JP2011121656A - Guided vehicle system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable an automatic operation when an operational testing is carried out with use of only low-level controllers in a guided vehicle system. <P>SOLUTION: The guided vehicle system for allowing conveyance vehicles to perform conveyance includes: a plurality of stockers (51, 53, 55, 57); conveyance vehicles (44, 48); and a plurality of controllers (52, 54, 56, 58). Stockers can convey articles inside thereof. The conveyance vehicles can convey articles between the plurality of the stockers. The plurality of the controllers can communicate with each other, and control the plurality of the stockers and the conveyance vehicles. Each of the controllers has a conveyance control section 61, a scenario storage section 63, and a conveyance instruction creation section 62. The conveyance control section 61 controls conveyance by executing a conveyance instruction. The scenario storage section 63 stores conveyance pattern scenarios including a plurality of sets of conveyance instruction creation information. The conveyance instruction creation section 62 creates conveyance instructions corresponding to the conveyance instruction creation information. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a transport vehicle system that transports articles to a transport vehicle.

  2. Description of the Related Art Conventionally, there is known a transport vehicle system that includes a circular track, a plurality of stations provided on the path of the circular track, and a plurality of transport vehicles that travel in one direction along the circular track to transport articles. . Between the station and the transport vehicle, cargo grasping (loading of articles from the station to the transport vehicle) and unloading (loading of articles from the transport vehicle to the station) is performed.

  On the other hand, as an example of the above-described station, a stocker that stores FOUP (Front Opening Unified Pod) in a semiconductor factory is known. The stocker is an automatic warehouse and has a plurality of shelves and a stacker crane that travels along the shelves. In the stocker, for example, at the time of warehousing, the overhead transportation vehicle carries the FOUP into the warehousing port, and then the stacker crane conveys the FOUP to a predetermined shelf. At the time of delivery, the stacker crane transports the FOUP from a predetermined shelf to the delivery port, and then the overhead transport vehicle carries the FOUP from the delivery port.

  The transport vehicle system shown in Patent Document 1 includes a transport vehicle controller that assigns a transport command to the transport vehicle, and a stocker controller that transmits an entry / exit instruction to the stocker. Further, the transport vehicle system has a physical distribution controller as a controller higher than the transport vehicle controller and the stocker controller. The physical distribution controller transmits a loading / unloading instruction to the stocker controller, and transmits a transport command to the transport vehicle controller.

  The logistics controller receives a transport request from the manufacturing controller and transmits a report to the transport controller. The manufacturing controller receives a transport request from the processing device.

  A case where an article is transported from the stocker to the processing apparatus in the above configuration will be described. First, the processing apparatus transmits a transport request to the manufacturing controller. The manufacturing controller transmits a transport request to the physical distribution controller. The physical distribution controller transmits a delivery instruction to the stocker controller and also transmits a transport command to the transport vehicle controller. As a result, the stocker controller sends an exit instruction to the stocker. Further, the transport vehicle controller assigns a transport command to the transporter closest to the stocker so as to go to the stocker. As a result, the transport vehicle travels to a stocker ready for delivery, and loads articles there. The transport vehicle further transports the article to the processing device.

JP 2004-281622 A

  When a transport vehicle system is newly introduced into a factory, generally, a system operation test is first performed using a stocker controller and a transport vehicle controller, which are subordinate controllers. After that, a logistics controller, which is a higher-level controller, is incorporated, and an operation test of the transport system of the entire factory is performed using the logistics controller. However, as described above, the transport controller and the stocker controller, which are the lower controllers, only transport the transported object within the system controlled by the transport controller according to the transport command from the physical distribution controller. That is, the subordinate controller manages only the location information in its own system, and does not manage the operation of delivering the article to another controller. For this reason, in the past, when an operation test is performed only by a lower-level controller, a method for automatically delivering a conveyed product between systems has not yet been established.

  An object of the present invention is to enable an operation test only with a lower system before the introduction of a host controller when a lower system is completed first when a carrier system is newly introduced.

A transport vehicle system according to the present invention is a transport vehicle system for transporting an article using a transport vehicle, and includes a plurality of stockers, a transport vehicle, and a plurality of controllers. The stocker can carry articles inside. The transport vehicle can transport articles between a plurality of stockers. The plurality of controllers can communicate with each other and control the plurality of stockers and the transport vehicle. The controller includes a conveyance control unit, a scenario storage unit, and a conveyance command creation unit. The conveyance control unit performs conveyance control by executing a conveyance command. The scenario storage unit stores a transport pattern scenario including a plurality of transport command creation information. The conveyance command creation unit creates a conveyance command corresponding to the conveyance command creation information.
The “conveyance” includes an operation in which the conveyance vehicle conveys articles between the stockers and an operation of moving in / out between the stockers and the shelves in the stockers.
In this system, the conveyance command creation unit of the controller creates a conveyance command corresponding to the conveyance command creation information included in the scenario storage unit. The conveyance control unit executes the created conveyance command. In this way, the controller itself that controls the stocker and the transport vehicle creates a transport command according to the transport pattern scenario, and further executes the created transport command. That is, before the host controller is incorporated, the transport test can be performed by cooperating the controllers that control the stocker and the transport vehicle.

The conveyance control unit may transmit the next conveyance command creation information in the conveyance pattern scenario to another controller after executing the conveyance command. The conveyance control unit determines whether or not the received conveyance command creation information matches the conveyance command creation information stored in the conveyance pattern scenario. If they match, the transport control unit further determines whether or not the contents of the transport command creation information can be executed, and if so, creates a transport command corresponding to the received transport command creation information in the transport command creation unit. Let
In this system, the conveyance control unit of the controller transmits conveyance command creation information to another controller. If the conveyance command creation information is received, the conveyance control unit determines that the received conveyance command creation information matches the conveyance command creation information stored in the conveyance pattern scenario and the contents of the conveyance command creation information can be executed. Then, the conveyance command creation unit is caused to create a conveyance command. The transport control unit further executes the created transport command. In this way, the conveyance control unit sequentially executes the article conveyance according to the conveyance pattern scenario.

