201027290 六、發明說明： 【發明所屬之技術領域】 本發明是關於搬運車系統及搬運車控制方法，特別是 關於沿著具有複數個待機點的路徑讓複數台搬運車行走之 搬運車系統及搬運車控制方法。 【先前技術】 Φ 以往已知的搬運車系統，是具有：事先決定的路徑、 設置於路徑上之複數個站、以及沿著路徑行走來搬運物品 之複數台搬運車。在搬運車系統，是在站和搬運車之間進 行裝貨（從站將物品裝載於搬運車）、卸貨（從搬運車將 物品卸載至站）。在該系統，若從某個站發生物品的裝貨 要求，會對位在最接近的位置之空搬運車分配：讓其移動 至該站來收取物品之搬運指令。選擇最接近的空搬運車是 爲了迅速地搬運物品。 φ 搬運車，在執行搬運指令後成爲空車狀態。空搬運車 ，停止於路徑上所設置的待機點，以準備執行下個搬運指 令（例如參照專利文獻1 )。 此外，被其他搬運車趕出待機點之空搬運車也是移動 到下個待機點而在該處停止。 [專利文獻1]日本特開平1 1 -85279號公報 【發明內容】 一般而言，爲了提昇搬運效率，是在裝貨指令發生頻 -5- 201027290 率高的裝置附近設置待機點。 此外，對於待機點分別設定優先度，使空搬運車朝向 優先度高的待機點行走。然而，在該習知技術，由於使空 搬運車以優先度高的待機點爲目的地而行走，會將在途中 的待機點待機之其他的搬運車趕走。因此，系統全體之搬 運車的行走效率會有降低的情形。 本發明的課題在於，在沿著具有複數個待機點之路徑 讓複數台搬運車行走之搬運車系統及搬運車控制方法，使 _ 搬運車的行走效率提昇。 本發明之搬運車系統係具備：具有複數個待機點的路 徑、沿著路徑行走之複數台搬運車、以及可對搬運車分配 行走指令之控制器。控制器具有：對最接近各待機點的空 搬運車分配讓其行走至各待機點的行走指令之行走指令分 配手段。 在該系統，由於是對最接近各待機點的空搬運車分配 讓其行走至各待機點之行走指令，因此能使搬運車的行走 @ 效率提昇。 控制器可進一步具備：空搬運車數掌握手段、待機點 選擇手段。空搬運車數掌握手段，是用來掌握尙未分配行 走指令之空搬運車的數目。待機點選擇手段，是選擇與空 搬運車的數目同數或未達該數目的待機點。 在該系統，由於控制器分配：前往與空搬運車的數目 同數或未達該數目的待機點之行走指令，不容易對各搬運 車分配遠處的待機點。因此能使搬運車的行走效率提昇。 -6- 201027290 行走指令分配手段，不僅是行走中的空搬運車，對於 在待機點停止中的空搬運車也分配行走指令亦可。 在該系統，由於對已經在待機點停止中的搬運車也分 配行走指令，比起僅對行走中的搬運車分配行走指令的情 況，能使系統之搬運車的行走效率提昇。 控制器進一步具有：儲存待機點的優先度之優先度記 憶手段。待機點選擇手段是按照儲存於優先度記憶手段的 Φ 優先度來選擇待機點亦可。 在該系統，由於按照優先度來選擇待機點，可迅速地 決定待機點。 本發明之其他觀點的搬運車控制方法，是在具備：具 有複數個待機點的路徑、沿著路徑行走之複數台搬運車之 搬運車系統中，具備以下的步驟。 ◎掌握尙未分配行走指令之空搬運車的數目之空搬運 車數掌握步驟； φ ◎選擇與空搬運車的數目同數或未達該數目的待機點 之待機點選擇步驟； ◎對於最接近各待機點的空搬運車，分配讓其行走至 各待機點之行走指令之行走指令分配步驟。 在該方法，由於分配前往與空搬運車的數目同數或未 達該數目的待機點之行走指令，不容易對各搬運車分配遠 處的待機點。因此能使搬運車的行走效率提昇。 依據本發明之搬運車系統及搬運車控制方法，在沿著 具有複數個待機點之路徑讓複數台搬運車行走之搬運車系 201027290 統，能使搬運車的行走效率提昇。 【實施方式】 1. 搬運車系統的布局配置 本發明的一實施形態之搬運車系統1，是在既定的路 徑上讓複數台搬運車3行走之系統。搬運車3’在路徑上 行走，按照由上位的控制器（後述）所分配之搬運指令， 從目的場所裝載物品，接著行走至搬運目的地之場所而將 _ 物品卸載至搬運目的地之場所。搬運車的種類，可以是高 架行走車、以無軌道的方式行走之無人搬運車、有軌道台 車之任一者。 第1圖係顯示搬運車系統1的布局配置。搬運車系統 1係具有：複數個迴繞行走路5、連結複數個迴繞行走路 5之基幹行走路7。基幹行走路7全體是構成一個迴繞路 徑。沿著迴繞行走路5設置複數個處理裝置9，沿著基幹 行走路7設置複數個貯藏庫11。貯藏庫11所實現的功能 馨 ，是作爲迴繞行走路5之處理裝置9群間之緩衝區。 在處理裝置9及貯藏庫11等的設備設有：用來將物 品搬入設備內之入庫埠13、用來從設備將物品裝載至搬 運車3之出庫埠15。此外，也能採用入庫璋13兼出庫埠 15的構造。 2. 搬運車系統的控制系統 第2圖係顯示搬運車系統丨的控制系統1 9。該控制 -8 - 201027290 系統1 9具有：製造控制器21、物流控制器23、貯藏庫控 制器25、搬運車控制器27。物流控制器23，是貯藏庫控 制器25及搬運車控制器27的上位控制器。搬運車控制器 27是管理複數台搬運車3，並具有對其等分配搬運指令之 分配功能。又「搬運指令」是包含：與行走有關的指令、 與裝貨位置和卸貨位置有關的指令。 製造控制器21，可在其與各處理裝置9之間進行通 φ 訊。處理裝置9，是將處理結束後之物品的搬運要求（裝 貨要求、卸貨要求）發送給製造控制器21。 製造控制器21，是將來自處理裝置9的搬運要求發 送給物流控制器23，物流控制器23將報告發送給製造控 制器2 1。 物流控制器23，若收到來自製造控制器2 1的搬運要 求’在伴隨有貯藏庫11之入庫、出庫的情況，在既定時 點將入庫、出庫指令發送給貯藏庫控制器25。接著，貯 © 藏庫控制器25 ’對應於此將入庫、出庫指令發送給貯藏 庫11。物流控制器23，若進一步接收來自製造控制器21 的搬運要求’會將其轉換成搬運指令，並進行對搬運車3 分配搬運指令的動作。 搬運車控制器27，爲了作成搬運指令而與各搬運車3 連續地通訊’根據從各搬運車3發送的位置資料來取得其 位置資訊。取得位置資訊的例子有以下2個。 .在迴繞行走路5設定複數個點，在搬運車3通過點 時將通過訊號發送給搬運車控制器27。接著，搬運車控 -9- 201027290 制器27儲存：搬運車3剛才通過的點是哪個點、通過點 的時刻。接著，根據該點區間的規定速度和時間來運算並 求出搬運車3的位置。 .將例如編碼器設置於搬運車3，將從通過點起算之 行走距離當作位置資料而從搬運車3發送給搬運車控制器 27，搬運車控制器27根據此掌握搬運車3的位置。 在搬運車控制器27的記憶體（未圖示）儲存著搬運 軌道的布局配置資料。布局配置資料包含：與複數個待機 @ 點（後述）及其等的優先度有關的資訊。 搬運車3具有：包含控制部和記憶體之控制器（未圖 示）。搬運車3的控制器，是由CPU、RAM、ROM等所 構成而用來執行程式之電腦。搬運車3的控制器，可和搬 運車控制器27進行通訊。搬運車3，在記憶體內具有路 線地圖，一邊將路線地圖所記載的座標和自機的內部座標 (藉由編碼器求出的座標）進行比較一邊繼續行走。 使用第3圖來說明搬運車控制器27所實現的各功能 0 。第3圖係顯示搬運車控制器的功能手段之方塊圖。 搬運車控制器27具有：行走指令分配手段71、空搬 運車數掌握手段72、待機點選擇手段73、優先度記憶部 74。行走指令分配手段71 ’是對最接近各待機點的空搬 運車，分配讓其行走至各待機點之行走指令（後述）。行 走指令分配手段71，不僅是行走中的空搬運車，對於在 待機點停止中的空搬運車也分配行走指令。空搬運車數掌 握手段72’是掌握尙未分配行走指令之空搬運車的數目 -10- 201027290 。優先度記憶部74儲存著待機點的優先度。待機點選擇 手段73,是按照優先度記憶部74所儲存的優先度來選擇 與空搬運車數目同數或未達該數目的待機點（後述）。 從第3圖可明白，行走指令分配手段71，是根據： 來自搬運車3之行走狀況報告、來自待機點選擇手段73 之被選擇的待機點資訊，來對搬運車3分配行走指令。空 搬運車數掌握手段72，是根據來自搬運車3的貨物搭載 φ 資訊來掌握空搬運車數目。待機點選擇手段73，是根據 :來自空搬運車數掌握手段72之空搬運車數資訊、來自 優先度記憶部74之待機點優先度資訊，來選擇待機點。 3 ·利用搬運車控制器之搬運車待機動作的控制 第4圖係顯示全部或至少一部分是由搬運車控制器 27所執行之搬運車待機動作的控制之流程圖。搬運車的 待機動作，是指讓空搬運車行走至既定待機點的動作。 φ 該控制動作，是在既定的時點執行。既定的時點，可 以是一定的周期，也可以是按照狀況而爲不同的周期。此 外，視必要，在發生新的空搬運車的時點來執行亦可。 在步驟S1，調查在特定區域（例如一個迴圈）之空 搬運車的比例是否爲設定値以上。在未達設定値的情況結 束控制動作。在空搬運車的比例不高的情況，本控制動作 並無法有效地發揮。 在設定値以上的情況，移動至步驟S2。在步驟S2, 檢索空搬運車以界定空搬運車的數目、位置。該功能是藉 -11 - 201027290 由空搬運車數掌握手段72來實現。 在步驟S3，選擇構成搬運車呼叫對象之高優先度的 待機點。這時，高優先度的待機點數目，是設定成與控制 區域內的空搬運車的數目相同或更少。該功能是藉由待機 點選擇手段73來實現。 在步驟S4，執行對象待機點切換。在對象待機點切 換是進行以下動作，亦即，最初是選擇優先度最高的待機 點爲對象’接著依優先度高的順序切換構成對象的待機點 _ 。該功能是藉由待機點選擇手段73來實現。 在步驟S5，判斷在對象待機點是否有空搬運車停止 著。該功能是藉由待機點選擇手段73來實現。在停止著 的情況，移動至步驟S 9。 在不是停止著的情況，移動至步驟S6。在步驟S6， 判斷在對象待機點是否有空搬運車接近中。該功能是藉由 待機點選擇手段73來實現。在不是接近中的情況，移動 至步驟S9。 ❹ 在接近中的情況，移動至步驟S7。在步驟S7，判斷 最接近的搬運車是否爲空車狀態。該功能是藉由空搬運車 數掌握手段72來實現。在非空車狀態的情況，移動至步 驟S9。 在空車狀態的情況移動至步驟S8。在步驟S8，將空 搬運車呼叫到對象待機點。具體而言，是對最接近對象待 機點的空搬運車，分配前往對象待機點之行走指令。該功 能是藉由行走指令分配手段71來實現。在此情況，構成 -12- 201027290 分配對象之空搬運車較佳爲，不僅是行走中的空搬運車， 還包括停止於其他待機點之空搬運車。 在步驟S 9，判斷在所有的待機點是否有空搬運車停 止著。該功能是藉由待機點選擇手段73來實現。在停止 著的情況，讓控制動作結束。在不是停止著的情況，返回 步驟S4。 @ 4.第1實施例 第5圖係爲了具體說明上述控制動作所準備之示意的 搬運車系統5 1。 該搬運車系統51具備：搬運軌道52、複數台搬運車 (第1搬運車53a'第2搬運車53b、第3搬運車53c) 。搬運軌道52具有可單方向循環之大環路5 2a，進一步 在大環路52a內具有僅利用其一部分而能循環之小環路 52b。在搬運軌道52設置複數個停止點54。此外，如第5 ❹ 圖所圖示，停止點54當中的3處，是作爲第1待機點 54A、第2待機點54B、第3待機點54C。第1待機點 54A設置於小環路52b，第2待機點54B設置於大環路 52a。第3待機點54C，是在大環路52a中，設置在比第2 待機點54B更靠近行走方向下游側。此外，高優先度是依 第1待機點54A、第2待機點54B、第3待機點54C的順 序來設定。 在第5圖所示的狀態，在搬運軌道52上，就空搬運 車而言，存在著第1搬運車53a、第2搬運車53b、第3 -13- 201027290 搬運車53c。第1搬運車53a停止於第i待機點5 4A，第 2搬運車53b停止於第2待機點5 4B。第3搬運車53c， 是在小環路52b內位在比第1待機點54A更靠近行走方 向下游側的位置，剛結束卸貨而變成空搬運車。 根_第4圖的流程圖來說明搬運車之待機動作的控制 。在步驟S1’判斷空搬運車的比例是否爲設定値以上。 在本實施例’以後是假定爲設定値以上而繼續作說明。在 步驟S2 ’進行空搬運車的檢索，而確認第丨搬運車53a、 第2搬運車53b、第3搬運車53c的存在和位置。在步驟 S3，由於空搬運車數目有3台，故選擇同數的3處，具體 而言是選擇第1待機點54A、第2待機點54B及第3待機 點54C。更具體的說，是在高優先度的待機點名單中追加 第3待機點54C。 在步驟S4,選擇第1待機點54 A爲對象待機點。在 步驟S5，由於第1搬運車53a停止於第1待機點54A, 移動至步驟S9。在步驟S9，由於並非所有的待機點上都 有空搬運車停止著（第3待機點54C上沒有空搬運車停止 著），返回步驟S4。 在步驟S4，將對象切換成第2待機點54B。在步驟 S5，由於第2搬運車53b停止於第2待機點54B，移動至 步驟S9。在步驟S9，由於並非所有的待機點上都有空搬 運車停止著（第3待機點5 4C上沒有空搬運車停止著）， 返回步驟S 4。 在步驟S4，切換成第3待機點54C，在步驟S5，由 201027290 於在第3待機點5 4C上沒有空搬運車停止著’移動至步驟 56。 