JP2010061524A - Carrying vehicle system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the efficiency of a carrying vehicle system. <P>SOLUTION: When a carrying vehicle scheduled to arrive first at a load port for loading up cargos by a carrying instruction is a loaded carrying vehicle and is scheduled to unload cargos before arriving at the load port for loading up cargos and an empty carrying vehicle exists within a predetermined distance after the carrying vehicle scheduled to arrive first, a carrying command is assigned to the empty carrying vehicle, and when an empty carrying vehicle does not exist within the predetermined distance after the carrying vehicle scheduled to arrive first, the carrying command is assigned to the carrying vehicle scheduled to arrive first. Consequently useless time for stopping the succeeding empty carrying vehicle during the period of loading up cargos by the carrying vehicle scheduled to arrive first can be eliminated. On the downstream side of the load port for loading up cargos, an empty carrying vehicle moves ahead and the loaded carrying vehicle succeeds, so that the empty carrying vehicle can be assigned to load-up of cargos. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transport vehicle system, and more particularly to allocation of a transport command to a transport vehicle.

  Patent Document 1 examines a case where there is an actual load transport vehicle loaded with a load in front (downstream side) of an empty transport vehicle. In Patent Document 1, it is assumed that the actual transport vehicle unloads and loads the load to the load port that performs the load scooping, and assigns the load scoop to the downstream actual load transport vehicle. is suggesting. The transfer command starts with unloading at the load port at the from position and is completed when unloading at the load port at the to position. Also, a transport vehicle that is scheduled to be emptied by a load scooping position and an empty transport vehicle are referred to as a transport vehicle that can be used or assigned.

The inventor examined the allocation of the transport vehicle in Patent Document 1. As a result, when the distance between the downstream unloading transport vehicle and the upstream unloading transport vehicle is large, it is efficient to assign the load to the unloading transport vehicle. We focused on the inefficiency when is short.
JP3299013B

  An object of the present invention is to improve the efficiency of a transport vehicle system.

The present invention relates to a controller that arranges a plurality of load ports along a traveling route on which one of the plurality of transport vehicles travels, and assigns a transport command including loading and unloading at the load ports to the transport vehicles. A transport vehicle system provided with
The controller is scheduled to be unloaded before the arrival at the load port to be loaded with the load vehicle that is scheduled to arrive at the load port to be loaded with a transfer command. in the case of,
When there is an empty transport vehicle within a predetermined distance behind the first scheduled transport vehicle, a transport command is assigned to the empty transport vehicle,
When there is no empty transport vehicle within a predetermined distance behind, a transport command is assigned to the transport vehicle scheduled to arrive first.

  In the present invention, when there is an empty transport vehicle within a predetermined distance behind the transport vehicle scheduled to arrive first, a transport command is assigned to the empty transport vehicle. As a result, it is possible to eliminate the waste of stopping the empty unloading vehicle at the rear while the first scheduled transfer vehicle picks up. Further, since the empty transport vehicle precedes the load port downstream of the load, the empty transport vehicle can be assigned to another load scoop. Since it is carried out by the rear transporting vehicle, the scooping is delayed, but this is a time that the transporting vehicle travels a predetermined distance at the maximum, and the influence is small. Therefore, the efficiency of the transport vehicle system can be improved.

Preferably, the distance between the transport vehicle scheduled to arrive first and the empty transport vehicle is within the predetermined distance, and between the transport vehicle scheduled to arrive first and the empty transport vehicle, If there is an actual load transport vehicle, the load port to which the other actual transport vehicle is unloaded is the same as the load port to be loaded or upstream of the load port to be loaded. A transfer command is assigned not to the empty transport vehicle but to the transport vehicle scheduled to arrive first. Then, the probability that the transport vehicle scheduled to arrive first and the other transport vehicles can simultaneously load or unload is increased, and the time for closing the travel route can be shortened.
In addition, when the load port of the unloading destination of the other actual load transport vehicle is downstream of the load port to be loaded, a transport command is assigned to the empty load transport vehicle. Then, because of the unloading and unloading of the preceding transport vehicle, it is possible to shorten the time when the rear unloaded transport vehicle stops, and furthermore, the empty transport vehicle is generated at the head of the three transport vehicles. It is easy to scoop on the downstream side.