The conveyance command creation information may include information on the article status, article ID, conveyance source, and conveyance destination after execution of the conveyance command created based on the previous conveyance command creation information.
In this system, a transport test can be performed using transport command creation information and transport pattern scenarios that are simple information.

The transport command creation information includes a plurality of transport destinations and distribution probability information to each transport destination, and the transport command creation unit selects a distribution destination using the distribution probability information and then performs the transport command. May be created.
In this system, in the case of a system that can take a plurality of routes, a transport test to each route can be performed at a rate according to the distribution probability information.

  The transport command creation information of the transport pattern scenario constitutes a transport command pattern in which a plurality of controllers cooperate to perform a transport operation during a test operation before the host controller is incorporated into the transport vehicle system.

  In the transport vehicle system according to the present invention, when a transport system is newly introduced, when a lower system is completed first, an operation test can be performed only with the lower system before the introduction of the host controller.

The partial top view which shows the basic layout of a general conveyance vehicle system. The block diagram which shows the control system of a general conveyance vehicle system. The schematic block diagram which shows the layout of the conveyance vehicle system which concerns on 1st Embodiment of this invention. The block diagram which shows the structure of a 1st conveyance vehicle controller. The block diagram which shows the structure of a 1st stocker controller. The flowchart which shows the control operation of a conveyance vehicle controller or a stocker controller. The figure which shows a 1st conveyance pattern scenario. The schematic block diagram which shows the flow of the conveyance performed according to a 1st conveyance pattern scenario. The figure which shows a 2nd conveyance pattern scenario. The schematic block diagram which shows the flow of the conveyance performed according to a 2nd conveyance pattern scenario.

(1) Transport vehicle system The transport vehicle system as one embodiment of the present invention is a system for running a plurality of transport vehicles on a defined transport track. The transport vehicle travels in one direction on the transport track, loads articles from the target location according to the transport command assigned by the host controller, then travels to the transport destination location and loads the articles at the transport destination location. put out.

  More specifically, the transport vehicle system is arranged using, for example, a ceiling space in a clean room, and transports an article such as a FOUP containing a semiconductor wafer between load ports such as a processing apparatus and an inspection apparatus. The transport track is composed of two types, a U-shaped intra bay route in a bay in which processing devices are arranged, and an inter bay route that interconnects the intra bay routes.

(2) Basic layout of transport vehicle system A basic layout of the transport vehicle system 1 will be described with reference to FIG. FIG. 1 is a partial plan view showing a basic layout of a transport vehicle system according to an embodiment of the present invention.

  The transport vehicle system 1 includes a plurality of circuit travel paths 5 and a main travel path 7 that connects the plurality of circuit travel paths 5. The trunk travel path 7 is a single circuit route as a whole. A plurality of processing devices 9 are provided along the circumferential traveling path 5, and a plurality of stockers 11 are provided along the backbone traveling path 7. The stocker 11 realizes a buffer function between the processing device 9 groups in the circuit travel path 5.

The equipment such as the processing device 9 and the stocker 11 is provided with a warehousing port 13 for carrying an article into the equipment and a delivery port 15 for picking up the article from the equipment to the transport vehicle 3. In addition, the warehousing port 13 and the warehousing port 15 may be shared.
Although not shown in the figure, the stocker 11 may be provided with a plurality of warehousing ports and warehousing ports.
In addition, the stocker 11 has a plurality of shelves and a stacker crane (not shown). The stacker crane can travel along the shelf, and can convey articles between the warehousing port 13 and the shelf, and further between the warehousing port and the shelf.

(3) Control system of conveyance vehicle system The control system 20 of the conveyance vehicle system 1 is demonstrated using FIG. FIG. 2 is a block diagram showing a control system of the transport vehicle system.

  The control system 20 includes a manufacturing controller 21, a physical distribution controller 23, a stocker controller 25, and a transport vehicle controller 27.

  The logistics controller 23 is a higher-order controller of the stocker controller 25 and the transport vehicle controller 27.

  The transport vehicle controller 27 has a function of managing a plurality of transport vehicles 3 and assigning a transport command to them. The “conveyance command” includes a command related to traveling and a command related to the load holding position and the unloading position.

  The production controller 21 can communicate with the processing device 9. The processing device 9 transmits a conveyance request (load grasping request / unloading request) of the article for which processing has been completed to the manufacturing controller 21.

  The manufacturing controller 21 transmits a transport request from the processing device 9 to the physical distribution controller 23, and the physical distribution controller 23 transmits a report to the manufacturing controller 21.

  When the distribution controller 23 receives a transport request from the manufacturing controller 21, if the stocker 11 is accompanied or unloaded, the logistics controller 23 sends a stock command or a stock command to the stocker controller 25 at a predetermined timing. Then, the stocker controller 25 transmits a stocking command and a stocking command to the stocker 11 accordingly. When the distribution controller 23 further receives a transfer request from the manufacturing controller 21, it converts it into a transfer command and transmits the transfer command to the transfer vehicle controller 27. The transfer vehicle controller 27 assigns the transfer command to the transfer vehicle 3. Perform the action.

  The transport vehicle controller 27 continuously communicates with each transport vehicle 3 in order to create a transport command to be transmitted to the transport vehicle, and obtains position information based on the position data transmitted from each transport vehicle 3. Yes. As an example of acquiring position information, there are the following two methods. In the first method, a plurality of points are set on the transport path, and a passing signal is transmitted to the transport vehicle controller 27 when the transport vehicle 3 passes the points. Then, the transport vehicle controller 27 stores the point at which the transport vehicle 3 has passed most recently and the time at which the transport vehicle 3 has passed, and calculates the position of the transport vehicle 3 based on the specified speed and time of the point section. Ask. In the second method, for example, an encoder is provided in the transport vehicle 3, and the travel distance after passing through the point is transmitted as position data from the transport vehicle 3 to the transport vehicle controller 27. The position of the transport vehicle 3 is grasped.

