200817864 九、發明說明： 【發明所屬之技術領域】 本發明係關於將到達目標位置之一 車之搬送車管理裝置及搬送車管 β㈣旨示給搬送 法。 /、、、先暨搬送車管理方 【先前技術】 習知，該種裝置，例如有 Γ c. 2005-92823 0 ^^ I ^ ^ ^ 在搬送路上行駛之複數個預先管理 搬送車到達目標位置之所有搜索特定 徑長度。而且，該種裝置為 r專口路位之總路 決定可於最短時間到達目俨 〜二長又， 路徑指示給搬送^彳讀置切料徑，並將該行驶 到=標1:1預先根據總路徑長度而決定可於最短時間 :=驶路控，若該行驶路徑中產生蓬塞，搬 ^ μ 9陷入壅基。由此，上述習知之構成存在壅塞發生 =數越多’搬送車陷入壅塞之可能性就越高的問題，結果 合易產生大幅延遲搬送車到達目標位置之時間的情況。 【發明内容】 =此，本發明之目的在於，提供可藉由降低搬送車陷入 餐基之可此性’以提高使搬送車於短時間到達目標位置之 可此性的搬运車管理裝置及搬送車管理系統暨搬送車 理方法。 為達到上述目的，本發明提供一種搬送車管理裝置，其 312XP/發明說明書(補件)/96·〇6/961〇9866 ^ 200817864 具備： 個Γ送車位置檢測部，其分騎财搬祕上行駛之複數 们搬送車的當前位置； :仏搜索# ’其搜索上述複數個搬送車中之特定搬送車 叙位置到達目標位置之所有路徑； 壅塞判定部，其根據上述各搬送車之#前位置，判定上 返路徑搜索部所搜索到之各路徑的壅塞狀況； 路度計算部’其求出上述路徑搜索部所搜索到之各 路徑的總路徑長度； 部’其根據上述壅塞狀況及上述總路徑長度， 决：：於敢短時間到達上述目標位置之行駛路徑；以及 送=路徑指不部’其將上述行驶路徑指示給上述特定搬 可於^上=成’基於奎塞狀況及總路徑長度，預先決定 行敬^夺到達目標位置之行驶路徑，且使搬送車在該 ，此：广行駛，藉此可降低搬送車陷入壅塞之可能性。 :二:：上述習知情形中，僅根據總路徑長度來決定 路位且於陷入壅塞時使搬样直彳古L > 塞解除，本發明可接古祛珈，由、τ止仃駛並待機至壅 可能性。 了^同使搬送車於短時間到達目標位置之 況==徑決定部：可設為如下構成，即判定上述囊塞狀 Μ曰=1基程度最輕之路徑中決定出上述總路徑 長度取短之路徑作為上述行駛路徑。 。路位 31_發明說明書(補件y9W)6/96i_6 根據上述構成，可進一步降低搬送車陷入壅塞之可能 200817864 性’故可進一歩妲a 能性。 ^使搬送車於短時間到達目標位置之可 上述路徑決定部亦可 定上述壅塞狀況？成即根據以界值來判 箱$ 8士 , 又，田该壅基狀況為該臨界值以上之 私度和，在既定期間内使該臨界值降低。丨值A上之 ，據上述構成’當壅塞狀況達到 壅塞狀況較嚴重 ，值^上之転度％， 使臨界值降低以易於;定=過：定時間為止之期間， 重之奎塞狀況完全解除之前嚴移重止之^塞狀重兄^此可於嚴 本發明頻繁地陷人嚴重之隸狀況。 本供—種搬送車管理[Technical Field] The present invention relates to a transport vehicle management device and a transport vehicle tube (4) for transporting a vehicle to a target position. /,,, first and the delivery vehicle management [previous technology] It is known that such a device, for example, has c. 2005-92823 0 ^^ I ^ ^ ^ A plurality of pre-managed transport vehicles traveling on the transport road arrive at the target location All search for a specific path length. Moreover, the device is determined by the total road of the r-special road position to reach the target in the shortest time, and the path is instructed to transfer the cutting path, and the driving to the standard 1:1 is advanced. According to the total path length, it can be determined in the shortest time: = driving road control, if there is a clogging in the driving path, the moving μ 9 is trapped in the raft. Therefore, in the above-described conventional configuration, there is a problem that the congestion is generated and the number of the vehicles is increased, and the possibility that the transport vehicle is caught in the congestion is increased. As a result, the time when the transport vehicle reaches the target position is largely delayed. SUMMARY OF THE INVENTION In view of the above, it is an object of the present invention to provide a transport vehicle management device and a transporter that can improve the availability of a transport vehicle to enter a target position in a short period of time. Vehicle management system and transportation method. In order to achieve the above object, the present invention provides a transport vehicle management device, the 312XP/invention specification (supplement)/96·〇6/961〇9866 ^ 200817864 has: a vehicle delivery position detecting unit, which is divided into a bicycle The current position of the plurality of vehicles traveling on the vehicle; : 仏 search # 'searches all the routes of the plurality of transport vehicles in the plurality of transport vehicles to reach the target position; the congestion determination unit is based on the # before the transport vehicles a position determining a congestion state of each route searched by the return path search unit; a road degree calculation unit 'determining a total path length of each path searched by the route search unit; a part 'based on the congestion condition and the above The total path length, the following: the driving route that arrives at the above target position in a short time; and the transmission=path refers to the 'the above-mentioned driving route to the above specific moving can be on ^==' based on the Quebec status and total The length of the path is determined in advance, and the travel route to the target position is determined in advance, and the transport vehicle is placed there. Here, the travel is wide, thereby reducing the possibility of the transport vehicle being trapped. : 2: In the above-mentioned conventional situation, the road position is determined only according to the total path length, and when the congestion is blocked, the sample is moved to the left L > the plug is released, and the invention can be connected to the ancient 祛珈, And stand by to the possibility. In the case where the transport vehicle arrives at the target position in a short time == diameter determination unit: a configuration may be adopted in which it is determined that the total path length is determined in the path with the lowest degree of the capsule Μ曰=1 base The short path is used as the above travel path. . Road position 31_Invention manual (supplement y9W) 6/96i_6 According to the above configuration, it is possible to further reduce the possibility that the transport vehicle is caught in a stagnation. ^The transporter can reach the target position in a short time. Can the above-mentioned route determination unit determine the above congestion condition? Cheng is judged to be $8 by the boundary value. Moreover, the situation of the base is the private degree above the critical value, and the threshold is lowered for a predetermined period. On the 丨 value A, according to the above composition, 'when the congestion condition reaches the stagnation condition is serious, the value of the ^% is reduced, so that the threshold value is lowered to make it easy; set = over: the period until the fixed time, the heavy quetia condition is completely Before the release of the rigorously severed, the stagnation of the brothers ^ this can be severely trapped in the serious situation of the invention. This supply-type transport vehicle management