  Preferably, there is no empty transport vehicle within the predetermined distance behind the vehicle, and when the transport command is assigned to the first transport vehicle that is scheduled to arrive, the first transport vehicle that is scheduled to arrive is the unloading destination load. The controller is configured to assign a transport command to a transport vehicle that is scheduled to arrive first when it is determined that it can arrive at the port and can be unloaded. Then, since unloading cannot be performed, it is possible to substantially eliminate the situation where the transport vehicle cannot execute the transport command, and it is possible to eliminate the confusion associated with canceling the transport command.

  In the following, an optimum embodiment for carrying out the present invention will be shown.

  The conveyance vehicle system 2 of an Example is shown in FIGS. In FIG. 1, 4 is a travel route schematically shown, 6 is a branching / merging portion, and 8 is a ground controller. A plurality of transport vehicles 10 travel along the travel route 4 in one direction, and the travel direction is changed at the branch junction 6 or the like. Further, there are a plurality of load ports 12 along the travel route 4, and the load 14 is transported between the load ports 12 by the transport vehicle 10.

  Although the transport vehicle 10 is an overhead traveling vehicle here, it may be an unmanned transport vehicle that travels on the ground without a track, and the load port 12 may be provided in a semiconductor processing device or the like, or may be provided in an inspection device or the like. . Further, a station such as a stocker (not shown) may be used as the load port 12. The package 14 is, for example, a semiconductor wafer cassette.

  The controller 8 communicates with the transport vehicle 10 in a wired or wireless manner, and the transport vehicle management unit 15 assigns the current positions of the plurality of transport vehicles 10, actual / empty loads, transport commands already assigned, unassigned status, etc. Memorize the destination. The next destination is a load port for scooping or a load port for unloading. The allocation unit 16 manages allocation of conveyance commands to the conveyance vehicle 10. Here, the transport command is transmitted from a host controller (not shown) to the controller 8, and the transport command includes a load port for unloading and a load port for unloading, and these are assigned to one transport vehicle 10.

  FIG. 2 shows a transfer command assignment algorithm in the embodiment, and FIGS. 3 and 4 show specific examples thereof. When a conveyance command is input from the host controller to the controller 8, a search is made for a conveyance vehicle that is scheduled to arrive at the load port that performs the scooping with the conveyance command first and can be assigned. This search is possible because the transport vehicle management unit 15 manages the current position and state of each transport vehicle and the travel destination. Further, the transfer vehicles that can be assigned here refer to a transfer vehicle that is empty and has not been assigned a transfer command, and an actual load transfer vehicle that is scheduled to be unloaded to a load port for scooping. If it is scheduled to be unloaded and another transport command is reserved for the actual transport vehicle, it is excluded from the assignable range.

  When the first assignable transfer vehicle that is scheduled to arrive is empty, a transfer command is unconditionally assigned to an empty transfer vehicle as shown in FIG. For example, even when the transport vehicle b is scheduled to be empty on the upstream side of the load port A, a load is assigned to the transport vehicle a. As a result, the state of the transport vehicles a and b after passing through the load port A is as shown on the right side of (1). In FIGS. 3 and 4, the up and down arrows mean loading or unloading, A means a load port to load, and B and C mean other load ports upstream of the load port A. Further, a, b, and c indicate a transport vehicle, f indicates a load to be loaded, and g and h represent a load to be unloaded.

  Assume that the first allocatable carrier that is scheduled to arrive is scheduled to be unloaded by load port A for scooping. This situation is shown in FIGS. 3 (2) and 3 (3). In (2), there is an empty transport vehicle b within a predetermined distance L1 from the transport vehicle a, for example, within 5 to 10 m, and in (3), the empty transport vehicle b is from the transport vehicle a from a predetermined distance L1. Is further behind. In the case of (2), the transport vehicle a unloads the load g at the load port B, for example, and does not load the load port A, but leaves the load of the load f to the empty transport vehicle b behind. As a result, the transport vehicle a becomes empty, and the transport vehicle b transports the load f. In this case, the time during which the transport vehicle b stops for the preceding transport vehicle a can be shortened. When passing through the load port A, the preceding transport vehicle a is empty, so the next transport command can be easily assigned.