(4) Transport vehicle system layout (first embodiment)
A first embodiment of the present invention will be described with reference to FIG. FIG. 3 is a schematic configuration diagram showing a layout of the transport vehicle system according to the first embodiment of the present invention.

  The transport vehicle system 30 shown in FIG. 3 is controlled by the physical distribution controller shown in FIG. However, FIG. 3 shows the state of the transport vehicle system 30 before the distribution controller is installed.

  The transport vehicle system 30 includes a first route system 31 and a second route system 32. Although the 1st route system 31 and the 2nd route system 32 have an independent conveyance route, goods can be moved between both routes via a stocker arranged between both routes.

  The first route system 31 includes a loop-shaped first track 41, a first transport vehicle 42, a second transport vehicle 43, and a first transport vehicle controller 44. The first transport vehicle 42 and the second transport vehicle 43 circulate in the first track 41 in one direction.

  The second route system 32 includes a loop-shaped second track 45, a third transport vehicle 46, a fourth transport vehicle 47, and a second transport vehicle controller 48. The third transport vehicle 46 and the fourth transport vehicle 47 circulate in the second track 45 in one direction.

  The transport vehicle system 30 further includes a first stocker system 33, a second stocker system 34, a third stocker system 35, and a fourth stocker system 36. The first stocker system 33 and the second stocker system 34 are arranged only in the first route system 31. The third stocker system 35 and the fourth stocker system 36 are disposed between the first route system 31 and the second route system 32, and function of delivering articles between the first route system 31 and the second route system 32. Also have.

  The first stocker system 33 includes a first stocker 51 (STK_A) and a first stocker controller 52. The first stocker 51 has a shelf 51a, a warehousing port 71 (P1), and a warehousing port 72 (P2).

  The second stocker system 34 includes a second stocker 53 (STK_B) and a second stocker controller 54. The second stocker 53 has a shelf 53a, a warehousing port 73 (P1), and a warehousing port 74 (P2).

  The third stocker system 35 includes a third stocker 55 (STK_C) and a third stocker controller 56. The third stocker 55 includes a shelf 55a, a first warehouse port 75 (P1), a first warehouse port 76 (P2), a second warehouse port 77 (P3), and a second warehouse port 78 (P4). Have. The first warehousing port 75 (P1) and the first warehousing port 76 (P2) are disposed on the first track 41 side of the first route system 31. The second warehouse port 77 (P3) and the second warehouse port 78 (P4) are arranged on the second track 45 side of the second route system 32.

  The fourth stocker system 36 includes a fourth stocker 57 (STK_D) and a fourth stocker controller 58. The fourth stocker 57 includes a shelf 57a, a first warehouse port 79 (P1), a first warehouse port 80 (P2), a second warehouse port 81 (P3), and a second warehouse port 82 (P4). Have. The first warehouse port 79 (P1) and the first warehouse port 80 (P2) are disposed on the first track 41 side of the first route system 31. The second warehouse port 81 (P3) and the second warehouse port 82 (P4) are arranged on the second track 45 side of the second route system 32.

With the above configuration, the first transport vehicle 42 and the second transport vehicle 43 move the first stocker 51, the second stocker 53, the fourth stocker 57, and the third stocker 55 in this order while traveling on the first track 41. Can pass or hold / unload. Further, the third transport vehicle 46 and the fourth transport vehicle 47 can pass through the third stocker 55 and the fourth stocker 57 or can hold and unload the vehicle while traveling on the second track 45.
(5) Transport Vehicle Controller The first transport vehicle controller 44 will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the transport vehicle controller.

  The first transport vehicle controller 44 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program, and includes a transport control unit 61, a transport command creation unit 62, and a transport pattern scenario storage unit 63. The conveyance control unit 61 communicates with the first conveyance vehicle 42 and the second conveyance vehicle 43, and also includes the second conveyance vehicle controller 48, the first stocker controller 52, the second stocker controller 54, the third stocker controller 56, and the fourth stocker. Communication with the controller 58 is also possible.

  Although not shown in FIG. 4, the first transport vehicle controller 44 has a memory for storing a route map. The route map is a map that describes the arrangement of the travel route, the position of the origin, the reference position based on the origin, and the coordinates of the transfer position. The coordinates are obtained by converting the travel distance from the origin into the number of output pulses of the encoder of the transport vehicle 3. The transport control unit 61 can read the route map from the memory.

  Moreover, although not shown in figure, the 1st conveyance vehicle 42 and the 2nd conveyance vehicle 43 have a control part and memory. The control unit is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program, and can communicate with the first transport vehicle controller 44. Furthermore, the 1st conveyance vehicle 42 and the 2nd conveyance vehicle 43 have a route map in memory, Comparing the coordinates described in the route map with the internal coordinates (coordinates obtained by the encoder) of the own machine. Continue running.

  In addition, since the structure of the 2nd conveyance vehicle controller 48 is the same as that of the structure of the 1st conveyance vehicle controller 44, description is abbreviate | omitted.

  The ports belonging to the system managed by the first transport vehicle controller 44 are the warehousing port 71 (P1) and the evacuation port 72 (P2) of the first stocker 51, the warehousing port 73 (P1) and the evacuation port 74 of the second stocker 53. (P2), the first stocking port 75 (P1) and the first stocking port 76 (P2) of the third stocker 55, the first stocking port 79 (P1) and the first stocking port 80 (P2) of the fourth stocker 57 is there. The ports belonging to the system managed by the second transporter controller 48 are the second stocking port 77 (P3) and the second stocking port 78 (P4) of the third stocker 55, and the second stocking port 81 ( P3) and the second shipping port 82 (P4).