搬送路，J：至少且女人—Α 八W ，、夕具有合流部或分支部二者之一的一個以 複數個搬送車 駛；以及 其等根據行駛路徑而於上述搬送路上行 具有上述構成之搬送車管理褒置。 本發明亦提供一種搬送車管理方法，其具備： 搬运車位置檢測步驟’其分別檢測在搬送路上行驶之複 數個搬送車的當前位置； 路瓜搜索步驟’其搜索上述複數個搬送車中之特定搬送 車自出發位置到達目標位置之所有路徑； 蓬塞判定步驟’其根據上述各搬送車之當前位置，判定 上述路徑搜索步驟所搜索到之各路徑的壅塞狀況； 路從長度计异步驟，其求出上述路徑搜索步驟所搜索到 312XP/發明說明書(補件)/96-06/96109866 7 200817864 之各路徑的總路徑長度； 路仏决疋步驟，其根據上述壅塞狀況及上述紬 決巧於最短時間到達上述目標位置之行駛路徑2 搬=路徑指示步驟’其將上述行駛路徑指示給上述特定 【實施方式】 :乂下’翏照隨附圖式，詳細說明本發明之實施例。 有二本發明之一實施例之搬送車管理系統具 ι(夂昭二)、3’形成搬送車3之行駛軌道的搬送路 以及搬送車管理裝置u，其管理搬 3。狀況，並將到達目標位置之行駛路徑指示給搬送車 使複數個搬送車3設置成可於搬送路〗 1連接半導體製造裝置等複數 ，、、、。运路 及分支部5,使搬送車3可選擇兩個方向： = ::/ 使合流部4與分支部5組合於一起， ^ 當前位置到達工作站2等 曰可選擇複數條自 送路卜再者，搬送路i可為二下播=仃駛路徑以作為搬 部4或分支部5二者之一的1個、’即至少具有合流 支部5亦可具有3個以上之方向。。又，合流部4及分 如圖1所示，上述搬送車3具有· 位置檢測感測H 39、前方檢測感^制基板心行駛 口 40、以及行駛驅動 312沿/發明說明書(補件)/96-06/96109866 200817864 機構38。行駛位置檢測感測器39偵侧設置於圖9之搬送 路1上而未圖示的標號器，且輸出表示當前位置之訊號。 又，則方檢測感測器40偵側搬送車3之前方所存在的其 他搬达車3等障礙物，並輸出表示障礙物之訊號。行驶驅 動機構38包括馬達及行駛滾輪等，可使搬送車3行駛及 上述仃駛驅動機構38、行駛位置檢測感測器39及前方 檢測感測器40，連接於控制基板31上。控制基板31具 有下述等各種功能，即，驅動控制行駛驅動機構38之功 能=據來自行駛位置檢測感測器39之訊號，而檢測搬 =3之當前位置的功能；根據來自前方檢測感測器 而使搬送車3避免與前方之搬送車3等障礙物碰 以及控制搬送車3,使其沿著藉由與搬送車管 等，置11間之資料通訊所得到的行驶路徑而行駛之功能 :、：而5 ’控制基板31具有：控制各種動作之控 及、秦^接於控制部32之通訊部41及輸人輸出部；二 及連接於輸人輸出部36之行駛驅動部37。輸人部 行檢測感測器39或前方檢測感測器:。之 :種，气，並傳達至控制部32,而且將來自 ： 二駛^令g號傳達至行駛驅動部37。行駛驅動部 向行駛驅動機構38供給行駛用電力：通 =41可以無線方式與搬送車管理裝置U進行資= WXP/發明說明書(補件)/96-〇6/96109866 9 200817864 又 ^ 制部 32 具備：ram (random access memory，隨 機存取。己(:¾體）33、r〇M (read 〇niy mem〇ry，唯讀記憶 體）34及進行資訊處理之cpu (central奸⑽“。叩 :11^’中央處理單元）35。R0M34中儲存有圖14之行駛 私序等各種程式及資料。行駛程序使電腦即⑶们5執行如 地里即，使搬送車3根據自搬送車管理裝置1 1接收 駛路徑資料而行駛。又，麵3暫時儲存執行行驶 序等程式時所使用之行駛路徑資料等各種資料。 可與上述搬送車3進行資料通訊之搬送車管理妒置 j:以實施如下搬送車管理方法之方式構成，即，搜；在 运路1上行駛之複數個搬送車3中的特定搬送車3自出 到ΐ目標:!置之所有路徑，且根據各搬送車3之當 i路^^出該等各路徑之壅塞狀況’同時求出各路徑之 時門至^又’根據奎塞狀況及總路徑長度，決定可於最短 妗間到達目標位置之行 心』孓取短 定搬送車3。 仃駛路徑’並將該行駛路徑指示給特 作為一具體例，搬送車管理 及鍵盤等之資訊處理茫 1 -備.具有監視器 憶袭置。大容以及硬碟裝置等大容量記 部J4,其儲存搬送路二部塞= 儲存部15，其儲存對於各搬送車;兄戶3二仃駛路 k貝料；路徑長度資料 〇又疋之行駛 部分之路徑長度資料；搬送車；二其：存搬送路1各 搬运車3之當前位置資料資料：；卩’其儲存各 π局貝科儲存部18，其儲存 312xp__www〇6/961⑽66 1〇 ^ 200817864 般迖路1之各個部分及所有部分次、， 存部19，其儲存搜索搬送車3 貝料；路徑搜索結果儲 之所有路徑之結果。 再者以發位置到達目標位置 之詳情。 敛述该等儲存部14〜19 另一方面，如圖2所示， 位置檢測部21、路徑搜索部2〇°、^理^裳置13具有搬送車 度計算部24、路徑決定部25 :壅塞判定部23、路徑長 收發部26。搬送車位置檢測部;;t徑指示部27、以及 1上行駛之複數個搬送車3的者亍〃、刀別檢測於搬送路 存於搬送車資料儲存部17曰二二置，並將檢測結果儲 搜索複數個搬送車3中之特定搬送H徑搜索部20具有 ^所有路徑，並將搜索結果儲存於路::2:: =置二能。壅塞判定部23具有根據各搬= L路徑搜索部2G所㈣収 狀況之功能。路徑長度計算部24具有求出路徑搜 路徑的總路徑長度之功能。路徑決定；25 八有根據壅基狀況及總路徑長度，衫可於最短時 目標位置之行馱路徑的功能。行駛路徑指示部π 行駛路徑經由收發部26而指示給特定搬送車3之功= 又，路徑決定部25具有由産塞狀況程度最輕之月抑 決定出總路徑長度最短之路徑作為行駛路徑之功能: 藉此，路徑決定部25可降低搬送車3陷入壅塞之可能 此處，所謂「壅塞狀況」包括有壅塞狀況水準及壅^b發生 次數。所謂「壅塞狀況水準」與搬送車3之密度有二:上 312ΧΡ/發明說明書(補件)/96-06/96109866 11 200817864 =搬，車3之密度是將搬送路丨分割成複數個區間後，根 才二區間之路徑長度、與位於各區間内之搬送車3數量的 =係而求得。當此搬送車密度超過臨界值時，判定為壅 匕臣的界值根據依工作實績所得之經驗而設定，又，亦 可因不同之經歷而採用不同之值。又，所謂「蜜塞發生次 數」係指搬送車3之密度達到特定值以上之區間的數量。 =者於本貫施例中，藉由工作站2、合流部4及分支部 。而刀。]搬送路1，但並不侷限於此，亦可以固定距離之 區間而分割搬送路1。 ，而’路徑決定部25根據臨界值來判定以S塞狀況水 不之壅基狀況程度，當搬送車3之密度為臨界值以上 ，程度時，在既定期間内，使臨界值降低。藉此，當壅塞 =^臨界值以上之程度時隸狀況之程度（壅塞狀況水 划又嚴重’故路徑決定部25於直至經過既定時間為止之 =内使臨界值降低’以易於將上述壅塞狀況之程度判定 二=之壅塞狀況程度’藉此可於嚴重之壅塞狀況完全解 T則，禁止將上述嚴重壅塞之路徑選作行駛路徑。藉 ^可防止頻繁地陷入嚴重之壅塞狀況。 搬況水準存在如下兩種態樣:停頓狀態，其係 因彼此干涉而停止之狀態（圖10中ST6〜ST8區 間）；以及有可能導致停頓之壅塞狀態（圖9中βρ2〇〜δΊ：6 九。、再者/停頓狀態係根據某閉合執道内、合流於該 車刀佈狀悲而判斷，於分佈狀態符合預先定義之該執道上 312XP/發明說明書(補件)/96〇6/96i〇9866 12 200817864 =成二有具的有特上圖案時’判斷為停頓。而且，路徑決定部 述方式變更該塞狀態之臨界值’且-面以上 專。^品界值，一面判定壅塞狀況水準。 序、圖H本Λ施例中’藉由軟體⑽11之路徑設定程 來構成呈有上定程序、以及圖13之路徑決定程序） 式使電腦執行：;t:之區塊b。具體而言’搬送車管理程 ί動送車位置檢測步驟，其分別檢測在搬送路1上 其搜索複數個搬送車3中之特定搬逆車s 索步“ 寻疋搬达車3自出發位置到達 2 = ?路徑；慶塞判定程序，其根據各搬送車3 田刖位置’判定路徑搜索步驟所搜索到之 2路路：，算步驟，其求出路徑搜索步驟所搜㈣ 總路徑長度；路徑決定程序，其根據產塞狀況 /…住長度，決定可於最短時間到達目標位置之行駛路 徑，以及行駛路徑指示步驟，其向特定搬送車指示行駛路 :或:!部:可藉由硬體構成具有上述各功能之區塊的全 八尺對搬运車貧料儲存部17、路徑搜索結果儲存部 19、布局資料儲存部18、路徑長度資料儲存部η、璧塞 狀況資料儲存部14及行駛路徑資料儲存部15之資料表二 以說明。 如圖3所示’搬送車資料儲存部17具有搬送車資料表。 該資料表包括搬送+ ID(identificati⑽，識別）欄及當 312XP/發明說明書(補件)/96-06/96109860 n 200817864 前位置欄。搬送車iD棚係記憶作為搬 ID編號的區域，I, 平^之識別碼之 、體而έ，記憶有“H〇〇1” 、 …扁號。又，當前位置攔記憶有表：:、 3當前位置之資料。藉此，搬送車資料表使= 3位於搬送路1上之哪個位置成為可能。达車 ★圖4所示’路锂搜索資料表包括搜索& a 定於搜索結果攔内之路 狀_ 5^及& 攔可根據自當前位置至目心大况搁。搜索結果 ^ 目知位置之路線的個數而增減。路 仫編唬攔表不搜索結果 準欄表示夂巴持夕广a 間之組合’壅塞狀況水 此，例如，於圖4中 f沾果Γ盥1 A 目軚位置之路線有2種，即“搜 果1與^結果2”，且於“搜索結果丨”之區 門二：’存在有記錄為”之奎塞狀況水準。 及：=:二資料表包括路徑點攔、聯路對象1欄 %、、、口對象2攔。路徑點攔記愔 包括工作站2、人"4 : ”位置點’該位置點表示 端部，聯絡對象i攔及聯絡對 ’：:旧及土 進之下-位置點。如此，此丄::？有可自位置點前 標位置成為可能。 ^表使自當前位置搜索至目 如圖6所示，路徑長度資料 路徑内容襴及路徑長度攔。路 表示之區間的具體内容，例^内/搁表不由路徑編號所 可瞭解到該路徑編號所表亍二路從編號為“A1”，則 Pe 屈现所表不之區間為ST1〜BP12之區 ’路徑長度攔記憶有表示各區間長度之區間長度資 12XP/發明 明書(補件)/96-06/96109866 200817864 料，若路徑編號為“ ΑΓ ,則可瞭解到路徑長度為L1。 如圖7所示，壅塞狀況資料儲存部丨4包括路徑編號攔、 搬送車數量欄、搬送車密度欄、麥塞狀況水準攔及通過經 歷欄。搬送車數量欄記憶有處於路徑編號所示區間内之搬 送車3的數量。搬送車密度攔記憶有搬送車密度資料，該 搬送車密度資料表示根據各區間内之搬送車3數量及區 間長度，而求得之每單位區間長度内之搬送車3數量。藉 =，右搬送車密度資料之值較大，則可瞭解到該區間處於 容易發生停頓之狀態。 又，壅塞狀況水準攔儲存有在當前時間點下各區間之水 準資料。即，於壅塞狀況水準攔中，將無停頓及益壅塞之 正常水準記憶4 “〇，，，將奎塞狀態之水準記憶為“ J， 將停頓狀態之水準記憶為“2”。通過經歷攔記憶有經歷 貧料’該經歷資料係各區間上之過去奎塞狀況水準。即， =通過經歷攔中:將無停頓及無壅塞之正常水準記憶為 a ’將壅基狀態之水準記悄；Λ “ h，，，腺彳古d 準記憶為“C”。 #己“ b ’料頓狀態之水 如圖8所示’行駛路徑資料儲存部】 有搬送車ID之搬详鱼τη糾η 匕枯有所 、、/ 搬V車ίΙ}攔、及對應於各搬送車 达路徑攔，且儲存有各搬送車3 例如，搬送J /之仃駛路徑。 ςπη 之搬送車3以自當前位詈 ST 1 ’通過由a 1等各路押瑞缺 ,w CT[:予σ路虹編號所連結之打駛路徑而到達目 私位置ST5的方式行駛。 』運Η 繼而’ S搬送車管理系統之動作加以說明。 3 UXP/發明說明書(補件)/96__61〇9866 15 200817864 :圖1所示，搬送車管理裝置u與搬送 線方式在任意時間進行資 糟由…、 管理裝置11執行路徑設定程序，並^πθ所示^搬送車 接收到路徑要求訊號（S1) 疋否自搬送車3 ⑻：N0⑷），則結束本程序 “要求戒號 五水.^ . μ ^主禾圖不之主程式。 :者，主程式與路裡設定程序以外之其他: 她丁。例如，於搬送車3在搬送…上行駛 二丁 二且將該標號器之位置資訊發送至搬 二 同時也執行將上述位置資訊作為搬送車3Λ前立 置而儲存於圖3之搬送車 田月J位 鸽畑壯明， 貝？十衣r之程序。藉此，搬送車 吕理衣置11可即時更新各搬送車3之當前位置。 另一方面’當接㈣路徑要求訊料⑻： 取得該訊號中所含有之搬送車ID⑽。而且，如圖U 圖3所tf ’根據搬送車資料儲存部17之搬送車資料表， ^得對應於搬送車ID之當前位置⑽。此後’藉由利用 控制益之手動操作或湘訊之自動操作，取得 搬送車3之目的地的目標位置（S4)。 釦而，執行路徑搜索處理。即，根據布局資料儲存部 18之，局資料表（圖5)，搜索自當前位置至目標位置之所 有路彳二。然後，將搜索結果記憶於路徑搜索結果儲存部 =之路徑搜索資料表（圖4)中。例如，在圖4中儲存自; 月ί位置ST1至目標位置ST5之2種搜索結果，即搜索結果 1及搜索結果2之路徑編號（S5)。 此後，利用路徑長度資料表、搬送車資料表及路徑決定 312XP/發明說明書(補件)/96·〇6/961〇9866 16 200817864 表，執行壅塞判定處理（S6)。即，如圖12所示，取得搬 送車3之當前位置（A1)，且取得包含當前位置之路徑編號 (A2)。此後，將對應於路徑編號之搬送車數量累加“ 1，，， f將該搬送車數量儲存於壅塞狀況資料表（圖7)中（人3)。 、、’薩而，判定疋否完成所有搬送車3中位於當前位置之搬送 車數量的累加（A4)，若未完成（A4:n〇)，則再次自A1開 始執仃上述步驟。另一方面，累加完成時（A4 : YES)，根 據奎塞^資料表取得於各區間之通過經歷（A5)，且判定 於：當刖至過去之特定期間内，是否壅塞(A6)。若為表示 1基，狀悲之水準b (A6 : YES)，則將壅塞臨界值設定為 S2 ，並且將停頓臨界值設定為“D1，，。即，以如下方 來設定各臨界值：採用嚴格之判定基準來判定壅塞狀 :丄而私用正常之判定基準來判定停頓狀態。而且，藉由 設定此1臨界值’在恢復至不易產生壅塞狀態之狀態，前， 將垓壅基路徑被選作行駛路徑之優先次序設定為較低 (A8)’而後實施Ail。 义另一方面，若未發生壅塞（A6 : NO)，則繼而判定於自當 =直至過去之既定期間内是否為停頓狀態。若為表示 ㈣狀m水準“c”（A7:YES)，則將壅塞臨界值設定成 S2 ，並且將停頓臨界值設定成“D2” 。即，設定各臨 ，值*才木用嚴格之判定基準來判$麥塞狀態及停頓狀態 ^兩们狀悲’藉此，在恢復至不易產生壅塞及停頓之狀態 前，將該壅塞路徑被選作行驶路徑之優先次序設定為較 低，或者設定為不將該壅塞路徑選作行駛路徑（ai〇)，而 312XP/發明說明書(補件)/96·〇6/961〇9866 200817864 後實施A11。 另-方面，於不為停頓狀態 亦非壅塞之正常狀態之水右為表不既非分頓 界值設定為“sr，，並且將二§ A7:N0)，則將奎塞臨 卽，Μ —々卫且將分頓臨界值設定為“D1” 。 Ρ ΰ又疋各臨界值，以採用正常之刹—I、隹十 態及停頓狀態等兩個狀能，夢：=基準來判定囊塞狀 , Λ ^ 狀心糟此將壅塞路徑被選作行駛路 任之k先次序設定為較高之後⑽，實施⑷。 繼=，計算出搬送車密度。具體而言，根據A1〜A4 _ 取付之圖7之1塞狀況資料表中的搬送車數量，及圖6 之路控長度資料表中的路徑長度，計算出搬送車密度 (All)。此後，將搬送車密度與停頓臨界值加以比較，且 判定搬送車密度是否為停頓臨界值以上（A12)。若搬送車 密度為停頓臨界值以上（A12: YES)’則選擇表示停頓狀態 之“2”（A14)，並將“2”記憶於圖7之^塞狀況資料^ 中的壅塞狀況水準攔中（A17)。 ( 另方面’若搬送車密度未達到停頓臨界值（A12 : N0)， 則繼而判定搬送車密度是否為壅塞臨界值以上（A13)。若 搬送車密度為壅塞臨界值以上（A13 : YES)，則選擇作為t 基狀悲之 1 (A16)，並將“ 1，，記錄於圖7之壅塞狀況 資料表中的壅塞狀況水準攔中（A17)。另一方面，若搬送 車密度未達到壅塞臨界值（A13 : N0)，則選擇作為正常狀 態的“0”（A15)，並將“0”記錄於圖7之壅塞狀況資料 表中的壅塞狀況水準攔中（A17)，上述正常狀態係指既非 停頓狀態亦非壅塞狀態者。 312XP/發明說明書(補件)/96-06/96109866 18 200817864 此後，判定是否已完成 _ 未完成（Α18··Ν0)，則自A5再·A =徑之水準設定（A18)，若 若已完成（A18 ·· YES)，如焉軛上述步驟。