map data (that is, a plurality of operation map data portions stored in the memory 114 on the transport controller 110x side of its own area Ax (any one of the areas A2 to A6)). And a version of operational map data (that is, each of a plurality of operational map data portions) stored in the memory 105 on the vehicle 3 side in its own area Ax (any one of areas A2 to A6) Are compared, and the version mismatch of the operational map data is detected.

As an example of the “determination unit” according to the present invention, each difference determination unit 115 in the areas A2 to A6, when the above-described inconsistency is detected, the conveyance controller of its own area Ax (any one of the areas A2 to A6) Of the plurality of operation map data portions stored in the memory 114 on the 110x side, the operation map data portion of the version that did not match and the vehicle 3 side in its own area Ax (any one of the areas A2 to A6) It is determined whether or not the adjustment map data portion stored in the memory 105 is the same. In this embodiment, the identification process which updates an operation map data part rapidly and safely by the determination is performed. The information distribution process of the second embodiment includes the identification process.
(Identification process of the second embodiment)

  The identification process performed by the difference determination unit 115 will be described with reference to FIG. 7 in addition to FIG. FIG. 7 is a flowchart showing the identification process according to this embodiment. Prior to the description of the identification process, as shown in FIG. 5, for example, for area A2, the version of the operation map data portion on the transport controller 110b side is “4”, and the version of the operation map data portion on the vehicle 3 side is The operation map data part of version “4” on the transport controller 110b side and the adjustment map data part on the vehicle 3 side are the same.

  In FIG. 7, the version of the operation map data portion between the transport controller 110b in the area A2 and the vehicle 103 in the area A2 is first matched or mismatched by each difference determination unit 115 in the areas A2 to A6. This is detected (step S61). If they match as a result of the detection (step S61: YES), the operation map data portion need not be identified, and the series of identification processing is terminated.

  On the other hand, if the version of the operation map data portion in area A2 does not match as a result of the detection in step S61 (step S61: NO), the operation map data portion in area A2 on the transport controller 110b side where the version does not match. It is determined whether or not the operation map data portion to be made identical is the same as the adjustment map data portion on the vehicle 103 side (step S62). If the result of this determination is that they are not the same (step S62: NO), the operation map data portion of area A2 is distributed to the vehicle 103 by the distribution unit 112 of area A2 (step S63), and the operation of area A2 is performed in the vehicle 103. The map data part is updated. As a result, a series of identification processes is completed.

On the other hand, if the operation map data part of the area A2 on the transport controller 110b side and the adjustment map data part on the vehicle 103 side are the same as a result of the detection in step S62 (step S61: NO), the distribution part of the area A2 In 112, the switching signal is distributed, and in the vehicle 103, the copy of the adjustment map data portion is switched as the operation map data portion of area A2, and the operation map data portion of area A2 is updated (step S64). As a result, a series of identification processes is completed.
(First information distribution process of the second embodiment)

  Next, the first information distribution processing by the transport system according to the second embodiment will be described with reference to FIG. FIG. 8 is a sequence chart showing the first information distribution process according to the second embodiment. In the first information distribution process, the transport controller 110a corresponding to the area A1, the vehicle 103a present in the area A1, the transport controller 110b corresponding to the area A2, and the vehicle 103b corresponding to the area A2 operate to correspond to the area A2. The operational map data part to be changed is changed. For each unit provided in the transport controller 110a or 110b, for example, the map information generation unit is indicated as “map information generation unit 111a” or “map information generation unit 111b”. Following this, other parts will be shown in the same manner.

  In FIG. 8, in the same manner as the information distribution process of FIG. 3, first, in the transport controller 110b, an adjustment map data portion is generated by the map information generation unit 111b, and the adjustment map data portion is updated by the memory 114b of the transport controller 110b. (Step S71). Then, the updated adjustment map data portion is distributed to the plurality of vehicles 103b by the distribution unit 112b (step S72). Then, in each vehicle 103b, the adjustment map data portion is updated by the memory 105b (step S73). Then, the stop controller 113b stops the transport system elements of the transport controller 110b and the plurality of vehicles 103b (step S74). Then, the map information generation unit 111b switches the copy of the latest adjusted map data part that has been recently generated to the latest operational map data part (step S75). Then, the distribution unit 112b transmits a switching signal to the plurality of vehicles 103b (step S76), and updates the operation map data part by copying the adjustment map data part stored in the memory 105b in accordance with the instruction indicated by the switching signal. (Step S77). Then, the stop control means 113b releases the stop of the travel system element in the area A2, and the respective parts of the transport controller 110b and the vehicle 103b are restarted (step S78).