(6) Transport Command and Transport Pattern Scenario The transport command creation unit 62 can create a transport command based on a command from the transport control unit 61. The conveyance command is the same type as the conveyance command transmitted from the physical distribution controller to each controller during normal operation. The “carrier ID”, “conveyance source”, “conveyance” within the range controlled by multiple controllers. Includes “destination”. When the conveyance command is input from the conveyance command creation unit 62, the conveyance control unit 61 executes the content.

  The transport pattern scenario storage unit 63 stores a transport pattern scenario. The transport pattern scenario describes a transport pattern in which the controllers are allowed to cooperate with each other during a test operation before incorporating a physical distribution controller. Specifically, the transport pattern scenario describes a plurality of key events in order. Each key event is information for creating a conveyance command, and includes an article ID, a conveyance source, and a conveyance destination.

  The “event ID” indicates the article status after the execution of the transport command created based on the previous transport command creation information, and serves as a key for generating the transport command. The “carrier ID” is an ID of an article to be delivered, and one carrier ID is used for one transport pattern scenario. The “conveyance source” indicates the position of the article before conveyance, and is specifically a stocker port or shelf. The “conveyance destination” indicates the position of the article after conveyance, and is specifically a stocker port or shelf. In this way, a transport test can be performed using transport command creation information and transport pattern scenarios consisting of simple information.

  The conveyance command creation unit 62 can create a conveyance command based on the key event described in the conveyance pattern scenario. Preferably, the conveyance pattern scenario is set so that an article loops in a specific route. Thereby, the conveyance test in a predetermined route can be continuously performed. The key event is the same as the information that each controller transmits to the physical distribution controller when the physical distribution controller is incorporated into the system and is operating normally.

The transport pattern scenario is set so as not to describe a plurality of key events whose transport source is the same port. That is, since all the key events have different transport sources, the controller does not have to determine which part of the transport pattern scenario the current operation corresponds to. On the other hand, when a plurality of such key events are described, it becomes impossible for the controller that has received the key event to determine which key event should be used to create the transport command.
(7) Stocker Controller The first stocker controller 52 will be described with reference to FIG. FIG. 5 is a block diagram showing the configuration of the first stocker controller.

The first stocker controller 52 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program. The first stocker controller 52 includes a transport control unit 61, a transport command creation unit 62, and a transport pattern scenario storage unit 63. The conveyance control unit 61 communicates with the stacker crane 59, the warehousing port 71 (P1), and the warehousing port 72 (P2) of the first stocker 51. Further, the transport control unit 61 can communicate with the second stocker controller 54, the third stocker controller 56, the fourth stocker controller 58, the first transport vehicle controller 44, and the second transport vehicle controller 48.
The transport control unit 61, the transport command creation unit 62, and the transport pattern scenario storage unit 63 of the first stocker controller 52 have the same functions as those of the first transport vehicle controller 44.

  Although not shown, the stacker crane 59 has a crane controller that can communicate with the transport control unit 61. The crane controller is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program.

  Note that the configurations of the second stocker controller 54, the third stocker controller 56, and the fourth stocker controller 58 are the same as the configurations of the first stocker controller 52, and thus the description thereof is omitted.

The ports belonging to the system managed by the first stocker controller 52 are the warehouse port 71 (P1), the warehouse port 72 (P2), and the shelf 51a of the first stocker 51. The ports belonging to the system managed by the second stocker controller 54 are the warehouse port 73 (P1), the warehouse port 74 (P2), and the shelf 53a of the second stocker 53. The ports belonging to the system managed by the third stocker controller 56 are the first stocking port 75 (P1), the first stocking port 76 (P2), the second stocking port 77 (P3), and the second stocking of the third stocker 55. The port 78 (P4) is the shelf 55a. The ports belonging to the system managed by the fourth stocker controller 58 are the first stocking port 79 (P1), the first stocking port 80 (P2), the second stocking port 81 (P3), and the second stocking of the fourth stocker 57. The port 82 (P4) and the shelf 57a.
In addition,
(8) Control action during test operation (first embodiment)
Hereinafter, as a first embodiment, an operation test based on a conveyance pattern scenario by repeatedly generating a conveyance command by the conveyance command generation unit 62 and repeatedly executing the conveyance command by the conveyance control unit 61 will be described with reference to FIGS. 6 to 8. . FIG. 6 is a flowchart showing the control operation of the transport vehicle controller or stocker controller. FIG. 7 is a diagram illustrating a first transport pattern scenario. FIG. 8 is a schematic configuration diagram illustrating a flow of conveyance performed according to the first conveyance pattern scenario.

A common transport pattern scenario is stored in advance in the transport pattern scenario storage unit 63 of each controller. In this embodiment, the first transport pattern scenario 91 shown in FIG. 7 is used.
The first transport pattern scenario 91 includes a plurality of key events. Specifically, the first transport pattern has key events (1) to (9). In the first transport pattern scenario 91, the cassette number C0001 is shown as the carrier ID.

  In step S1 of FIG. 6, the conveyance control unit 61 waits for a key event to be received. The source of the key event is in principle another control unit.

  In step S <b> 2, it is checked whether or not there is a key event for which the “carrier ID” and “transport source” in the transport pattern scenario stored in the transport pattern scenario storage unit 63 match for the transmitted key event. If they match, it is further determined whether or not “transport source” and “transport destination” are ports within the system managed by itself (whether or not they are executable). If either one is “NO”, the process is terminated as no processing is necessary. If both are “positive”, it is determined that processing is necessary, and the process proceeds to step S3.

  In step S3, the conveyance control unit 61 transmits a key event to the conveyance command creation unit 62, and creates a conveyance command to be executed by itself based on the key event. The conveyance command creating unit 62 outputs a conveyance command to the conveyance control unit 61.

  In step S4, the conveyance control unit 61 executes a conveyance command created by itself. More specifically, if it is a transport vehicle controller, the transport vehicle is transported, and if it is a stocker controller, the stocker is operated. When the transport control operation ends, the process proceeds to step S5.