另一方面， 路徑設定程序。 。"王序結束後，返回至圖11之 以上述方式執行壅塞莉定 理⑽。即，如圖13所==後’繼而執行路徑決定處 之路徑搜索資料表般，斟庫仃路徑決定程序’如圖4 而設定圖7之嶋況資二索：果之路徑編號， 後’將包含停頓狀態 即不將該停頓狀態之路押選二緊广5又疋為「無效」 「騎u夕丁敬路徑（β2)，此後判定除 热效」以外疋否存在有效之搜索結果⑽。當 效搜索結果時(Β1:Ν0)’為破保解除「無效」前之等待： 間，將待機指令對應於搬送車ID而儲存於行駛路徑資料 :(M) ’此後完成本程序’並返回至圖u之路徑設定程 另一方面，當存在有效之搜索結果時（B3 ·· YEs)，計算 各搜索結果中壅塞狀況水準之合計值（B5)，且計算出各搜 索結果中之總路徑長度（行駛時間）（B6)。此後，為選^陷 入壅塞之可能性最低的路徑，而提取麥塞狀況水準值最低 之搜索結果（Β7)。而且，於該最低值之搜索結果中，提取 總路徑長度值（行駛時間）最低之搜索結果，藉此選擇可於 最短時間到達目標位置之路徑（Β8)。此後，將搜索結果對 應於搬送車ID而作為行駛路徑資料儲存於圖8之行敬路 徑資料表中（Β8)，此後自本程序返回至圖11之路徑設定 312ΧΡ/發明說明書(補件)/96-06/96109866 19 200817864 長序。結束以上 一 (行駛路徑資料路徑決定處理後（S7)，將行駛路徑訊號 自本程序返回至搬送車ID等）發送至搬送車3(S8)，並 ^ ^ t 禾圖示之主程式。 萄各搬送車3需 、 行圖14之行駛程9以到達目標位置之行駛路徑時，執 送包含本搬送車% ^。即，首先，向搬送車管理裝置11發 收到搬送車管理壯署之路徑要求訊號（C1)，且判定是否接 未接收到行駛之行驶路徑訊號⑽。若 待機至接收到行^ . NQ) ’則再次執行C2 ’如此 (c2 : YES)，刹^ —徑矾號。於接收到行駛路徑訊號時 ⑽3)，若未包：(:3=訊號中是否包含本搬送車 至接收到指定給本搬送車3之則再次實施G2,如此待機 另-方面’當行駛路徑訊於二::：號。 YES)，繼而自°孔唬中包含本搬送車ID時（C3: 判定該行驶路= = 行驶路徑資料之内容二⑽）。當該 定時間後⑽實施α，再夺(二.YES)，於待機既 徑要j訊號，以獲得最新行駛路理裝置11發送路 送車管跑卿，且搬 ⑽。若該搬送車3未到她·=否已到達目標位置 藉此使搬送車根據行驶路徑資料、_行駛位 置時（C8: YES)，完成該程序。 田到達目私位 312XP/發明說明書(補件)/96·06/96109866 20 200817864 如圖1及圖2所示’本發明之搬送車管理裝置“之 成包括：搬送車位置檢測部2卜其分別檢測在搬送路i 上仃駛之複數個搬送車3的當前位置；路徑搜♦部2〇, 其搜索複數個搬送車3中之特定搬送車3自出發位置到達 ^ =置之所有路徑；壅塞判定部23，其根據各搬送車3 =河位置，判定路徑搜索部2〇所搜索到之 会…“ 其求出路徑搜索部20所搜 !到之各路徑的總路徑長度；路徑決定部25，其_ 基狀況及總路徑長度，決定可於最短 行駛路徑；以及行駛路徑指示部^ =位置之 給特定搬料3。 Μ伙路徑指定 根據上述構成，預先根據壅塞狀況及總路徑長 可於最短時間到達之行駛路徑，且使搬送車3在該行敬 :上:？，藉此可降低搬送車3陷入謹塞之可能性’。， 壅^^僅根據總路徑長度來衫行駛路徑，且於陷入 产二^②車停止行駛並待機至壅塞解除為止之習知 :形，可提高使搬送車3於短時間内到達目標位置：二 下構成：判定壅塞狀況之程度， ，決定出總路徑長度最短之路徑 路徑決定部25設為如 並自该程度最輕之路徑中 作為行驶路徑。 根據上述構成’可進一步降低搬送車3陷入奎塞之可能 ，且可進一步提高使搬送車3於短時匕 之可能性。 、早d純日m内到達目標位置 31挪/發明說明書(補件)抓嶋61〇9866 21 200817864 处路徑衫部25設為如下構成：㈣臨界值來判定壅夷 二=，當議狀況之程度為該臨界值以上時，: 既疋期間内，使該臨界值降低。 夷= f ’當產塞狀況為臨界值以上之程度時，產 較嚴重，故經過既定時間為止之期間内，使 ，料低以易於判定為嚴重之S塞狀況，藉此可在嚴重 之壅基狀況完全解除前，荦止 重 駛踗菸。魏A 將该嚴重壅基之路徑選作行 工3 ，可防止頻繁地陷入嚴重之壅塞狀況。 又’本發明之搬送車管理丰 其至少具有合…之構成具有：搬送路1， 數個搬送車3，1㈣二二5 一者之一的一個以上;複 /、根據仃駛路徑而於搬送路丨上 及上述搬送車管理裝置1 1。 ”、， 根據上述構成，預先根_絲況 可於最短時間到迳之耔酤攸广 仅长度决疋 上以—4之ϋ1使搬送車於該行駛路徑 上订敬，猎此可降低搬送車3 可提高使搬送車3於短時間内===生。藉此， 本發明之搬送車管理方二 置之可能性。 一仏 万法叹為如下構成··於搬送路丨匕 ==Γ中’探索特定搬送車3自出發位置 而送車3之當前位置 县声括計 狀況’同時求出各路徑之總路徑 達塞狀況及總隸長度’決定可於最短時間到 ^雕订驶路徑’且將該路徑指示給特定搬送車3。 牛IT而言，本發明之搬送車管理方法之構成包括如下 》驟：搬送車位置檢測步驟’其分別檢測在搬送路工上行 M2XP/發明說明書(補件)/96-06/96109860 22 200817864 驶之複數個搬送車3的當前位置(圖 搜索步驟，其搜索複數個搬送車3中之^ S3、S4);路徑 發位置到達目標位置之所有路徑(圖搬送車上自出 程序，其根據各搬送車3之當前位置 ，應基判定 所搜索到之各路徑的壅塞狀況（圖U之^路徑搜索步驟 判定程序）路徑長度計算㈣， 、圖丨2之壅塞 t :路從的總路徑長度(圖13之B8);路徑決定程 序，/、根據壅塞狀況及總路徑長度 、 達“位置之賴路徑（圖13之B6〜B9);以驶 指不步驟’其將行驶路徑指示給特定搬送車％圖I!: S8) 〇 根^上述構成，預先根據壅塞狀況及總路徑長度，決定 可於最短時間到達目標位置之行駛路徑，且使搬送車3在 該行駛路徑上行駛，藉此可降低搬送車3陷入壅塞之可能 性。由此，可提高使搬送車3於短時間内到達目標位置之 可能性。 以上說明本發明之實施例，但僅例示具體例，而非特別 限定本發明’具體構成等可作適當之設計變更。再者，發 明之實施例所揭示之作用及效果，僅例示由本發明所產生 之最佳作用及效果，本發明並不侷限於實施例所揭示者。 【圖式簡單說明】 圖1係本發明之一實施例之搬送車管理系統的概略構 成圖。 圖2係表示圖1之搬送車管理裝置之方塊圖。 312ΧΡ/發明說明書(補件)/96-06/96109866 23 200817864 •係圖1之搬送車資料表之說明圖。 係圖1之路徑搜索資料表之說明圖 係圖1之布局資料表之說明圖。 係圖1之路徑長度資料表之說明圖 圖 圖 圖 圖 圖7係圖1之壅塞狀況資料表之說明圖。 圖8係圖1之行駛路徑資料表之說明圖。 示【圖9及圖1〇係表示上述搬送車管理系統中之搬送路之 圖11係表示由上述搬送車管理裝置 程序之流程圖。 吩仏叹疋 圖12係表示由上述搬送車 程序之流程圖。 ^理衣置所執订之壅塞判定 :係表示由上述搬送車管理裝置所執行之路徑決定 矛王序之流程圖。 ^4係表示由上述搬送車f理裝置所執行之行驶程序 之流程圖。 【主要元件符號說明】 1 搬送路 2 工作站 3 搬送車 4 合流部 5 分支部 11 搬送車管理裝置 12 大容量記憶裝置 312XP/發明說明書(補件)/96-06/96109866 24 200817864 13 資訊處理裝置 . 14 壅塞狀況資料儲存部 15 行駛路徑資料儲存部 16 路徑長度資料儲存部 17 搬送車資料儲存部 18 布局資料儲存部 19 路徑搜索結果儲存部 20 路徑搜索部 ' 21 搬送車位置檢測部 23 壅塞判定部 24 路徑長度計算部 25 路徑決定部 26 收發部 27 行駛路徑指示部 31 控制基板 (# 32 控制部 33 RAM(隨機存取記憶體） 34 ROM(唯讀記憶體） 35 CPU(中央處理單元） 36 輸入輸出部 37 行駛驅動部 38 行駛驅動機構 39 行驶位置檢測感測器 40 前方檢測感測器 312XP/發明說明書(補件)/96-06/96109866 25 200817864 41 通訊部 26 312XP/發明說明書(補件)/96-06/96109866a transport path, J: at least a woman - Α eight W, one of the merging portions or one of the branch portions is driven by a plurality of transport vehicles; and the above-mentioned configuration is carried out on the transport path according to the travel route Transport vehicle management. The present invention also provides a transport vehicle management method including: a transport vehicle position detecting step of detecting a current position of a plurality of transport vehicles traveling on a transport path; and a road searching step of searching for a specific one of the plurality of transport vehicles All the paths from the departure position to the target position of the transport vehicle; the bud determination step 'determining the congestion status of each path searched by the route search step based on the current position of each of the transport vehicles; Calculate the total path length of each path searched by the above path search step to 312XP/invention specification (supplement)/96-06/96109866 7 200817864; the step of deciding, according to the above congestion condition and the above-mentioned 紬The travel route 2 that reaches the target position in the shortest time is the same as the above-mentioned specific embodiment. In the transport vehicle management system according to one embodiment of the present invention, the transport path of the transport track of the transport vehicle 3 and the transport vehicle management device u are managed by the transport vehicle management system (i). In the case of the situation, the travel route to the target position is instructed to the transport vehicle. The plurality of transport vehicles 3 are provided so as to be able to connect the semiconductor manufacturing apparatus and the like to the transport path 1 . The transport path and the branching section 5 allow the transport vehicle 3 to select two directions: =:/, the merging portion 4 and the branching portion 5 are combined together, ^ the current position reaches the workstation 2, etc., and a plurality of self-delivery roads can be selected. The transport path i may be one of the two transport units 4 or the branch unit 5, that is, the transport path i may have at least three or more merged branches 5 . . Moreover, as shown in FIG. 1, the conveyance unit 4 has the position detection sensing H 39, the front detection sensing substrate driving port 40, and the traveling drive 312 along with the invention manual (supplement)/ 96-06/96109866 200817864 Agency 38. The traveling position detecting sensor 39 detects the marker provided on the transport path 1 of Fig. 9 and not shown, and outputs a signal indicating the current position. Further, the sensor detecting sensor 40 detects an obstacle such as another moving vehicle 3 existing in the front side of the transport vehicle 3, and outputs a signal