  Thereafter, in the first information distribution process of the present embodiment, the latest operation map data portion corresponding to the area A2 is distributed to the transport controller 110a by the distribution unit 112b (step S79). Then, in the transport controller 110a, the operation map data portion of the area A2 is updated by the memory 114a (step S80). Then, the difference determination unit 115a compares the operation map data part stored in the memory 114a with the operation map data part stored in the memory 105a of the vehicle 103a, and the operation map data part in the area A2 is inconsistent. It is detected (step S81). Subsequently, since the operation map data portion stored in the memory 114a and the adjustment map data portion stored in the memory 105a of the vehicle 103a are not the same, the distribution unit 112a causes the operation map data portion of the area A2 to be changed. It is distributed to a plurality of vehicles 103a (step S82). Then, in each vehicle 103a, the operation map data portion of area A2 is updated by the memory 105a (step S83). Thereby, a series of first information distribution processing is completed.

As described above, according to the first information distribution process of the second embodiment, the operation map data is divided into six operation map data parts, the adjustment map data part related to the operation map data part to be updated is set, and the map When the operation map data part is distributed to the areas A2 to A6 where no modification is made to the elements, and when the adjustment map data part is delivered to the area A1 where the modification is made to the map elements, the vehicle 3 is not stopped at all, and the area A1 By stopping the vehicle 3 only at the time of updating the operational map data portion, it is possible to shorten the stop time of the vehicle 3 and suppress the decrease in the conveyance efficiency.
(Second information distribution process of the second embodiment)

  Next, the second information distribution processing by the transport system according to the second embodiment will be described with reference to FIG. FIG. 9 is a sequence chart showing the second information distribution process according to the second embodiment. In the second information distribution process, the conveyance controller 110a corresponding to the area A1, the conveyance controller 110b corresponding to the area A2, the vehicle 103b in the area A2, and the area A2 to the area A1 in the middle of the second information distribution process. The transfer vehicle 103a operates, and the operation map data portion corresponding to the area A2 is changed.

  In FIG. 9, in the same manner as the processing of steps S71 to S73 in the first information distribution processing of FIG. 8, first, the adjustment map data portion is updated in the transport controller 110b, and the updated adjustment map data portion is replaced with a plurality of vehicles 103b. (Including the vehicle 103a). Then, the adjustment map data portion is updated in each of the vehicles 103b and 103a. Here, the vehicle 103a is moved to the area A1 by the control unit 104b (step S91). Subsequently, in the same manner as the processing of steps S74 to S81 in FIG. 8, the transport system elements of the transport controller 110b and the plurality of vehicles 103b are stopped, and a copy of the latest adjusted map data portion generated recently is the latest operational map data. The switching signal is transmitted to the plurality of vehicles 103b. Then, in the vehicle 103b, the operation map data part is updated according to the instruction indicated by the switching signal, and each part of the transport controller 110b and the vehicle 103b is restarted. Thereafter, in the transport controller 110b, the latest operation map data portion corresponding to the area A2 is distributed to the transport controller 110a. Then, in the transport controller 110a, the operation map data portion of the area A2 is updated, and a mismatch between the operation map data portions of the area A2 is detected.

  Next, in the second information distribution process of the present embodiment, since the operation map data portion stored in the memory 114a and the adjustment map data portion stored in the memory 105a of the vehicle 103a are the same, distribution is performed. The switching signal is distributed to the vehicle 103a by the unit 112a (step S92). Then, in the vehicle 103a, the operation map data portion of the area A2 is updated by copying the adjustment map data portion stored in the memory 105a according to the instruction indicated by the switching signal (step S83). Thereby, a series of 2nd information delivery processing is complete | finished.

As described above, according to the second information distribution process of the second embodiment, when the vehicle 103a traveling in the area A2 stores the adjustment map data portion corresponding to the area A2 and immediately transfers to the area A1, According to the state of the adjustment map data portion stored in the vehicle 103a, the operation map data portion corresponding to the area A2 can be updated in a relatively short time.
(Third information distribution process of the second embodiment)

  Next, the third information distribution process by the transport system according to the second embodiment will be described with reference to FIG. FIG. 10 is a sequence chart showing the third information distribution process according to the second embodiment. In the third information distribution process, the transport controller 110b corresponding to the area A2 and the vehicles 103b1 and 103b2 existing in the area A2 operate, and the operation map data portion corresponding to the area A2 is changed.