  In step S5, the conveyance control unit 61 transmits the next key event described in the conveyance pattern scenario all at once to the other controllers, and the process ends. Here, the selected next key event is a key event in which a transport source that matches the transport destination included in the executed transport command is described.

  Next, the test operation based on the first transport pattern scenario 91 will be described. In the first transport pattern scenario 91, the key events (1) to (9) are executed in order, and the key event (1) is executed again when the key event (9) ends. In this way, a series of control operations can be executed continuously.

  In the first transport pattern scenario 91, in the key event (1), the event ID is “CarrierWaitOut”, which means that the transport preparation is completed at the stocker's delivery port. Recognition of the completion of the preparation for conveyance is performed by reading the ID of the article by an ID reader arranged at the exit port. Further, in the key event (1), since the transport source is STK_B_P2 and the transport destination is STK_C_P1, this means that goods are sent from the delivery port 74 (P2) of the second stocker 53 to the first stocking port 75 (P1) of the third stocker 55. ). When all the controllers receive the key event (1) (step S1), it is determined that only the first transport vehicle controller 44 needs to be processed (Yes in step S2), and the first transport vehicle controller 44 issues a transport command. Create (step S3). The first transport vehicle controller 44 further executes a transport command (step S4). Specifically, the first transport vehicle controller 44 assigns a transport command to the first transport vehicle 42 or the second transport vehicle 43. As a result, the conveyance vehicle conveys the article from the delivery port 74 (P2) of the second stocker 53 to the first entry port 75 (P1) of the third stocker 55. When the conveyance is completed, the first conveyance vehicle controller 44 transmits a key event (2) to all the other controllers.

In the key event (2), the event ID is VehicleDepositCompleted, which means that the transport vehicle has lowered the article to the stocker's storage port. Recognition that the article has been lowered to the warehousing port is performed by reading the ID of the article by an ID reader arranged at the warehousing port. Further, in the key event (2), the transport source is STK_C_P1 and the transport destination is STK_C_P4. This means that the goods are transferred from the first stocking port 75 (P1) of the third stocker 55 to the second stocking port 78 of the third stocker 55. (P4) means to convey. When all the controllers receive the key event (2) (step S1), it is determined that only the third stocker controller 56 needs to be processed (Yes in step S2), and the third stocker controller 56 creates a conveyance command. (Step S3). The third stocker controller 56 further executes a transport command (step S4). Specifically, the third stocker controller 56 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys the article from the first stocking port 75 (P1) of the third stocker 55 to the second stocking port 78 (P4). When the conveyance is completed, the third stocker controller 56 transmits a key event (3) to all other controllers.
Note that the recognition that the article has been lowered to the warehousing port may be performed not by the ID reader reading the ID of the article but by the conveyance vehicle controller transmitting that the conveyance vehicle has lowered the article.

  In the key event (3), the event ID is CarrierWaitOut. Further, in the key event (3), since the transport source is STK_C_P4 and the transport destination is STK_D_P3, this means that articles are transferred from the second delivery port 78 (P4) of the third stocker 55 to the second delivery port 81 of the fourth stocker 57. (P3) means to convey. When all the controllers receive the key event (3) (step S1), it is determined that only the second transport controller 48 needs to be processed (Yes in step S2), and the second transport controller 48 issues a transport command. Create (step S3). The second transport vehicle controller 48 further executes a transport command (step S4). Specifically, the second transport vehicle controller 48 assigns a transport command to the third transport vehicle 46 or the fourth transport vehicle 47. As a result, the transport vehicle transports the article from the second delivery port 78 (P4) of the third stocker 55 to the second delivery port 81 (P3) of the fourth stocker 57. When the conveyance is finished, the second conveyance controller 48 transmits a key event (4) to all other controllers.

  In the key event (4), the event ID is VehicleDepositCompleted. In the key event (4), since the transport source is STK_D_P3 and the transport destination is STK_D_STORAGE, the goods are transported from the second storage port 81 (P3) of the fourth stocker 57 to the shelf 57a of the fourth stocker 57. It means that. The recognition that the article has been placed on the shelf 57a is performed when the stocker crane determines the completion of its transfer operation. When all the controllers receive the key event (4) (step S1), it is determined that only the fourth stocker controller 58 needs to be processed (Yes in step S2), and the fourth stocker controller 58 creates a conveyance command. (Step S3). The fourth stocker controller 58 further executes a transport command (step S4). Specifically, the fourth stocker controller 58 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys the article from the second storage port 81 (P3) of the fourth stocker 57 to the shelf 57a of the fourth stocker 57. When the conveyance is completed, the fourth stocker controller 58 transmits a key event (5) to all other controllers.

  In the key event (5), the event ID is Transfer Completed, which is a signal indicating that the warehousing by the stacker crane is completed. In the key event (5), the transport source is STK_D_STORAGE and the transport destination is STK_D_P4. This means that the article is transported from the shelf 57a to the second delivery port 82 (P4) of the fourth stocker 57. Yes. The key event (5) means an event generated in the fourth stocker 57 (step S1), and the fourth stocker controller 58 determines that processing is necessary (Yes in step S2), and the fourth stocker controller. 58 creates a conveyance command (step S3). The fourth stocker controller 58 further executes a transport command (step S4). Specifically, the fourth stocker controller 58 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys the article from the shelf 57a of the fourth stocker 57 to the second delivery port 82 (P4) of the fourth stocker 57. When the conveyance is completed, the fourth stocker controller 58 transmits a key event (6) to all other controllers.