在步驟S6，由於沒有空搬運車接近中，移動至步驟 57。 在步驟S7，由於最接近的搬運車之第2搬運車53b 是空的，移動至步驟S8。在步驟S8，將第2搬運車53b 呼叫到第3待機點54C。具體而言，是對第2搬運車53b 分配前往第3待機點54C的行走指令。結果，第2搬運車 53b會從第2待機點54B行走至第3待機點54C。 ©接著，移動至步驟S9，進一步返回步驟S4。在步驟 S4，將對象切換成第1待機點54A。在步驟S5，由於第1 搬運車53a停止於第1待機點54A，移動至步驟S9。在 步驟S9，由於並非所有的待機點上都有空搬運車停止著 (第2待機點5 4B上沒有空搬運車停止著），返回步驟 S4 ° 在步驟S4，將對象切換成第2待機點54B。在步驟 S5，由於在第2待機點54B上沒有空搬運車停止著，移 φ 動至步驟S6。在步驟S6，由於沒有空搬運車接近中，移 動至步驟S7。在步驟S7，由於最接近的搬運車之第1搬 運車53a是空的，移動至步驟S8。在步驟S8，將第1搬 運車53a呼叫到第2待機點54B。具體而言，是對第1搬 運車53a分配前往第2待機點54B的行走指令。結果，第 1搬運車53 a從第1待機點54A行走至第2待機點54B。 接著’移動至步驟S9。進一步返回步驟S4。在步驟 S4 ’將對象切換成第3待機點54C。在步驟S5，由於第2 搬運車53b停止於第2待機點54B，移動至步驟S9。在 -15- 201027290 步驟S9，由於並非所有的待機點上都有空搬運車停止著 (第1待機點54A上沒有空搬運車停止著），返回步驟 S4 ° 在步驟S4，將對象切換成第1待機點54A。在步驟 S5，由於在第1待機點54A上沒有空搬運車停止著，移 動至步驟S6。在步驟S6，由於沒有空搬運車接近中，移 動至步驟S7。在步驟S7，由於最接近的搬運車之第3搬 運車53c是空的，移動至步驟S8。在步驟S8，將第3搬 0 運車53c呼叫到第1待機點54A。具體而言，是對第3搬 運車53c分配前往第1待機點54 A的行走指令。結果，第 3搬運車53c行走至第1待機點54A。 在步驟S9，確認在所有的待機點上都有空搬運車停 止著，結束控制動作。 以上所敘述的控制動作，是讓第2搬運車53b行走至 第3待機點54C，讓第1搬運車53a行走至第2待機點 54B，讓第3搬運車53c行走至第1待機點54A。以往所 || 分配的行走指令，例如是讓第3搬運車53c (不是在待機 點停止中之搬運車）前往第3待機點5 4C(沒有空搬運車 停止著的待機點）。因此，第3搬運車53 c，會將第1搬 運車53a及第2搬運車53b從第1待機點5 4A及第2待機 點5 4B趕出。在本發明的實施形態並未進行像那樣的趕出 ，因此系統全體的搬運效率提昇。 5.第2實施例 -16- 201027290 第6圖係爲了具體說明上述控制動作所準備之示意的 搬運車系統61。該搬運車系統61具備：搬運軌道62、複 數台搬運車（第1搬運車63a、第2搬運車63b、第3搬 運車63c)。搬運軌道62具有可單方向循環之大環路62a ，進一步在大環路62a內具有僅利用其一部分而能循環之 小環路62b。在搬運軌道62設置複數個停止點64。此外 ，如第6圖所圖示，停止點64當中的3處，是作爲第1 φ 待機點64A、第2待機點64B、第3待機點64C。第1待 機點64A設置於小環路62b，第2待機點64B設置於大環 路62a。第3待機點64C，是在大環路62a中，設置在比 第2待機點64B更靠近行走方向上游側。此外，高優先度 是依第1待機點64A、第2待機點64B、第3待機點64C 的順序來設定。 在第6圖所示的狀態，在搬運軌道62上，就空搬運 車而言，存在著第1搬運車63a、第2搬運車63b、第3 φ 搬運車63c。第1搬運車63a是停止於第1待機點64A， 第2搬運車63b是停止於第2待機點64B，第3搬運車 63c是停止於第3待機點64C。在此狀態下，若有來自停 止點64D (第2待機點64B之行走方向上游側的點）被發 出，會對第1搬運車63 a分配搬運指令。結果，第1搬運 車63a會從第1待機點64A行走至停止點64D並執行裝 貨動作。 根據第4圖的流程圖來說明控制動作。在步驟S1， 判斷空搬運車的比例是否爲設定値以上。在本實施例，以 -17- 201027290 後是假定爲設定値以上而繼續作說明。在步驟S2，進行 空搬運車的檢索，而確認第2搬運車63b、第3搬運車 63c的存在和位置。在步驟S3，由於空搬運車數目有2台 ，故選擇同數的2處，具體而言是選擇第1待機點64A 及第2待機點64B。更具體的說，是在高優先度的待機點 名單中刪除第3待機點64C。 在步驟S4，選擇第1待機點64A爲對象。在步驟S5 ，由於在第1待機點64A沒有空搬運車停止著，移動至 步驟S6。在步驟S6，由於沒有空搬運車接近中，移動至 步驟S7。在步驟S7，由於最接近的搬運車之第3搬運車 63c是空的，移動至步驟S8。在步驟S8，將第3搬運車 63c呼叫到第1待機點64A。具體而言，是對第3搬運車 63c分配前往第1待機點64A的行走指令。結果，第3搬 運車63c從第3待機點64C行走至第1待機點64A。 在步驟S4，將對象切換成第2待機點64B。在步驟 S4，由於第2搬運車63b停止於第2待機點64B，移動至 步驟S9。在步驟S9，確認所有的待機點上都有空搬運車 停止著，結束控制動作。 6.特徵 以下，是使用第1實施形態（第5圖）的搬運車系統 5 1來說明本發明的實施形態的特徵。 (1)搬運車系統51具備：具有複數個待機點 5 4 A〜5 4C之搬運軌道52、沿著搬運軌道52行走之複數台 201027290 搬運車3、可對搬運車3分配行走指令之搬運車控制器27 。搬運車控制器27具有行走指令分配手段71。行走指令 分配手段71，是對最接近各待機點之空搬運車，分配讓 其行走至各待機點之行走指令。 在該系統，由於是對最接近各待機點之空搬運車分配 讓其行走至各待機點54 A~5 4C之行走指令，因此搬運車3 的行走效率提昇。 φ (2)搬運車控制器27進一步具備：空搬運車數掌握 手段72、待機點選擇手段73。空搬運車數掌握手段72， 是用來掌握尙未分配行走指令之空搬運車的數目。待機點 選擇手段73，是用來選擇與空搬運車數目同數或未達該 數目的待機點。 由於搬運車控制器27是分配前往與空搬運車數目同 數或未達該數目的待機點54 A〜5 4C之行走指令，不容易 對各搬運車3分配遠處的待機點。因此，搬運車3的行走 φ 效率提昇。作爲具體例，在第5圖所示的搬運車系統51 ，對第3搬運車53c不是分配第2待機點54B、第3待機 點54C，而是分配最接近的第1待機點54A。 (3)行走指令分配手段71，不僅是行走中的空搬運 車，對於在待機點54 A〜54C停止中的空搬運車也分配行 走指令。 由於對已經在待機點54A〜54C停止中的空搬運車也 分配行走指令，比起僅對行走中的搬運車分配行走指令的 情況’可提昇搬運車系統1之搬運車3的行走效率。作爲 -19- 201027290 具體例，在第5圖所示的搬運車系統51，不僅是行走中 的第3搬運車53c，對於停車中的第1搬運車53a及第2 搬運車53b也分配行走指令。 (4) 搬運車控制器 27，進一步具有儲存待機點 5 4 A~5 4 C的優先度之優先度記憶部74。待機點選擇手段 73，是按照優先度記憶部74所儲存的優先度來選擇待機 點。 在該系統，由於按照優先度來決定待機點，可迅速地 決定待機點。 (5) 搬運車控制方法，是在具備：具有複數個待機 點54A〜5 4C之搬運軌道52、沿著搬運軌道52行走之複數 台搬運車3之搬運車系統1中，具備以下的步驟。 ◎掌握尙未分配行走指令之空搬運車的數目之空搬運 車數掌握步驟（步驟S2); ◎選擇與空搬運車的數目同數或未達該數目的待機點 之待機點選擇步驟（步驟S3); ◎對於最接近各待機點的空搬運車，分配讓其行走至 各待機點之行走指令的行走指令分配步驟（步驟S8)。 在該方法，由於分配前往與空搬運車的數目同數或未 達該數目的待機點之行走指令，不容易對各搬運車3分配 遠處的待機點。因此，可提昇搬運車的行走效率。 7.其他實施形態 以上是說明本發明之一實施形態，但本發明並不限定 -20- 201027290 於上述實施形態，在不脫離發明要旨的範圍內可進行各種 的變更。 搬運車系統之布局配置及控制系統，並不限定於第1 實施形態、第2實施形態。此外，搬運車系統所適用的設 備種類，也不限定於前述實施形態。 本發明可廣泛適用於搬運車系統及搬運車控制方法， 特別是沿著具有複數個待機點的路徑讓複數台搬運車行走 φ 之搬運車系統及搬運車控制方法。 【圖式簡單說明】 第1圖係顯示本發明的一實施形態之搬運車系統的布 局配置之局部俯視圖。 第2圖係顯示搬運車系統的控制系統之方塊圖。 第3圖係顯示搬運車控制器的功能手段之方塊圖。 第4圖係顯示讓空搬運車行走至待機點之控制動作的 φ 流程圖。 第5圖係爲了說明實施例1的空搬運車待機動作之搬 運車系統的示意圖。 第6圖係爲了說明實施例2的空搬運車待機動作之搬 運車系統的示意圖。 【主要元件符號說明】 1 :搬運車系統 3 :搬運車 -21 - 201027290 5 :迴繞行走路 7 :基幹行走路 9 :處理裝置 1 1 :貯藏庫 1 3 :入庫埠 1 5 :出庫埠 1 9 :控制系統 2 1 :製造控制器 _ 23 :物流控制器 25 :貯藏庫控制器 2 7 :搬運車控制器 5 1 :搬運車系統 52 :搬運軌道 52a :大環路 5 2b :小環路 53a :第1搬運車 鬱 53b :第2搬運車 53c :第3搬運車 5 4 :停止點 54A :第1待機點 54B :第2待機點 54C :第3待機點 61 :搬運車系統 62 :搬運軌道 -22- 201027290 62a :大環路 62b :小環路 63a :第1搬運車 63b :第2搬運車 63c :第3搬運車 6 4 :停止點 64A :第1待機點 64B :第2待機點 64C :第3待機點 64D :停止點 7 1 :行走指令分配手段 72:空搬運車數掌握手段 73 :待機點選擇手段 74 :優先度記憶部201027290 VI. TECHNOLOGICAL FIELD OF THE INVENTION [Technical Field] The present invention relates to a transport vehicle system and a transport vehicle control method, and more particularly to a transport vehicle system and transport that allows a plurality of transport vehicles to travel along a path having a plurality of standby points. Car control method. [Prior Art] Φ A conventionally known transport vehicle system has a predetermined path, a plurality of stations installed on the path, and a plurality of transport vehicles that carry articles along the path. In the truck system, loading is carried out between the station and the truck (the station loads the items on the truck) and unloads (the items are unloaded from the truck to the station). In this system, if a loading request for an item occurs from a certain station, the empty truck positioned at the closest position is assigned: it is moved to the station to receive the handling instructions for the item. The closest empty van is chosen to carry items quickly. The φ truck is in an empty state after the execution of the transport command. The empty transport vehicle stops at the standby point provided on the route to prepare for