  In FIG. 10, in the same manner as the processing of steps S71 to S73 in the first information distribution processing of FIG. 8, first, the adjustment map data portion is updated in the transport controller 110b, and the updated adjustment map data portion is a plurality of vehicles 103b1. , 103b2. Then, the adjustment map data portion is updated in each of the vehicles 103b1 and 103b2. Then, in the transport controller 110b, the map information generation unit 111b switches the copy of the latest adjusted map data part that has been recently generated to the latest operation map data part (step S95).

  Subsequently, the conveyance of the vehicles 103b1 and 103b2 is stopped by the stop control unit 113b (step S96). Then, the switching signal is transmitted to the vehicles 103b1 and 103b2 by the distribution unit 112b (step S97). Then, first, in the vehicle 103b2, the operation map data portion of the area A2 is updated by copying the adjustment map data portion stored in the memory 105a in accordance with the instruction indicated by the switching signal (step S98). Then, the conveyance by the vehicle 103b1 is resumed by the stop control unit 113b (step S99). Subsequently, in the vehicle 103b1, the operation map data portion of the area A2 is updated (step S100). Then, the conveyance by the vehicle 103b2 is resumed by the stop control unit 113b (step S101). Thereby, a series of third information distribution processing is completed.

  As described above, according to the third information distribution process of the second embodiment, after the transportation of the vehicles 103b1 and 103b2 in the area A2 is stopped at the same time, the transportation is sequentially resumed from the vehicle 103 whose replacement has been completed. As a result, the stop time of the vehicle 3 can be further shortened.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the scope or spirit of the invention that can be read from the claims and the entire specification. The transport system is also included in the technical scope of the present invention.

It is a block diagram which shows the structure of the conveyance system which concerns on 1st Embodiment. It is explanatory drawing which shows the data structure of the storage means of FIG. It is a sequence chart which shows the information delivery process of 1st Embodiment. It is explanatory drawing which shows the structure of the conveyance system which concerns on 2nd Embodiment. It is explanatory drawing which shows the data structure of the storage means of FIG. It is explanatory drawing which shows the some area | region corresponding to the some conveyance control means of FIG. It is an example of the flowchart which shows the equalization process of 2nd Embodiment. It is an example of the sequence chart which shows the 1st information delivery process of 2nd Embodiment. It is an example of the sequence chart which shows the 2nd information delivery process of 2nd Embodiment. It is an example of the sequence chart which shows the 3rd information delivery process of 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 3 ... Vehicle, 4 ... Control part, 5 ... Memory, 10 ... Conveyance controller, 11 ... Map information generation part, 12 ... Distribution part, 13 ... Stop control part, 100 ... Conveyance system

Claims (9)