  In the key event (6), the event ID is Carrier WaitOut. Further, in the key event (6), since the transport source is STK_D_P4 and the transport destination is STK_C_P3, this means that the goods are sent from the second delivery port 82 (P4) of the fourth stocker 57 to the second stocking port 77 of the third stocker 55. (P3) means to convey. When all the controllers receive the key event (6) (step S1), it is determined that only the second transport controller 48 needs to be processed (Yes in step S2), and the second transport controller 48 issues a transport command. Create (step S3). The second transport vehicle controller 48 further executes a transport command (step S4). Specifically, the second transport vehicle controller 48 assigns a transport command to the third transport vehicle 46 or the fourth transport vehicle 47. As a result, the conveyance vehicle conveys the article from the second delivery port 82 (P4) of the fourth stocker 57 to the second entry port 77 (P3) of the third stocker 55. When the conveyance is completed, the second conveyance vehicle controller 48 transmits a key event (7) to all the other controllers.

  In the key event (7), the event ID is VehicleDepositCompleted. Further, in the key event (7), since the transport source is STK_C_P3 and the transport destination is STK_C_P2, this means that articles are transferred from the second stocking port 77 (P3) of the third stocker 55 to the first stocking port 76 of the third stocker 55. It means that it is transported to (P2). When all the controllers receive the key event (7) (step S1), it is determined that only the third stocker controller 56 needs to be processed (Yes in step S2), and the third stocker controller 56 creates a conveyance command. (Step S3). The third stocker controller 56 further executes a transport command (step S4). Specifically, the third stocker controller 56 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys articles from the second stocking port 77 (P3) of the third stocker 55 to the first stocking port 76 (P2). When the conveyance is completed, the third stocker controller 56 transmits a key event (8) to all the other controllers.

  In the key event (8), the event ID is Carrier WaitOut. Further, in the key event (8), since the transport source is STK_C_P2 and the transport destination is STK_B_P1, this means that the goods are transferred from the first delivery port 76 (P2) of the third stocker 55 to the entry port 73 (P1) of the second stocker 53. ). When all the controllers receive the key event (8) (step S1), it is determined that only the first transport vehicle controller 44 needs to be processed (Yes in step S2), and the first transport vehicle controller 44 issues a transport command. Create (step S3). The first transport vehicle controller 44 further executes a transport command (step S4). Specifically, the first transport vehicle controller 44 assigns a transport command to the first transport vehicle 42 or the second transport vehicle 43. As a result, the conveyance vehicle conveys the article from the first delivery port 76 (P2) of the third stocker 55 to the entry port 73 (P1) of the second stocker 53. When the conveyance is completed, the second conveyance vehicle controller 48 transmits a key event (9) to all other controllers.

  In the key event (9), the event ID is VehicleDepositCompleted. Further, in the key event (9), since the transport source is STK_B_P1 and the transport destination is STK_B_P2, this means that articles are transferred from the receiving port 73 (P1) of the second stocker 53 to the outgoing port 74 (P2) of the second stocker 53. It means to convey. When all the controllers receive the key event (9) (step S1), it is determined that only the second stocker controller 54 needs to be processed (Yes in step S2), and the second stocker controller 54 creates a transport command. (Step S3). The second stocker controller 54 further executes a transport command (step S4). Specifically, the second stocker controller 54 transmits a conveyance command to a stacker crane (not shown). As a result, the stacker crane (not shown) conveys the article from the storage port 73 (P1) of the second stocker 53 to the delivery port 74 (P2) of the second stocker 53. When the conveyance is completed, the second stocker controller 54 transmits a key event (1) to all other controllers.

  With the above operation, the contents of the key events (1) to (9) are repeatedly executed, and the driving test is performed. Specifically, a transport pattern scenario is set for each controller, and the controller itself creates a transport command based on the information of the transport source and the transport destination. As a result, communication is performed between the controllers, and articles are automatically delivered. As described above, it is possible to automatically transfer articles between the controllers even at the initial stage of system start-up, and to efficiently perform the transport system test. For this reason, it is possible to efficiently start up the transport system at the time of factory introduction.

(9) Control action during test operation (second embodiment)
Hereinafter, as a second embodiment, an operation test based on a conveyance pattern scenario by repeatedly generating a conveyance command by the conveyance command generation unit 62 and repeatedly executing the conveyance command by the conveyance control unit 61 will be described with reference to FIGS. 9 and 10. . FIG. 9 is a diagram illustrating a second transport pattern scenario. FIG. 10 is a schematic configuration diagram illustrating a flow of conveyance performed according to the second conveyance pattern scenario.

  A common transport pattern scenario is stored in advance in the transport pattern scenario storage unit 63 of each controller. In this embodiment, the second transport pattern scenario 92 shown in FIG. 9 is used. The second transport pattern scenario 92 includes a plurality of key events. Specifically, the first transport pattern has key events (11) to (18). Each key event has an event ID, a carrier ID, a transport port, and a transport destination as information. The carrier ID is the cassette number C0002.

Next, the test operation based on the second transport pattern scenario 92 will be described.
In the second transport pattern scenario 92, the key events (11) to (12) are executed in order, and the key event (12) is used as a branch point to be divided into a first route and a second route. In the first route, the key events (13) to (16) are executed, and then return to the key event (11). In the second route, key events (17) to (18) are executed, and then merge with the key event (15). In this way, a series of control operations can be executed continuously.
Specifically, the key event (12) includes a plurality of transport destinations and distribution probability information to each transport destination, and the transport command creation unit 62 uses the distribution probability information to distribute the distribution destinations. Create a transport command after selecting. In this system, in the case of a system that can take a plurality of routes, a transport test to each route can be performed at a rate according to the distribution probability information.

  Next, the test operation based on the second transport pattern scenario 92 will be described. In the second transport pattern scenario 92, in the key event (11), the key event is CarrierWaitOut. Further, in the key event (11), since the transport source is STK_A_P2 and the transport destination is STK_D_P1, this means that goods are sent from the exit port 72 (P2) of the first stocker 51 to the first entrance port 79 (P1) of the fourth stocker 57. ). When all the controllers receive the key event (11) (step S1), it is determined that only the first transport vehicle controller 44 needs to be processed (Yes in step S2), and the first transport vehicle controller 44 issues a transport command. Create (step S3). The first transport vehicle controller 44 further executes a transport command (step S4). Specifically, the first transport vehicle controller 44 assigns a transport command to the first transport vehicle 42 or the second transport vehicle 43. As a result, the conveyance vehicle conveys the article from the delivery port 72 (P2) of the first stocker 51 to the first entry port 79 (P1) of the fourth stocker 57. When the conveyance is completed, the first conveyance vehicle controller 44 transmits a key event (12) to all the other controllers.