execution of the next transport command (for example, refer to Patent Document 1). In addition, the empty truck that is driven out of the standby point by other trucks also moves to the next standby point and stops there. [Patent Document 1] Japanese Laid-Open Patent Publication No. Hei No. Hei. No. Hei. No. Hei. No. 1 -85279. SUMMARY OF THE INVENTION Generally, in order to improve the conveyance efficiency, a standby point is set in the vicinity of a device having a high load command frequency of -5 - 201027290. Further, the priority is set for each of the standby points, and the empty transport vehicle is moved toward the standby point having a high priority. However, in this prior art, since the empty transport vehicle is operated with the priority point of high priority, the other transport vehicles waiting for the standby point on the way are driven away. Therefore, the traveling efficiency of the entire system of the truck may be reduced. An object of the present invention is to improve the traveling efficiency of a transport vehicle in a transport vehicle system and a transport vehicle control method in which a plurality of transport vehicles are carried along a path having a plurality of standby points. The transport vehicle system of the present invention includes a path having a plurality of standby points, a plurality of transport vehicles traveling along the path, and a controller that can assign a travel command to the transport vehicle. The controller has a travel command assigning means for assigning a travel command to the empty transport vehicle closest to each standby point to travel to each standby point. In this system, since the empty transport vehicle closest to each standby point is assigned a walking command to travel to each standby point, the traveling speed of the transport vehicle can be improved. The controller may further include: means for grasping the number of empty transport vehicles, and means for selecting a standby point. The number of empty trucks is used to grasp the number of empty vans that are not assigned to walk instructions. The standby point selection means is to select the same number of standby vehicles as the number of empty trucks or the number of standby points that do not reach the number. In this system, since the controller assigns: a walking command to the same number of empty trucks or a standby point that does not reach the number, it is not easy to assign a distant standby point to each of the trucks. Therefore, the traveling efficiency of the truck can be improved. -6- 201027290 The travel command distribution means is not only an empty transport vehicle while traveling, but also a travel command assigned to an empty transport vehicle that is stopped at the standby point. In this system, since the travel command is also assigned to the transport vehicle that has stopped at the standby point, the travel efficiency of the transport vehicle of the system can be improved as compared with the case where only the travel command is assigned to the transport vehicle. The controller further has a priority memory means for storing the priority of the standby point. The standby point selection means may select the standby point in accordance with the Φ priority stored in the priority memory means. In this system, since the standby point is selected in accordance with the priority, the standby point can be quickly determined. The vehicle control method according to another aspect of the present invention includes the following steps in a transport vehicle system including a plurality of standby points and a plurality of transport vehicles traveling along the path. ◎ Master the number of empty trucks that do not have the number of empty trucks to which the walking command is assigned; φ ◎ Select the standby point selection step that is the same as the number of empty trucks or the standby point that does not reach the number; ◎ For the closest The empty transport vehicle at each standby point is assigned a travel command assignment step of a travel command for walking to each standby point. In this method, it is not easy to assign a distant standby point to each of the transport vehicles by assigning a travel command to the same number of empty transport vehicles or a standby point that does not reach the number. Therefore, the traveling efficiency of the truck can be improved. According to the vehicle system and the vehicle control method of the present invention, the traveling vehicle system 201027290 that allows a plurality of transport vehicles to travel along a path having a plurality of standby points can improve the traveling efficiency of the transport vehicle. [Embodiment] 1. Layout of the transport vehicle system The transport vehicle system 1 according to the embodiment of the present invention is a system in which a plurality of transport vehicles 3 are driven on a predetermined path. The transport vehicle 3' travels on the route, and loads the article from the destination in accordance with the transport command assigned by the upper controller (described later), and then travels to the place of the destination to unload the article to the place of the destination. The type of the transport vehicle may be any of an overhead traveling vehicle, an unmanned transport vehicle that travels in a non-track manner, or a tracked vehicle. The first figure shows the layout configuration of the truck system 1. The transport vehicle system 1 includes a plurality of revolving traveling paths 5 and a basic traveling path 7 that connects a plurality of revolving traveling paths 5. The main walking path 7 constitutes a rewinding path. A plurality of processing devices 9 are provided along the revolving traveling path 5, and a plurality of storages 11 are provided along the main traveling path 7. The function realized by the storage 11 is a buffer between the groups of processing devices 9 that wrap around the traveling path 5. The equipment such as the processing device 9 and the storage 11 is provided with a storage cassette 13 for carrying the items into the apparatus, and a storage cassette 15 for loading the items from the apparatus to the transport vehicle 3. In addition, it is also possible to adopt the structure in which the storage unit 13 and the library 15 are also provided. 