indicating the obstacle. The travel drive mechanism 38 includes a motor, a traveling roller, and the like, and allows the transport vehicle 3 to travel, the drive drive mechanism 38, the travel position detecting sensor 39, and the front detecting sensor 40 to be connected to the control board 31. The control board 31 has various functions such as a function of driving control of the travel drive mechanism 38 = a function of detecting the current position of the load = 3 based on the signal from the travel position detecting sensor 39; In order to prevent the transport vehicle 3 from colliding with an obstacle such as the front transport vehicle 3 and controlling the transport vehicle 3, the transport vehicle 3 is driven along the travel route obtained by the data communication between the transport vehicle and the like. The "5" control board 31 has control for controlling various operations, a communication unit 41 connected to the control unit 32, and an input unit for output, and a travel drive unit 37 connected to the input unit 36. The input unit detects the sensor 39 or the front detection sensor: The seed, the air, and the air are transmitted to the control unit 32, and the second drive number is transmitted to the travel drive unit 37. The travel drive unit supplies the travel electric power to the travel drive mechanism 38: the pass/41 can be wirelessly communicated with the transport vehicle management device U = WXP/invention manual (supplement)/96-〇6/96109866 9 200817864 It has: ram (random access memory, random access. (: 3⁄4 body) 33, r〇M (read 〇niy mem〇ry, read-only memory) 34 and cpu (central rape (10)" for information processing. : 11^' central processing unit 35. R0M34 stores various programs and materials such as the private order of the travel of Fig. 14. The driving program causes the computer (3) 5 to execute the vehicle, and the transport vehicle 3 is based on the self-transporting management device. 1 1 The vehicle travels by receiving the driving route data. Further, the surface 3 temporarily stores various materials such as the traveling route data used when executing the program such as the driving sequence. The transportation vehicle management device that can communicate with the transportation vehicle 3 is configured to implement The configuration of the transport vehicle management method is as follows: that is, the specific transport vehicle 3 of the plurality of transport vehicles 3 that travels on the transport path 1 is ejected to all the routes of the target vehicle, and according to each transport vehicle 3 When i road ^^ out of these paths The situation 'at the same time, the time gate of each path is determined to ^ and 'depending on the situation of Quebec and the total path length, the decision can be made to reach the target position in the shortest time." Take the short-distance transport vehicle 3. The travel route is specifically described as a specific example, and the information processing of the transport vehicle management and the keyboard is provided. The monitor has a large memory unit such as a large capacity and a hard disk device, and the storage path 2 is stored. Plugs = storage unit 15, which stores the data for each transport vehicle; the brothers 3 2 drive road k-batch; the path length data and the path length of the travel part; the transport vehicle; 2: the transport and transport road 1 The current location data of the truck 3: 卩 'The storage of each π Bureau of the Beko storage 18, which stores 312xp__www〇6/961(10)66 1〇^ 200817864 All parts and all parts of the 迖路1, 存19 , which stores the results of all the paths of the search and transport vehicle; the result of all the paths stored in the path search result. Further, the details of the arrival position to the target position are gathered. The storage portions 14 to 19 are gathered up, on the other hand, as shown in FIG. 2, Position detecting unit 21, path The cable portion 2 includes a transport vehicle degree calculating unit 24, a path determining unit 25, a congestion determining unit 23, a path length transmitting and receiving unit 26, a transport vehicle position detecting unit, a t-track indicating unit 27, and In the case of the plurality of transport vehicles 3 that are traveling on the vehicle, the knife is detected in the transport path and stored in the transport vehicle data storage unit 17 and the detection result is stored and searched for the specific transport H path in the plurality of transport vehicles 3. The search unit 20 has ^ all paths and stores the search results on the way: ::2:: = set. The congestion determining unit 23 has a function of receiving (4) the status according to each of the loading/L path searching units 2G. The path length calculation unit 24 has a function of obtaining the total path length of the path search path. The path is determined; 25 VIII has the function of the path of the shortest time target position according to the stencil condition and the total path length. The travel route indication unit π the travel route is instructed to the specific transport vehicle 3 via the transmission/reception unit 26. Further, the route determination unit 25 has a route having the shortest total path length determined by the month when the degree of the plugging state is the lightest as the travel route. Function: Thereby, the route determination unit 25 can reduce the possibility that the transport vehicle 3 is trapped. The "clogged condition" includes the occlusion condition level and the number of occurrences of the sputum. The density of the so-called "congestion level" and the transport vehicle 3 are two: 312 ΧΡ / invention manual (supplement) / 96-06/96109866 11 200817864 = moving, the density of the car 3 is to divide the transport path into a plurality of intervals The length of the path of the root section and the number of the transport vehicles 3 located in each section are obtained. When the density of the transport vehicle exceeds the critical value, it is determined that the threshold value of the 匕 匕 根据 is set according to the experience gained from the actual performance of the work, and different values may be used for different experiences. In addition, the "number of occurrences of honey plugs" refers to the number of sections in which the density of the transport vehicle 3 reaches a certain value or more. = In the present