  Furthermore, it is difficult to predict whether the transport vehicle a can be actually unloaded at the load port B. For example, on the data of the transport vehicle management unit 15, the transport vehicle a is scheduled to be unloaded at the load port B. However, whether or not the load port B can be unloaded is not known unless the transport vehicle a arrives at the load port B. Here, when the unloading vehicle b at the rear is instructed to unload the load f, the unloading of the load f can be executed regardless of whether or not the transfer vehicle a successfully unloads at the load port B.

  On the other hand, as shown in (3), when the distance of the rear empty load to the transport vehicle b is larger than the predetermined distance L1, the transport vehicle a is unloaded at the load port B and the load port A is unloaded. Command the load scoop of the load f. Since the distance between the two is large, the stop time of the rear transport vehicle b is short even if the transport vehicle a is stopped twice. When the transport vehicle a cannot be unloaded at the load port B, the inter-vehicle distance is large, and at that time, the transport vehicle b may be instructed to load the load f. As will be described later, the instruction to load the cargo f to the transport vehicle a is performed when it is confirmed that the load can be unloaded at the load port B. The predetermined distance L1 may be changed depending on the situation of the system 2.

  Whether the transport vehicle a or the transport vehicle b picks up the cargo f should be determined when it is determined that the transport vehicle a can be unloaded at the load port B. If it is judged at a time earlier than this, if unloading at the load port B is not possible, the assigned transport command is changed, or the transport vehicle a circulates the travel route 4 while holding the load g, etc. Waste occurs. The point in time at which it is determined that the transport vehicle scheduled to be unloaded can be unloaded will be described later with reference to FIG.

  As a situation where FIG. 3 (2) is further complicated, there is a situation where another actual transport vehicle c exists between the transport vehicles a and b. This is shown in FIGS. 4 (1) and 4 (2). In the situation of FIG. 4 (1), the transport vehicle a is scheduled to unload the load g at the load port B, the transport vehicle c is scheduled to unload the load h at the load port C, and the transport vehicle b is empty. The inter-vehicle distance from the transport vehicle a to the transport vehicle b is within the predetermined distance L1. Note that the predetermined distance in the case of FIG. 4 may be different from the predetermined distance L1 in FIG. In the situation of (1), the transport vehicle a scheduled to be unloaded at the front loads the load f at the load port A, not the transport vehicle b at the rear. As a result, in the transport vehicles a to b after passing through the load port A, the leading transport vehicle a transports the cargo f, and the transport vehicles b and c become empty.

  In this way, there is an increased probability that the unloading or unloading of the transport vehicle a and the unloading of the transport vehicle c can be performed simultaneously. In addition, if the transport vehicle b is instructed to unload the load f, the unloading operation of the transport vehicles a and c will delay the load scooping. If the transport vehicle a fails to unload at the load port B, the load of the load f is assigned to the transport vehicle b. Therefore, the loading of the load f is not instructed until it is determined that the transport vehicle a can be unloaded at the load port B. When the transport vehicle c is scheduled to be unloaded at the load port A, the unloading is impossible unless the transport vehicle a picks up the load at the load port A.

  In the situation of FIG. 4 (2), the transport vehicle c unloads the load h at a position downstream of the load port A. In this case, the load scooping of the load f is commanded to the empty unloading carriage b. As a result, when passing through the load port A, there is an unloaded transport vehicle a at the head, and the subsequent transport vehicles c and b are both actual loads. Accordingly, the empty transport vehicle a can be assigned to another transport command, and the time during which the transport vehicle b stops when loading or unloading can be minimized.

  FIG. 5 shows a procedure for delivering a package at a load port. When the transport vehicle arrives at the load port, a transfer request signal is transmitted to the load port, and a transfer confirmation signal is received from the load port side. In the case of unloading, an unloading request signal and an unloading confirmation signal are exchanged. In an unloading operation, an unloading request signal and an unloading confirmation signal are exchanged. When these signals are exchanged, it is determined that the load can be delivered at the load port. Then, the transport vehicle reports this to the controller 8, and when the controller 8 receives this signal, the transport vehicle is not just scheduled to be unloaded, but can actually be unloaded and assigned a rake. It is interpreted that it becomes, and the transfer command is assigned. At this time, the presence / absence and state of other transport vehicles in the rear predetermined distance L1 are clearer than when the transport command is issued.