2. Control system of the truck system Fig. 2 shows the control system of the truck system丨. The control -8 - 201027290 system 19 has a manufacturing controller 21, a logistics controller 23, a repository controller 25, and a truck controller 27. The logistics controller 23 is a higher-level controller of the repository controller 25 and the truck controller 27. The transport vehicle controller 27 manages a plurality of transport vehicles 3 and has a distribution function for allocating a transport command. The "transportation command" includes instructions related to walking, instructions related to the loading position and the unloading position. The controller 21 is manufactured to perform a pass signal between it and each of the processing devices 9. The processing device 9 transmits the transportation request (loading request, unloading request) of the article after the processing is completed to the manufacturing controller 21. The manufacturing controller 21 sends the transportation request from the processing device 9 to the logistics controller 23, and the logistics controller 23 transmits the report to the manufacturing controller 21. When the delivery controller 23 receives the delivery request from the manufacturing controller 21, the storage and delivery instructions are transmitted to the storage controller 25 at the same time. Next, the storage library controller 25' transmits the storage and delivery instructions to the storage 11 in response to this. The flow controller 23 further receives the transport request from the manufacturing controller 21 and converts it into a transport command, and performs an operation of assigning a transport command to the transport vehicle 3. The transport vehicle controller 27 continuously communicates with each transport vehicle 3 in order to create a transport command. The position information is obtained based on the position data transmitted from each transport vehicle 3. There are two examples of obtaining location information. A plurality of points are set on the rewinding path 5, and a signal is transmitted to the truck controller 27 when the truck 3 passes the point. Next, the truck control -9- 201027290 controller 27 stores: the point at which the truck 3 has just passed, and the point at which the point passes. Next, the position of the transport vehicle 3 is calculated based on the predetermined speed and time of the point section. For example, the encoder is placed in the transport vehicle 3, and the travel distance from the passing point is transmitted from the transport vehicle 3 to the transport vehicle controller 27 as position data, and the transport vehicle controller 27 grasps the position of the transport vehicle 3 based on this. A memory (not shown) of the truck controller 27 stores layout configuration information of the transport track. The layout configuration data includes information related to the priority of a plurality of standby @ points (described later) and the like. The transport vehicle 3 has a controller (not shown) including a control unit and a memory. The controller of the transport vehicle 3 is a computer that is configured by a CPU, a RAM, a ROM, or the like to execute a program. The controller of the truck 3 can communicate with the truck controller 27. The transport vehicle 3 has a route map in the memory, and continues to walk while comparing the coordinates recorded on the route map with the internal coordinates of the own machine (coordinates obtained by the encoder). The function realized by the truck controller 27 will be described using FIG. Figure 3 is a block diagram showing the functional means of the truck controller. The transport vehicle controller 27 includes a travel command assigning means 71, an empty transport vehicle number grasping means 72, a standby point selecting means 73, and a priority memory unit 74. The travel command assigning means 71' is a travel command (described later) for allocating an empty transport vehicle closest to each standby point to each standby point. The travel command assigning means 71 is not only an empty transport vehicle that is traveling, but also a travel command for an empty transport vehicle that is stopped at the standby point. The number of empty trucks Hand-held section 72' is the number of empty trucks that have mastered the unallocated walking command -10- 201027290 . The priority memory unit 74 stores the priority of the standby point. The standby point selection means 73 selects the same number or the number of standby points (described later) that are equal to the number of empty transport vehicles in accordance with the priority stored in the priority storage unit 74. As can be understood from Fig. 3, the travel command assigning means 71 assigns a travel command to the transport vehicle 3 based on the travel status report from the transport vehicle 3 and the selected standby point information from the standby point selection means 73. The empty transport vehicle number grasping means 72 grasps the number of empty transport vehicles based on the cargo φ information from the transport vehicle 3. The standby point selection means 73 selects the standby point based on the number of empty transportation vehicles from the empty transportation vehicle number grasping means 72 and the standby point priority information from the priority storage unit 74. 