embodiment, the workstation 2, the junction 4 and the branch are used. And the knife. The transport path 1 is not limited thereto, and the transport path 1 may be divided by a fixed distance interval. When the density of the transport vehicle 3 is equal to or greater than the critical value, the path determination unit 25 determines the threshold value to be lowered within a predetermined period of time based on the threshold value. In this way, when the sluice is equal to or greater than the critical value, the degree of the stagnation condition (the stagnation condition water stroke is severely severed, so the path determination unit 25 lowers the threshold value within the lapse of a predetermined time) to facilitate the above-described stagnation condition. The degree of judging the degree of congestion of the second = 'this can be used to completely solve the problem of severe congestion, and it is forbidden to select the path of the above-mentioned severe congestion as the driving path. By using ^ to prevent frequent stagnation. There are two kinds of states: a pause state, which is a state in which it stops due to mutual interference (ST6 to ST8 section in Fig. 10); and a congestion state which may cause a pause (βρ2〇~δΊ in Fig. 9: 6 IX. The second/pause state is judged according to the sorrow of the inside of the closed road and the confluence of the turning tool. The distribution state conforms to the pre-defined 312XP/invention specification (supplement)/96〇6/96i〇9866 12 200817864=When there is a special pattern in the second part, it is judged as a pause. Moreover, the path determination method changes the critical value of the plug state and the surface value is specified. Level. In the example of Figure H, in the example of the software, the path setting procedure of the software (10) 11 is used to form a predetermined program, and the path determining procedure of FIG. 13 is performed by the computer: t: the block b. In the case of the "transportation vehicle management", the vehicle-receiving position detecting step detects that the specific reversing vehicle s of the plurality of transport vehicles 3 is searched on the transport path 1 "seeking the transport vehicle 3 to arrive from the departure position" 2 = ? path; Qingsai determination program, based on each transport vehicle 3 field location 'determination path search step searched for 2 ways:, calculation step, find the path search step search (4) total path length; path Determining a program for determining a travel route that can reach the target position in the shortest time according to the condition of the plug/stay, and a travel route indicating step for indicating the travel path to the specific transport vehicle: or: Part: by hardware The full eight-foot-to-vehicle lean storage unit 17, the route search result storage unit 19, the layout data storage unit 18, the path length data storage unit η, the congestion status data storage unit 14, and the traveling constituting the blocks having the above-described respective functions path The material storage unit 15 is described in the data sheet 2. As shown in Fig. 3, the "transportation vehicle data storage unit 17 has a transport vehicle data table. The data sheet includes a transport + ID (identificati (10), identification) column and when the 312XP / invention manual (filled) ())/96-06/96109860 n 200817864 Front position bar. The transport car iD shed system memory as the area of the ID number, I, the flat identification code of the body, and the memory has "H〇〇1", ... In addition, the current position block memory has a table::, 3 data of the current position. By this, it is possible to transfer the car data sheet to make it possible to determine which position on the transport path 1 = 3. The lithium search data sheet includes search & a. The roads to be searched in the search results are _ 5^ and & barriers can be placed from the current location to the eye-catching situation. Search results ^ Increase or decrease by the number of routes of the location. There is no such thing as a combination of the results of the 仫 持 广 广 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "Search results 1 and ^ results 2", and in the "search results 丨" area door 2: 'there is a record as the status of the Quebec status. And:=: two data sheets including path point block, link object 1 Column %,, and port object 2 block. Path point block 愔 includes workstation 2, person "4: ”Location point' The location point indicates the end, contact object i intercepts the contact pair ':: old and earthen Down-position point. So, this 丄::? It is possible to position the leading position from the position. The ^ table makes the search from the current location to the destination as shown in Figure 6, the path length data path content and path length block. The specific content of the interval indicated by the road, the example ^ inside / the table is not known by the path number, the path number is expressed as the number of the road is numbered "A1", then the interval where Pe is discounted is ST1~BP12 The area 'path length block memory has a length indicating the length of each interval, 12XP/inventive (supplement)/96-06/96109866 200817864. If the path number is “ ΑΓ , then the path length is L1. As shown in Fig. 7, the congestion status data storage unit 4 includes a route number barrier, a transport vehicle number column, a transport vehicle density column, a Maisai status level barrier, and a pass history column. The number of transported vehicles is stored in the interval indicated by the route number. The number of transport vehicles 3. The transport vehicle density data is stored in the transport vehicle density data, and the transport vehicle density data indicates the transport vehicle 3 per length of the unit according to the number of transport vehicles 3 and the length of the section in each section. Quantity. Borrow =, the value of the right transport vehicle density data is larger, you can understand that the interval is in a state of easy to pause. Also, the congestion status level stores the water in each interval at the current time point. Information, that is, in the level of congestion, the normal level of memory without pauses and benefits will be “4,”, and the level of the Quebec state will be remembered as “J, and the level of the pause state will be remembered as “2”. Experience the experience of obscuring the memory of the poor material 'The experience data is the level of the past Queceal status in each interval. That is, = through the experience of blocking: the normal level of no pause and no congestion is a 'will be the standard of the state of the base Quiet; Λ “h,,, adenine, d, quasi-memory is “C”. #己" b 'The water in the state of the material is as shown in Figure 8. 