  In the key event (12), the key event is VehicleDepositCompleted. In the key event (12), since the transport source is STK_D_P1, this means that the article is carried out from the first storage port 79 (P1) of the fourth stocker 57. On the other hand, in the key event (12), the transport destinations are described as STK_D_P4 (80%) and STK_D_P2 (20%). This is because the transport command generated based on the key event (12) is the second delivery port 82 (P4) of the fourth stocker 57 at the rate of 80%, and the transport destination is the second at the rate of 20%. This means that it becomes the first delivery port 80 (P2) of the 4 stocker 57.

  When all the controllers receive the key event (12) (step S1), it is determined that only the fourth stocker controller 58 needs to be processed (Yes in step S2), and the fourth stocker controller 58 creates a conveyance command. (Step S3). The fourth stocker controller 58 further executes a transport command (step S4). Specifically, the fourth stocker controller 58 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys the article from the first stocking port 79 (P1) of the fourth stocker 57 to the second stocking port 82 (P4) or the first stocking port 80 (P2). When the conveyance is completed, the fourth stocker controller 58 transmits a key event (13) or a key event (17) to all other controllers.

(9-1) First Branch Route In the key event (13), the event ID is CarrierWaitOut. Further, in the key event (13), since the transport source is STK_D_P4 and the transport destination is STK_C_P3, this means that goods are sent from the second delivery port 82 (P4) of the fourth stocker 57 to the second stocking port 77 of the third stocker 55. (P3) means to convey. When all the controllers receive the key event (13) (step S1), it is determined that only the second transport vehicle controller 48 needs to be processed (Yes in step S2), and the second transport vehicle controller 48 issues a transport command. Create (step S3). The second transport vehicle controller 48 further executes a transport command (step S4). Specifically, the second transport vehicle controller 48 assigns a transport command to the third transport vehicle 46 or the fourth transport vehicle 47. As a result, the conveyance vehicle conveys the article from the second delivery port 82 (P4) of the fourth stocker 57 to the second entry port 77 (P3) of the third stocker 55. When the conveyance is completed, the second conveyance controller 48 transmits a key event (14) to all other controllers.

  In the key event (14), the event ID is VehicleDepositCompleted. Further, in the key event (14), since the transport source is STK_C_P3 and the transport destination is STK_C_P2, this means that articles are transferred from the second stocking port 77 (P3) of the third stocker 55 to the first stocking port 76 of the third stocker 55. It means that it is transported to (P2). When all the controllers receive the key event (14) (step S1), it is determined that only the third stocker controller 56 needs to be processed (Yes in step S2), and the third stocker controller 56 creates a conveyance command. (Step S3). The third stocker controller 56 further executes a transport command (step S4). Specifically, the third stocker controller 56 transmits a conveyance command to a stacker crane (not shown). As a result, the stacker crane (not shown) conveys the article from the second stocking port 77 (P3) of the third stocker 55 to the first stocking port 76 (P2) of the third stocker 55. When the conveyance is completed, the third stocker controller 56 transmits a key event (15) to all other controllers.

  In the key event (15), the event ID is CarrierWaitOut. Further, in the key event (15), since the transport source is STK_C_P2 and the transport destination is STK_A_P1, this means that the goods are transferred from the first delivery port 76 (P2) of the third stocker 55 to the warehousing port 71 (P1) of the first stocker 51. ). When all the controllers receive the key event (15) (step S1), it is determined that only the first transport vehicle controller 44 needs to be processed (Yes in step S2), and the first transport vehicle controller 44 issues a transport command. Create (step S3). The first transport vehicle controller 44 further executes a transport command (step S4). Specifically, the first transport vehicle controller 44 assigns a transport command to the first transport vehicle 42 or the second transport vehicle 43. As a result, the conveyance vehicle conveys the article from the first delivery port 76 (P2) of the third stocker 55 to the entry port 71 (P1) of the first stocker 51. When the conveyance is completed, the second conveyance controller 48 transmits a key event (16) to all the other controllers.

In the key event (16), the event ID is VehicleDepositCompleted. Further, in the key event (16), since the transport source is STK_A_P1 and the transport destination is STK_A_P2, this means that articles are transferred from the receiving port 71 (P1) of the first stocker 51 to the outgoing port 72 (P2) of the first stocker 51. It means to convey. When all the controllers receive the key event (16) (step S1), it is determined that only the first stocker controller 52 needs to be processed (Yes in step S2), and the first stocker controller 52 creates a transport command. (Step S3). The first stocker controller 52 further executes a transport command (step S4). Specifically, the first stocker controller 52 transmits a conveyance command to a stacker crane (not shown). As a result, a stacker crane (not shown) conveys the article from the receiving port 71 (P1) of the first stocker 51 to the outgoing port 72 (P2) of the first stocker 51. When the conveyance is completed, the first stocker controller 52 transmits a key event (11) to all other controllers.
In this way, the key events (11), (12), (13), (14), (15), and (16) are continuously performed.

(9-2) Second branch route In the key event (17), the event ID is CarrierWaitOut. Further, in the key event (17), since the transport source is STK_D_P2 and the transport destination is STK_C_P1, this means that the goods are sent from the first stocking port 80 (P2) of the fourth stocker 57 to the first stocking port 75 of the third stocker 55. It means that it is transported to (P1). When all the controllers receive the key event (17) (step S1), it is determined that only the first transport vehicle controller 44 needs to be processed (Yes in step S2), and the first transport vehicle controller 44 issues a transport command. Create (step S3). The first transport vehicle controller 44 further executes a transport command (step S4). Specifically, the first transport vehicle controller 44 assigns a transport command to the first transport vehicle 42 or the second transport vehicle 43. As a result, the conveyance vehicle conveys the article from the first delivery port 80 (P2) of the fourth stocker 57 to the first entry port 75 (P1) of the third stocker 55. When the conveyance is completed, the second conveyance vehicle controller 48 transmits a key event (18) to all the other controllers.