3. Control of the standby operation of the transport vehicle by the transport vehicle controller Fig. 4 is a flow chart showing the control of all or at least a part of the standby operation of the transport vehicle executed by the transport vehicle controller 27. The standby operation of the transport vehicle refers to the operation of letting the empty transport vehicle travel to a predetermined standby point. φ This control action is executed at a predetermined point in time. The predetermined time point may be a certain period, or may be a different period depending on the situation. In addition, it may be performed at the time of the occurrence of a new empty truck, as necessary. In step S1, it is investigated whether or not the ratio of the empty transport vehicle in a specific area (e.g., one loop) is equal to or greater than the set value. The control action is ended when the setting is not reached. When the proportion of empty trucks is not high, this control action cannot be effectively performed. When the setting is equal to or greater than 値, the operation proceeds to step S2. At step S2, the empty van is retrieved to define the number and position of the empty van. This function is realized by the empty transport vehicle number grasping means 72 by -11 - 201027290. In step S3, a high priority standby point constituting the transport target of the transport vehicle is selected. At this time, the number of high-priority standby points is set to be the same as or smaller than the number of empty vehicles in the control area. This function is realized by the standby point selecting means 73. At step S4, the object standby point switching is performed. Switching to the target standby point is performed by first selecting the standby point having the highest priority as the object', and then switching the standby point _ of the constituent object in the order of higher priority. This function is realized by the standby point selection means 73. In step S5, it is judged whether or not the empty transport vehicle is stopped at the target standby point. This function is realized by the standby point selection means 73. When it is stopped, the process moves to step S9. If it is not stopped, the process moves to step S6. In step S6, it is judged whether or not there is an empty truck approaching at the object standby point. This function is realized by the standby point selection means 73. In the case of not being close, the process moves to step S9. ❹ In the case of approaching, move to step S7. In step S7, it is judged whether or not the closest vehicle is in an empty state. This function is realized by the empty transport number mastering means 72. In the case of the non-empty state, the operation moves to step S9. In the case of the empty state, the process moves to step S8. At step S8, the empty truck is called to the object standby point. Specifically, the walking command to the target standby point is assigned to the empty transport vehicle closest to the target standby point. This function is realized by the walking command distribution means 71. In this case, it is preferable that the empty transport vehicle constituting the -12-201027290 distribution object is not only an empty transport vehicle in walking but also an empty transport vehicle stopped at another standby point. At step S9, it is judged whether or not the empty truck stops at all the standby points. This function is realized by the standby point selection means 73. In the case of stopping, let the control action end. If it is not stopped, the process returns to step S4. @ 4. First Embodiment Fig. 5 is a schematic diagram of a transport vehicle system 51 prepared to specifically describe the above-described control operation. The transport vehicle system 51 includes a transport rail 52 and a plurality of transport vehicles (the first transport vehicle 53a', the second transport vehicle 53b, and the third transport vehicle 53c). The transport rail 52 has a large loop 52a that can circulate in one direction, and further has a small loop 52b that can be circulated only by a part thereof in the large loop 52a. A plurality of stop points 54 are provided on the transport rail 52. Further, as shown in Fig. 5, three of the stop points 54 are the first standby point 54A, the second standby point 54B, and the third standby point 54C. The first standby point 54A is provided in the small loop 52b, and the second standby point 54B is provided in the large loop 52a. The third standby point 54C is provided in the large loop 52a on the downstream side in the traveling direction from the second standby point 54B. Further, the high priority is set in the order of the first standby point 54A, the second standby point 54B, and the third standby point 54C. In the state shown in Fig. 5, in the transport rail 52, the first transport vehicle 53a, the