'The travel path data storage unit】 Each of the transport vehicles has a path barrier, and each of the transport vehicles 3 stores, for example, a transport path of J/. The transport vehicle 3 of ςπη passes through the road from the current position ST 1 ', and is blocked by a 1 or the like, w CT [: Drive to the driving route connected to the σ路虹号 and reach the private position ST5. 』运Η Then the operation of the 'S transport vehicle management system is explained. 3 UXP/Invention Manual (supplement)/96__61〇 9866 15 200817864: As shown in Fig. 1, the transport vehicle management device u and the transport line method perform the route setting procedure at any time by the management device 11, and the route request signal is received by the transport vehicle (S1).疋No Self-delivery car 3 (8): N0 (4)), then the end of the program "requires the ring number Wushui. ^ . μ ^ main map is not the main program. : Other than the main program and the road setting program: She Ding. For example, when the transport vehicle 3 travels on the transport... and transmits the position information of the label to the transport 2, the location information is also stored as the transport vehicle 3, and is stored in the transport vehicle. The pigeons are magnificent, Bei? Ten clothes r program. Thereby, the transport car Lvli clothes set 11 can instantly update the current position of each transport car 3. On the other hand, when the (four) path requires the message (8): the transport vehicle ID (10) contained in the signal is obtained. Further, as shown in Fig. 3 and Fig. 3, tf' corresponds to the current position (10) of the transport vehicle ID based on the transport vehicle data table of the transport vehicle data storage unit 17. Thereafter, the target position of the destination of the transport vehicle 3 is obtained by the manual operation of the control benefit or the automatic operation of the Xiangxun (S4). Deduction, the path search process is performed. That is, according to the office data table (Fig. 5) of the layout data storage unit 18, all the paths from the current position to the target position are searched. Then, the search result is memorized in the route search result storage table of the route search result storage unit (Fig. 4). For example, in FIG. 4, two types of search results from the month 位置 position ST1 to the target position ST5, that is, the search result 1 and the path number of the search result 2 are stored (S5). Thereafter, the congestion determination process (S6) is executed using the path length data table, the transport vehicle data table, and the path decision 312XP/invention specification (supplement)/96·〇6/961〇9866 16 200817864 table. That is, as shown in Fig. 12, the current position (A1) of the transport vehicle 3 is acquired, and the route number (A2) including the current position is acquired. Thereafter, the number of transport vehicles corresponding to the route number is incremented by "1,,, f, and the number of transported vehicles is stored in the congestion status data table (Fig. 7) (person 3). If the number of transport vehicles at the current position in the transport vehicle 3 is increased (A4), if it is not completed (A4: n〇), the above steps are executed again from A1. On the other hand, when the accumulation is completed (A4: YES), According to the Quaker's data sheet, the passing experience (A5) is obtained in each section, and it is judged whether or not it is blocked (A6) in the specific period from the past to the past. If it is 1 base, the level of sadness b (A6: YES), set the congestion threshold to S2 and set the pause threshold to "D1,,. In other words, each threshold value is set such that the stagnation state is determined using a strict criterion, and the pause state is determined by using a normal judgment criterion. Further, by setting the 1 threshold value to return to a state in which the clogging state is unlikely to occur, before the sputum-based path is selected as the traveling route, the priority is set to be lower (A8)' and then Ail is performed. On the other hand, if congestion (A6: NO) does not occur, it is then determined whether it is from the current state until the past period of the past. If it is expressed as (4) m level "c" (A7: YES), the congestion threshold is set to S2, and the pause threshold is set to "D2". That is, the setting of each value, the value of the wood is judged by the strict judgment criterion, and the state of the pause and the state of the pause are both sorrowful, thereby the choking path is restored before it is restored to a state in which it is difficult to cause congestion and pause. The priority of the selected driving route is set to be lower, or is set to not select the choking path as the driving path (ai〇), and the 312XP/invention specification (supplement)/96·〇6/961〇9866 200817864 is implemented. A11. On the other hand, in the normal state of the water that is not in a state of pause or stagnation, if the water is not set to "sr," and the second § A7:N0, then the queer will be 卽, Μ - Defend and set the threshold value to "D1". Ρ ΰ ΰ 疋 疋 , , , , , , 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常 正常Plug-like, Λ ^ 心 糟 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此The transport vehicle density (All) is calculated by taking the number of transport vehicles in the plugging data table of Figure 7 and the path length in the road length data table of Figure 6. After that, the transport vehicle density and the pause threshold are added. In comparison, it is determined whether the transport vehicle density is equal to or higher than the pause threshold (A12). If the transport vehicle density is greater than the pause threshold (A12: YES), select "2" (A14) indicating the pause state, and "2" It is remembered in the congestion condition level in the data of the plug status of Figure 7 (A17). If the transport vehicle density does not reach the stop threshold (A12: N0), then it is determined whether the transport vehicle density is equal to or greater than the congestion threshold (A13). If the transport vehicle density is greater than the congestion threshold (A13: YES), select as t Baseline sadness 1 (A16), and "1, recorded in the congestion status level in the congestion status data sheet of Figure 7 (A17). On the other hand, if the transport vehicle density does not reach the congestion threshold (A13) : N0), select "0" (A15) as the normal state, and record "0" in the congestion status level (A17) in the congestion status data table of Figure 7, the above normal state means neither pause The status is also not the congestion status. 