A transport control device mounted on a transport vehicle that travels along a track and transports a load,
At least one of the arrangement of the track, the arrangement of various devices along the track, and the arrangement of the marks attached to the track and readable by the carrier vehicle as a map element, and on the track A first storage means for storing reference map data indicating a map, which serves as a reference when determining how the transport vehicle is transported in
Communication means for receiving correction map data indicating a map in which the correction is reflected from a map database provided outside the transport control device when correction is made to the map element;
Second storage means for storing the received correction map data;
In response to a predetermined trigger, the stored correction map data is extracted or copied from the second storage means, and the stored reference is stored in the extracted or copied correction map data. Update means to replace or overwrite at least part of the map data;
According to the criteria map data that is the storage, decide the orbit in the transport vehicle is how conveyed, and control means for controlling the transport vehicles to transport as that determined the,
The control means determines whether or not the stored correction map data is adaptable,
When it is determined that the communication means has the adaptability, the communication means transmits an adaptation signal indicating the adaptability to the map database side,
The update means, as the predetermined trigger, sends an update control signal for updating the stored reference map data distributed from the map database side based on the received adaptive signal. Upon receipt, replace or overwrite at least a portion of the reference map data
The conveyance control apparatus characterized by the above-mentioned. The control means stops the transportation vehicle on the track during at least a part of the period when the updating means replaces or overwrites at least a part of the reference map data, and at least a part of the period elapses. after, the transfer control device according to claim 1 in which the transport vehicle is characterized in that determining to resume conveyance on the track. The communication means receives the correction map data from the map database side when the map element is corrected at a level at which the transport vehicle can travel the track.
Wherein, during reception of the map data for the correction by the communication means, the transfer control device according to claim 1 or 2, characterized in that to decide to continue the conveyance by the conveying vehicle. The communication means receives the correction map data for each area in which the entire area where the trajectory is laid is divided,
The second storage means stores the received correction map data for each area,
The transfer control device according to any one of claims 1 to 3 , wherein the updating unit replaces or overwrites at least a part of the stored reference map data for each area. A transport vehicle comprising the transport control device according to any one of claims 1 to 4 ,
The map database for delivering the correction map data to the transport vehicle;
An update control means for transmitting an update control signal for updating the stored reference map data as the predetermined trigger. A transport system in which the entire region where the track is laid is divided into a plurality of areas, and each of the divided plurality of areas and one or a plurality of transport vehicles that respectively travel between the plurality of areas are transported. Because
At least one of the arrangement of the track, the arrangement of various devices along the track, and the arrangement of marks attached to the track and readable by each of the one or more transport vehicles is used as a map element. In addition, a plurality of reference map data indicating a map, which is used as a reference for determining how the one or more transport vehicles transport on the track, are divided to correspond to each of the plurality of areas. First reference means for storing each of the plurality of areas as a reference map data portion, and a map in which the correction is reflected when correction is made to the map element related to one area of the plurality of areas Communication means for receiving a map data portion for correction indicating a portion from the map database side and receiving an update control signal for updating the stored reference map data portion; A second storage means for storing the corrected map data portion, and taking out or copying the stored correction map data portion from the second storage means triggered by reception of the update control signal; Then, the update that replaces or overwrites at least a part of one reference map data part corresponding to the one area stored in the first storage means with the retrieved or copied correction map data part Means and a plurality of reference map data portions stored by the first storage means determine how the one or more transport vehicles transport on the track, and transport the transport as determined. Including a control means for controlling the one or more transport vehicles, and a transport control device mounted on each of the one or more transport vehicles,
The map database for storing the correction map data part and the plurality of reference map data parts for each of the plurality of areas, and delivering the correction map data part;
Update control means for transmitting the update control signal to the communication means for each of the plurality of areas , and
The control means determines whether or not the correction map data portion corresponding to the one area stored in the second storage means is adaptable,
When the communication means determines that the adaptability is present, the communication means transmits an adaptability signal indicating the adaptability to the map database,
When the map database receives the transmitted adaptation signal, the map database is a correction map data portion corresponding to the one area stored, and one reference corresponding to the one area stored Replace or overwrite at least part of the map data part,
When the one reference map data portion corresponding to the one area stored in the map database is replaced or overwritten, the update control means sends the update control signal to the inside of the one area. Distribute to the communication means of each of the one or more transport vehicles
A conveyance system characterized by that. Detection means provided in each of the plurality of areas, for detecting a difference between a plurality of reference map data portions stored by the map database and a plurality of reference map data portions stored by the first storage means; ,
When the difference is detected by the detection means, the reference map data part having the difference among the plurality of reference map data parts stored by the map database, and stored by the second storage means Determination means for determining whether or not the correction map data portions are the same, and
The update control unit, when it is determined that the same by the determination unit, the updated control signal for updating the reference map data portion having the difference, the one located inside the first area Or send to multiple transport vehicles ,
The map database is determined not to be identical by said determination unit, when the reference map data portion having the difference corresponding to said one area, there the modified map data portion within said first area When the reference map data portion is distributed to the one or a plurality of transport vehicles and determined not to be the same by the determination means, and the reference map data portion having the difference does not correspond to the one area, the reference map data portion having the difference is The delivery system according to claim 6 , wherein the delivery system is delivered to the one or more delivery vehicles in the one area. The control means stops the transportation vehicle on the track during at least a part of a period during which the updating means replaces or overwrites at least a part of the one reference map data part, and at least one of the periods. 8. The transport system according to claim 6 , wherein one or a plurality of transport vehicles in the one area is determined so as to resume transport on the track after the section has elapsed. The control means is configured such that when the update means starts replacement or overwriting of at least a part of the one reference map data portion, the one or more transport vehicles in the one area are on the track. At a time, and among the one or a plurality of transport vehicles in the one area, the transport vehicle that has been replaced or overwritten is determined to sequentially resume transport on the track. The transport system according to any one of claims 6 to 8 .

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