second transport vehicle 53b, and the third -13-201027290 transport vehicle 53c are present in the empty transport vehicle. The first transport vehicle 53a is stopped at the i-th standby point 5 4A, and the second transport vehicle 53b is stopped at the second standby point 5 4B. The third transport vehicle 53c is positioned closer to the downstream side in the traveling direction than the first standby point 54A in the small loop 52b, and becomes an empty transport vehicle immediately after the unloading is completed. The control of the standby operation of the transport vehicle will be described in the flowchart of Fig. 4 . In step S1', it is judged whether or not the ratio of the empty transport vehicle is set to 値 or more. In the present embodiment, it is assumed that the setting is 値 or more, and the description will be continued. In step S2', the search of the empty transport vehicle is performed, and the presence and position of the second transport vehicle 53a, the second transport vehicle 53b, and the third transport vehicle 53c are confirmed. In step S3, since there are three empty transport vehicles, three of the same number are selected, specifically, the first standby point 54A, the second standby point 54B, and the third standby point 54C are selected. More specifically, the third standby point 54C is added to the high priority standby point list. In step S4, the first standby point 54A is selected as the target standby point. In step S5, the first transport vehicle 53a stops at the first standby point 54A, and the process moves to step S9. In step S9, since not all of the standby points are stopped by the empty transportation vehicle (the empty waiting vehicle is not stopped at the third standby point 54C), the flow returns to step S4. In step S4, the object is switched to the second standby point 54B. In step S5, the second transport vehicle 53b stops at the second standby point 54B, and the process moves to step S9. In step S9, since not all of the standby points are stopped by the empty transport vehicle (there is no empty transport vehicle stopped at the third standby point 5 4C), the flow returns to step S4. In step S4, the third standby point 54C is switched, and in step S5, no empty transport vehicle is stopped at the third standby point 5 4C by 201027290, and the operation proceeds to step 56. In step S6, since there is no empty truck approaching, the process moves to step 57. In step S7, since the second transport vehicle 53b of the closest transport vehicle is empty, the process proceeds to step S8. In step S8, the second transport vehicle 53b is called to the third standby point 54C. Specifically, the second transport vehicle 53b is assigned a travel command to the third standby point 54C. As a result, the second transport vehicle 53b travels from the second standby point 54B to the third standby point 54C. © Then, the process moves to step S9, and further returns to step S4. In step S4, the object is switched to the first standby point 54A. In step S5, the first transport vehicle 53a stops at the first standby point 54A, and the process moves to step S9. In step S9, since not all the standby points are stopped, the empty transport vehicle is stopped (there is no empty transport vehicle stopped at the second standby point 5 4B), and the process returns to step S4. In step S4, the object is switched to the second standby point. 54B. In step S5, since no empty transport vehicle is stopped at the second standby point 54B, the shift φ moves to step S6. In step S6, since there is no empty transport vehicle approaching, the operation proceeds to step S7. In step S7, since the first transport vehicle 53a of the closest transport vehicle is empty, the operation proceeds to step S8. In step S8, the first transport vehicle 53a is called to the second standby point 54B. Specifically, the first transport vehicle 53a is assigned a travel command to the second standby point 54B. As a result, the first transport vehicle 53a travels from the first standby point 54A to the second standby point 54B. Then 'moves to step S9. Going back to step S4. The object is switched to the third standby point 54C at step S4'. In step S5, the second transport vehicle 53b stops at the second standby point 54B, and the process moves to step S9. At -15-201027290, step S9, since not all the standby points are stopped, the empty transport vehicle is stopped (there is no empty transport vehicle stopped at the first standby point 54A), and the process returns to step S4. In step S4, the object is switched to the first 1 Standby point 54A. In step S5, since no empty transport vehicle is stopped at the first standby point 54A, the operation proceeds to step S6. In step S6, since there is no empty transport vehicle approaching, the operation proceeds to step S7. In step S7, since the third transport vehicle 53c of the closest transport vehicle is empty, the operation proceeds to step S8. In step S8, the third transport vehicle 53c is called to the first standby point 54A. Specifically, the third transport vehicle 53c is assigned a travel command to the first standby point 54A. As a result, the third transport vehicle 53c travels to the first standby point 54A. In step S9, it is confirmed that the empty transport vehicle is stopped at all the standby points, and the control operation is ended. In the control operation described above, the second transport vehicle 53b is moved to the third standby point 54C, and the first transport vehicle 53a is moved to the second standby point 54B, and the third transport vehicle 53c is moved to the first standby point 54A. In the conventional travel command, for example, the third transport vehicle 53c (not the transport vehicle that is stopped at the standby point) goes to the third standby point 5 4C (the standby point where the empty transport vehicle is not stopped). Therefore, the third transport vehicle 53c ejects the first transport vehicle 53a and the second transport vehicle 53b from the first standby point 5 4A and the second standby point 5 4B. Since the embodiment of the present invention does not eject like this, the transportation efficiency of the entire system is improved. 