  Then, the delivery of the package is executed between the transport vehicle and the load port, and when the delivery is completed, the fact is reported from the transport vehicle to the controller. The assignment of the transport command to the transport vehicle scheduled to be unloaded may be performed based on the report after the unloading is actually completed, but the assignment is slightly delayed.

In the embodiment, the following effects can be obtained.
(1) If there is an empty transport vehicle within a predetermined distance from the transport vehicle to be unloaded, assign the load to the empty transport vehicle. For this reason, the time required for the empty transport vehicle to stop due to the loading of the preceding transport vehicle is eliminated, and since the empty transport vehicle precedes after the unloading, it is easy to assign other transport commands. .
(2) If there is an actual load transport vehicle c scheduled to be unloaded upstream of the load port A or A between the unloading transport vehicle a and the empty transport vehicle b, the transport vehicle a The load port A is ordered to load the load f. This increases the chances that the transport vehicles a and c can deliver the package at the same time, thereby improving the transport efficiency.
(3) If the actual transport vehicle c is scheduled to be unloaded downstream from the load port A, the load f of the load f at the load port A is assigned to the empty transport vehicle b. As a result, it is possible to shorten the time that the transport vehicles c and b wait for the unloading and unloading of the transport vehicle a. Further, when passing through the load port A, the leading transport vehicle a becomes empty, and assignment of other transport commands is easy.
(4) When the transport vehicle to be unloaded arrives at the load port, receives the unload confirmation signal, and determines that it can be unloaded, assigns the load to the transport vehicle. For this reason, there is no confusion such as the conveyance command cannot be executed because the unloading cannot be performed at the planned load port.

The figure which shows the layout of the carrier system of an Example typically The figure which shows the allocation algorithm of the conveyance instruction | command in an Example The figure which shows an allocation order when the conveyance vehicle of an empty load exists within the back predetermined distance of the conveyance vehicle scheduled to be unloaded in an Example. FIG. 4 is a diagram showing an allocation order when there is an empty carrier vehicle within a predetermined distance behind the carrier vehicle scheduled to be unloaded in the embodiment, and another carrier vehicle is present between them. Diagram showing the procedure for delivering packages at the load port

Explanation of symbols

2 Transportation vehicle system 4 Traveling route 6 Branch / merging unit 8 Ground controller 10 Transport vehicle 12 Load port 14 Luggage 15 Transport vehicle management unit 16 Allocation unit

L1 predetermined distance
a, b, c carrier
A, B, C load port
f, g, h luggage

Claims (3)

Conveyance provided with a controller that assigns a conveyance command consisting of loading and unloading at the load port along with a traveling route on which the conveyance vehicle travels in a one-way street. A car system,
When the transport vehicle scheduled to arrive at the load port to be unloaded with the transfer command is the actual load and is to be unloaded before arrival at the load port to be unloaded,
When there is an empty transport vehicle within a predetermined distance behind the first scheduled transport vehicle, a transport command is assigned to the empty transport vehicle,
A transport vehicle system configured to assign a transport command to the transport vehicle scheduled to arrive first when there is no empty transport vehicle within a predetermined distance behind. The distance between the transport vehicle scheduled to arrive first and the empty transport vehicle is within the predetermined distance, and another actual load is between the transport vehicle scheduled to arrive first and the empty transport vehicle. If there is a transport vehicle,
When the load port to which the other actual transport vehicle is unloaded is the same as or upstream from the load port to be loaded, it is not the empty transport vehicle but the transport vehicle scheduled to arrive first. Assign a transport command to
The controller is configured to assign a transfer command to the empty load transport vehicle when the load port of the unloading destination of the other actual load transport vehicle is downstream of the load port to be loaded. The conveyance vehicle system of Claim 1 characterized by the above-mentioned. When there is no empty transport vehicle within the predetermined distance behind the vehicle, when the transport command is assigned to the transport vehicle scheduled to arrive first, the transport vehicle scheduled to arrive first arrives at the unloading destination load port. 3. The transport vehicle controller according to claim 1, wherein the controller is configured to assign a transport command to a transport vehicle scheduled to arrive first when it is determined that unloading is possible.

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