312XP/Invention Manual (supplement)/96-06/96109866 18 200817864 After that, if it is judged whether it has been completed _ unfinished (Α18··Ν0), then from A5 again·A=path level setting (A18), if it has been completed (A18 ·· YES), such as the yoke yoke above. On the other hand, the path setting program. " After the end of the king, return to Figure 11 to execute the 壅塞莉定理 in the above manner (10) That is, as shown in Figure 13 == after 'then execution path decision In the path search data table, the path of the 决定 仃 path determines the program as shown in Figure 4, and the path number of Figure 7: the path number of the fruit, the latter will contain the pause state, that is, the road to the pause state will not be selected. Tightly wide 5 and become "invalid" "Riding the U Xi Ding Jing path (β2), and then determine whether there is a valid search result other than the thermal effect" (10). When the search result (Β1:Ν0)' is broken Waiting before canceling "invalid": During the interval, the standby command is stored in the travel path data corresponding to the transport vehicle ID: (M) 'Complete the program after this' and return to the path setting procedure of Figure u. On the other hand, when there is valid At the time of the search result (B3 ·· YEs), the total value of the congestion level in each search result (B5) is calculated, and the total path length (traveling time) in each search result is calculated (B6). Thereafter, the search result with the lowest level of the Messer condition is extracted (Β7) in order to select the path with the lowest probability of stagnation. Further, in the search result of the lowest value, the search result having the lowest total path length value (traveling time) is extracted, thereby selecting the path that can reach the target position in the shortest time (Β8). Thereafter, the search result is stored as the travel route data in the travel route data table of FIG. 8 corresponding to the transport vehicle ID (Β8), and thereafter returns from the present routine to the route setting 312ΧΡ/invention specification (supplement) of FIG. 96-06/96109866 19 200817864 Long order. After the above (the traveling route data path determination processing (S7), the travel route signal is returned from the present program to the transport vehicle ID, etc.) is transmitted to the transport vehicle 3 (S8), and the main program shown in Fig. 2 is displayed. When each transport vehicle 3 needs to travel to the travel route of the target position in the travel route 9 of Fig. 14, the transport vehicle % ^ is delivered. That is, first, the route request signal (C1) of the transport vehicle management station is transmitted to the transport vehicle management device 11, and it is determined whether or not the travel route signal (10) for the travel is not received. If you wait until the line is received ^ . NQ) ’ then execute C2 ’ again (c2 : YES), and the brake is 矾. When receiving the travel route signal (10) 3), if it is not included: (: 3 = whether the transport vehicle is included in the signal until the delivery to the transport vehicle 3 is received, then G2 is implemented again, so the standby is another - aspect when the travel route于二:::号. YES), and then the transport truck ID is included in the ° hole (C3: Determine the travel route = = the content of the travel route data 2 (10)). After the predetermined time (10), α is executed, and then (2. YES), in the standby, the signal is required to obtain the latest driving path device 11 to send the road to the vehicle, and move (10). If the transport vehicle 3 has not arrived at her = no, the vehicle has reached the target position. This causes the transport vehicle to complete the procedure based on the travel route data and the _ travel position (C8: YES). Field arrival private position 312XP / invention manual (supplement) /96·06/96109866 20 200817864 As shown in Fig. 1 and Fig. 2, the "transportation vehicle management device of the present invention" includes: a transport vehicle position detecting unit 2 The current position of the plurality of transport vehicles 3 that are driven on the transport path i is detected; the route search unit 2〇 searches for the specific transport vehicles 3 of the plurality of transport vehicles 3 from the departure position to reach all the paths; The congestion determination unit 23 determines the route searched by the route search unit 2 based on each transport vehicle 3 = river position... "The total path length of each route to which the route search unit 20 searches is obtained; the route determination unit 25, the _ base condition and the total path length are determined to be available for the shortest travel route; and the travel route indicating portion ^ = position for the specific transport 3. According to the above configuration, the travel route that can be reached in the shortest time according to the congestion condition and the total route length, and the transport vehicle 3 in the line: Thereby, the possibility that the transport vehicle 3 is caught in the stagnation can be reduced. , 壅^^ only according to the total path length to drive the route, and in the conventional situation that the production of the second car stops driving and waits until the cock is released: the shape can be improved to make the transport car 3 reach the target position in a short time: In the second configuration, the route path determining unit 25 that determines the shortest total path length is set as the traveling path from the path that is the lightest. According to the above configuration, the possibility that the transport vehicle 3 is caught in Quebec can be further reduced, and the possibility that the transport vehicle 3 is short-lived can be further improved. In the early days, the target position is moved to the target position 31, and the invention manual (supplement) is captured. 