5. Second Embodiment - 16 - 201027290 Fig. 6 is a schematic diagram of a transport vehicle system 61 prepared to specifically describe the above control operation. The transport vehicle system 61 includes a transport rail 62 and a plurality of transport vehicles (a first transport vehicle 63a, a second transport vehicle 63b, and a third transport vehicle 63c). The transport rail 62 has a large loop 62a that can circulate in one direction, and further has a small loop 62b that can be circulated only by a part thereof in the large loop 62a. A plurality of stop points 64 are provided on the transport rail 62. Further, as shown in FIG. 6, three of the stop points 64 are the first φ standby point 64A, the second standby point 64B, and the third standby point 64C. The first standby point 64A is provided in the small loop 62b, and the second standby point 64B is provided in the large loop 62a. The third standby point 64C is provided in the large loop 62a on the upstream side in the traveling direction from the second standby point 64B. Further, the high priority is set in the order of the first standby point 64A, the second standby point 64B, and the third standby point 64C. In the state shown in Fig. 6, in the transport rail 62, the first transport vehicle 63a, the second transport vehicle 63b, and the third φ transport vehicle 63c are present in the empty transport vehicle. The first transport vehicle 63a is stopped at the first standby point 64A, the second transport vehicle 63b is stopped at the second standby point 64B, and the third transport vehicle 63c is stopped at the third standby point 64C. In this state, if a stop point 64D (a point on the upstream side in the traveling direction of the second standby point 64B) is issued, a conveyance command is assigned to the first transport vehicle 63a. As a result, the first transport vehicle 63a travels from the first standby point 64A to the stop point 64D and performs a loading operation. The control operation will be described based on the flowchart of Fig. 4. In step S1, it is judged whether or not the ratio of the empty transport vehicle is set to 値 or more. In the present embodiment, the description will be continued after -17-201027290 is assumed to be set to 値 or more. In step S2, the search of the empty transport vehicle is performed, and the presence and position of the second transport vehicle 63b and the third transport vehicle 63c are confirmed. In step S3, since there are two empty transport vehicles, two of the same number are selected, specifically, the first standby point 64A and the second standby point 64B are selected. More specifically, the third standby point 64C is deleted in the high priority standby point list. In step S4, the first standby point 64A is selected as the target. In step S5, since no empty transport vehicle is stopped at the first standby point 64A, the operation proceeds to step S6. In step S6, since there is no empty transport vehicle approaching, the process moves to step S7. In step S7, since the third transport vehicle 63c of the closest transport vehicle is empty, the operation proceeds to step S8. In step S8, the third transport vehicle 63c is called to the first standby point 64A. Specifically, the third transport vehicle 63c is assigned a travel command to the first standby point 64A. As a result, the third transport vehicle 63c travels from the third standby point 64C to the first standby point 64A. In step S4, the object is switched to the second standby point 64B. In step S4, the second transporter 63b stops at the second standby point 64B, and the process moves to step S9. In step S9, it is confirmed that all the standby points are stopped at the standby point, and the control operation is ended. 6. Characteristics Hereinafter, the embodiment of the present invention will be described using the transport vehicle system 5 1 of the first embodiment (fifth diagram). (1) The transport vehicle system 51 includes a transport rail 52 having a plurality of standby points 5 4 A to 5 4C, a plurality of 201027290 transport vehicles 3 traveling along the transport rail 52, and a transport vehicle capable of assigning a travel command to the transport vehicle 3. Controller 27. The truck controller 27 has a travel command assigning means 71. The travel command distribution means 71 is a travel command for assigning an empty transport vehicle closest to each standby point to each standby point. In this system, since the empty transport vehicle closest to each standby point is assigned to travel commands to the standby points 54 A to 5 4C, the traveling efficiency of the transport vehicle 3 is improved. The φ (2) transport vehicle controller 27 further includes an empty transport vehicle number grasping means 72 and a standby point selecting means 73. The empty transport vehicle number grasping