In the key event (18), the event ID is VehicleDepositCompleted. Further, in the key event (18), since the transport source is STK_C_P1 and the transport destination is STK_C_P2, this means that the goods are transferred from the first stocking port 75 (P1) of the third stocker 55 to the first stocking port 76 of the third stocker 55. It means that it is transported to (P2). When all the controllers receive the key event (18) (step S1), it is determined that only the third stocker controller 56 needs to be processed (Yes in step S2), and the third stocker controller 56 creates a conveyance command. (Step S3). The third stocker controller 56 further executes a transport command (step S4). Specifically, the third stocker controller 56 transmits a conveyance command to a stacker crane (not shown). As a result, the stacker crane (not shown) conveys the article from the first storage port 75 (P1) of the third stocker 55 to the first delivery port 76 (P2) of the third stocker 55.
When the conveyance is completed, the first stocker controller 52 transmits a key event (15) to all other controllers. As a result, the second branch route joins the first branch route.

With the above operation, the contents of the key events (11) to (18) are repeatedly executed, and the driving test is performed.
(10) Features In this system, the transport control unit 61 of the controller transmits a key event (transport command creation information) to the other transport control unit 61. If the key event is received, the transport control unit 61 determines that the received key event matches the key event stored in the transport pattern scenario and the contents of the key event can be executed. 62 is caused to create a conveyance command. Next, the conveyance control unit 61 executes the created conveyance command. In this way, according to the conveyance pattern scenario, the conveyance control unit 61 sequentially executes the article conveyance.
In this way, the controller that controls the stocker and the transport vehicle creates a transport command according to the transport pattern scenario, and further executes the transport command. That is, before the host controller is incorporated, the transport test can be performed by cooperating the controllers that control the stocker and the transport vehicle.

(11) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention.

  In the embodiment, one stocker controller controls one stocker, but the present invention is not limited to such an embodiment. That is, one stocker controller may control a plurality of stockers.

  In the above embodiment, the controller transmits a key event to all other controllers, but the present invention is not limited to such an embodiment. The controller may send a key event only to the controller that performs the next transport operation.

  The present invention can be widely applied to a transport vehicle system that transports articles to a transport vehicle.

DESCRIPTION OF SYMBOLS 1 Conveyor vehicle system 3 Conveyor vehicle 5 Circulation traveling path 7 Basic traveling path 9 Processing apparatus 11 Stocker 13 Incoming port 15 Outlet port 20 Control system 21 Manufacturing controller 23 Logistics controller 25 Stocker controller 27 Conveying vehicle controller 30 Conveying vehicle system 31 1st route System 32 Second route system 33 First stocker system 34 Second stocker system 35 Third stocker system 36 Fourth stocker system 41 First track 42 First transport vehicle 43 Second transport vehicle 44 First transport vehicle controller 45 Second track 46 3rd transport vehicle 47 4th transport vehicle 48 2nd transport vehicle controller 51 1st stocker 51a shelf 52 1st stocker controller 53 2nd stocker 53a shelf 54 2nd stocker controller 55 3rd stocker 55a shelf 56 3rd stocker controller 5 7 4th stocker 57a shelf 58 4th stocker controller 59 stacker crane 61 transport control unit 62 transport command creation unit 63 transport pattern scenario storage unit 71 warehousing port (P1)
72 Outlet port (P2)
73 Receipt port (P1)
74 Delivery port (P2)
75 First warehousing port (P1)
76 First shipping port (P2)
77 Second warehousing port (P3)
78 Second shipping port (P4)
79 First warehousing port (P1)
80 First shipping port (P2)
81 Second storage port (P3)
82 Second shipping port (P4)
91 First transport pattern scenario 92 Second transport pattern scenario

Claims (5)

A transport vehicle system for transporting articles using a transport vehicle,
A plurality of stockers capable of transporting articles inside;
A transport vehicle capable of transporting articles between the plurality of stockers;
Comprising a plurality of controllers capable of communicating with each other, and controlling the plurality of stockers and the transport vehicle,
The controller is
A conveyance control unit that performs conveyance control by executing a conveyance command;
A scenario storage unit for storing a transfer pattern scenario including a plurality of transfer command creation information;
A transport command creating unit for creating a transport command corresponding to the transport command creating information;
Transport vehicle system. The conveyance control unit transmits the next conveyance command creation information in the conveyance pattern scenario to another controller after executing the conveyance command,
The conveyance control unit determines whether or not the received conveyance command creation information matches the conveyance command creation information stored in the conveyance pattern scenario, and if it matches, can the contents of the conveyance command creation information be executed further? The conveyance vehicle system according to claim 1, wherein the conveyance command generation unit is configured to generate a conveyance command corresponding to the received conveyance command generation information when it is executable.   The conveyance command creation information includes information on an article status, an article ID, a conveyance source, and a conveyance destination after execution of a conveyance command created based on the previous conveyance command creation information. Or the conveyance vehicle system of 2. The transport command creation information includes a plurality of transport destinations and distribution probability information to each transport destination,
The conveyance vehicle system according to any one of claims 1 to 3, wherein the conveyance command creation unit creates the conveyance command after selecting a distribution destination using the distribution probability information.   The transport command creation information of the transport pattern scenario constitutes a transport command pattern that causes the plurality of controllers to cooperate to perform a transport operation during a test operation before incorporating a host controller into the transport vehicle system. The conveyance vehicle system according to any one of claims 1 to 4.

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