61〇9866 21 200817864 The path shirt part 25 is set as follows: (4) The critical value is used to determine the swearing level = When the degree is above the critical value, the critical value is lowered during the 疋 period. Yi = f 'When the production condition is above the critical value, the production is more serious. Therefore, during the period of the predetermined time, the material is low to be easily judged to be a serious S-plug condition, which can be seriously caused. Before the base condition was completely lifted, the smoke was stopped. Wei A chose this path of serious sputum as a work 3 to prevent frequent stagnation. Further, the configuration of the transport vehicle management of the present invention has at least one of the transport path 1, one or more of the plurality of transport vehicles 3, 1 (four) 22, and one of the transport vehicles; The road transporter and the above-described transport vehicle management device 1 are provided. According to the above configuration, the pre-rooted wire condition can be used in the shortest time to reach the length of the 耔酤攸 仅 以 — — — — — — — 使 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬 搬3 It is possible to increase the possibility that the transport vehicle 3 is in a short period of time ===. Therefore, the transport vehicle management unit of the present invention has the possibility of setting it up. The following is a configuration of the following method: ·Transfer route ==Γ In the 'exploration of the specific transport vehicle 3 from the departure position and the current position of the delivery vehicle 3, the state of the county sounds at the same time, the total route of each route and the total length of the train are determined, and the route can be determined in the shortest time. And the route is indicated to the specific transport vehicle 3. In the case of the cow IT, the configuration of the transport vehicle management method of the present invention includes the following steps: the transport vehicle position detecting step 'detecting the transport road upstream M2XP/inventive manual ( Supplement)/96-06/96109860 22 200817864 The current position of the plurality of transport vehicles 3 (the map search step, which searches for ^S3, S4 of the plurality of transport vehicles 3); all the paths where the path is sent to the target position (The picture is transported on the car, and the program is based on The current position of each transport vehicle 3 is determined by the base station to determine the congestion status of each searched path (Fig. U path search step determination procedure) path length calculation (4), Fig. 2 congestion t: total path length of the road slave (B8 in Fig. 13); the path determination procedure, /, according to the congestion condition and the total path length, up to the "location path (B6 to B9 in Fig. 13); in the driving direction is not the step", the driving path is indicated to the specific transportation车%图I!: S8) The above configuration is based on the clogging condition and the total path length, and the travel route that can reach the target position in the shortest time is determined in advance, and the transport vehicle 3 is driven on the travel path. Reduce the possibility that the transport vehicle 3 is trapped. Thereby, the possibility that the transport vehicle 3 reaches the target position in a short time can be improved. The embodiments of the present invention have been described above, but the specific examples are exemplified, and the present invention is not limited to the specific configuration and the like. Further, the functions and effects disclosed in the embodiments of the invention are merely illustrative of the preferred effects and effects of the invention, and the invention is not limited to the embodiments disclosed. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a configuration of a transport vehicle management system according to an embodiment of the present invention. Fig. 2 is a block diagram showing the transport vehicle management device of Fig. 1. 312ΧΡ/Invention Manual (supplement)/96-06/96109866 23 200817864 • An explanatory diagram of the transport vehicle data sheet of Figure 1. An explanatory diagram of the route search data table of Fig. 1 is an explanatory diagram of the layout data table of Fig. 1. Fig. 1 is an explanatory diagram of the path length data table of Fig. 1. Fig. 7 Fig. 7 is an explanatory diagram of the congestion status data table of Fig. 1. Fig. 8 is an explanatory diagram of the travel route data table of Fig. 1. [Fig. 9 and Fig. 1 show a transport path in the transport vehicle management system. Fig. 11 is a flowchart showing the procedure of the transport vehicle management apparatus. Commanding a sigh Figure 12 is a flow chart showing the procedure of the above-described transport vehicle. ^The shackle determination of the attire setting: It is a flow chart which determines the order of the spears by the path executed by the above-mentioned transport vehicle management device. ^4 is a flowchart showing the traveling procedure executed by the above-described transport vehicle. [Description of main components] 1 Transport path 2 Workstation 3 Transport vehicle 4 Confluence unit 5 Branch unit 11 Transport vehicle management device 12 Large-capacity memory device 312XP/Invention manual (supplement)/96-06/96109866 24 200817864 13 Information processing device 14 congestion state data storage unit 15 travel route data storage unit 16 route length data storage unit 17 transport vehicle data storage unit 18 layout data storage unit 19 route search result storage unit 20 route search unit ' 21 transport vehicle position detecting unit 23 congestion determination Part 24 Path length calculation unit 25 Path determination unit 26 Transceiver unit 27 Travel route instruction unit 31 Control board (#32 control unit 33 RAM (random access memory) 34 ROM (read only memory) 35 CPU (central processing unit) 36 Input/output unit 37 Travel drive unit 38 Travel drive mechanism 39 Travel position detection sensor 40 Front detection sensor 312XP/Invention manual (supplement)/96-06/96109866 25 200817864 41 Communication unit 26 312XP/Invention manual ( Supplement)/96-06/96109866