means 72 is for grasping the number of empty transport vehicles in which the travel command is not assigned. The standby point selection means 73 is a standby point for selecting the same number or the number of empty transport vehicles. Since the transport vehicle controller 27 is a travel command for allocating the standby points 54A to 5CC which are the same as or less than the number of empty transport vehicles, it is not easy to assign a distant standby point to each of the transport vehicles 3. Therefore, the traveling φ efficiency of the truck 3 is improved. As a specific example, the transport vehicle system 51 shown in Fig. 5 assigns the second standby point 54B and the third standby point 54C to the third transport vehicle 53c, and assigns the closest first standby point 54A. (3) The travel command assigning means 71 is not only an empty transport vehicle during traveling, but also a travel command for an empty transport vehicle that is stopped at the standby points 54A to 54C. Since the travel command is also assigned to the empty transport vehicle that has stopped at the standby points 54A to 54C, the traveling efficiency of the transport vehicle 3 of the transport vehicle system 1 can be improved as compared with the case where only the travel command is assigned to the transporting vehicle. As a specific example of -19-201027290, the transport vehicle system 51 shown in Fig. 5 is not only the third transport vehicle 53c that is traveling, but also the travel command is assigned to the first transport vehicle 53a and the second transport vehicle 53b that are parked. . (4) The transport vehicle controller 27 further has a priority memory unit 74 that stores the priority of the standby point 5 4 A to 5 4 C. The standby point selection means 73 selects the standby point in accordance with the priority stored in the priority storage unit 74. In this system, since the standby point is determined in accordance with the priority, the standby point can be quickly determined. (5) The transport vehicle control method includes the following steps: a transport vehicle system 1 including a plurality of standby points 54A to 5CC and a plurality of transport vehicles 3 that travel along the transport rail 52. ◎ Mastering the number of empty transport vehicles that do not have the number of empty transport vehicles for which the travel command is not assigned (step S2); ◎ Selecting the standby point selection step for the same number of empty transport vehicles or the standby point that does not reach the number (step S3); ◎ For the empty transport vehicle closest to each standby point, a travel command assigning step of the travel command for walking to each standby point is assigned (step S8). In this method, it is not easy to assign a distant standby point to each of the transport vehicles 3 by assigning a travel command to the same number of empty transport vehicles or a standby point that does not reach the number. Therefore, the walking efficiency of the truck can be improved. 7. Other Embodiments The present invention has been described with reference to the embodiments of the present invention. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. The layout and control system of the transport vehicle system are not limited to the first embodiment and the second embodiment. Further, the type of equipment to which the vehicle system is applied is not limited to the above embodiment. The present invention can be widely applied to a transport vehicle system and a transport vehicle control method, and more particularly to a transport vehicle system and a transport vehicle control method in which a plurality of transport vehicles travel along a path having a plurality of standby points. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a partial plan view showing a layout of a transportation vehicle system according to an embodiment of the present invention. Figure 2 is a block diagram showing the control system of the truck system. Figure 3 is a block diagram showing the functional means of the truck controller. Fig. 4 is a flow chart showing the control operation of the empty truck to the standby point. Fig. 5 is a schematic view for explaining a transport vehicle system in which the empty transport vehicle standby operation of the first embodiment is performed. Fig. 6 is a schematic view for explaining the transport system of the empty transport vehicle standby operation of the second embodiment. [Main component symbol description] 1 : Pallet system 3 : Pallet truck - 21 - 27, 27290 5 : Rewinding road 7 : Basic road 9 : Processing unit 1 1 : Storage 1 3 : Storage 埠 1 5 : Outlet 埠 1 9 : Control system 2 1 : Manufacturing controller _ 23 : Logistics controller 25 : Storage controller 2 7 : Pallet controller 5 1 : Pallet system 52 : Transport rail 52a : Large loop 5 2b : Small loop 53a : 1st transporter vane 53b : 2nd transporter 53c : 3rd conveyance vehicle 5 4 : stop point 54A : 1st standby point 54B : 2nd standby point 54C : 3rd standby point 61 : conveyance vehicle system 62 : conveyance track -22- 201027290 62a : Large loop 62b : Small loop 63a : First transporter 63b : Second transporter 63c : Third transport vehicle 6 4 : Stop point 64A : First standby point 64B : Second standby point 64C : 3rd standby point 64D : Stop point 7 1 : Travel command distribution means 72 : Empty transport vehicle number grasping means 73 : Standby point selection means 74 : Priority memory section
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