US20200180668A1 - Transport vehicle system - Google Patents

Transport vehicle system Download PDF

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Publication number
US20200180668A1
US20200180668A1 US16/676,522 US201916676522A US2020180668A1 US 20200180668 A1 US20200180668 A1 US 20200180668A1 US 201916676522 A US201916676522 A US 201916676522A US 2020180668 A1 US2020180668 A1 US 2020180668A1
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United States
Prior art keywords
push out
point
route
transport vehicle
transport
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Abandoned
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US16/676,522
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English (en)
Inventor
Yuya Eguchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
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Murata Machinery Ltd
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Assigned to MURATA MACHINERY, LTD. reassignment MURATA MACHINERY, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: EGUCHI, Yuya
Publication of US20200180668A1 publication Critical patent/US20200180668A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting

Definitions

  • the present invention relates to a transport vehicle system.
  • JP 2013-35670 A discloses a transport vehicle system that performs push out control in which a push out destination is specified, for example.
  • a second transport vehicle that is located within a predetermined range from the current position of a first transport vehicle having a move command (transport command) and within a push out range that does not exceed the destination and that does not have a move command is detected and a push out destination is determined.
  • a third transport vehicle that is located within a range from the current position of the second transport vehicle to the push out destination of the second transport vehicle and that does not have a move command is detected and a push out destination is determined. If the third transport vehicle can arrive first at the push out destination and the second transport vehicle can arrive first at the destination except for the third transport vehicle, an instruction is given to the second transport vehicle and the third transport vehicle to travel to the push out destination.
  • the transport vehicle subject to push out control (hereinafter also referred to as “push out target vehicle”) repeats travelling and stopping.
  • the transport vehicle travelling behind the vehicle must decelerate, and transport efficiency may be decreased. Additionally, energy may be consumed wastefully.
  • Preferred embodiments of the present invention provide transport vehicle systems that each prevent repetition of push out control, and prevent a decline in transport efficiency and also prevent wasteful energy consumption.
  • a transport vehicle system includes a controller that controls multiple transport vehicles capable of travelling along a predetermined route.
  • the controller performs push out control of transmitting a travel command to the other transport vehicle that is stopped.
  • the push out control a push out point off planned travelling routes of all transport vehicles in a predetermined area is searched, and a command to travel to the push out point is transmitted as the travel command.
  • the push out point may be a point before a branch point in the route.
  • a return route to return from the searched push out point to a stop point of the other transport vehicle may be acquired, a score evaluating ease with which the acquired return route returns to the stop point may be calculated based on at least one of a distance, a required travel time, and a route cost of the return route, and a command to travel to the push out point when the calculated score is less than a threshold may be defined as the travel command.
  • the push out target vehicle moved to the push out point by push out control is able to return relatively quickly to the stop point where it has been stopped before being moved. That is, it is possible to increase the possibility that the push out target vehicle can execute the transport command that the push out target vehicle has been about to execute before the movement (the possibility that a transport command is assigned).
  • a route in the predetermined area may be traced frontward in a travelling direction from a stop point of the other transport vehicle, when a point off planned travelling routes of all transport vehicles in the predetermined area is found, a point based on the found point may be set as the push out point, and when the point off the planned travelling routes of all the transport vehicles in the predetermined area is not found within a predetermined distance from the stop point, a point based on a point that is a predetermined distance away from the stop point may be defined as the push out point.
  • the push out target vehicle is moved to a push out point based on a point a predetermined distance away from the stop point. Thereafter, the push out target vehicle is moved again by the next push out control.
  • it when it is difficult to search for a point off the planned travelling routes of all the transport vehicles by push out control at the present moment, it can be searched again later by push out control that is performed again under changed route conditions.
  • FIG. 1 is a schematic configuration diagram showing a transport vehicle system according to a preferred embodiment of the present invention.
  • FIG. 2 is a flowchart showing processing performed by a controller of FIG. 1 .
  • FIG. 3 is a flowchart showing processing of push out control.
  • FIG. 4 is a flowchart showing push out point search processing.
  • FIG. 5 is a flowchart showing a continuation of FIG. 4 .
  • FIG. 6A is a schematic plan view for describing an example of push out control by the transport vehicle system of FIG. 1 ;
  • FIG. 6B is a schematic plan view showing a state continued from FIG. 6A .
  • FIG. 7A is a schematic plan view showing a state continued from FIG. 6B ;
  • FIG. 7B is a schematic plan view showing a state continued from FIG. 7A .
  • FIG. 8A is a schematic plan view showing a state continued from FIG. 7B ;
  • FIG. 8B is a schematic plan view showing a state continued from FIG. 8A .
  • FIG. 9A is a schematic plan view showing a state continued from FIG. 8B ;
  • FIG. 9B is a schematic plan view showing a state continued from FIG. 9A .
  • FIG. 10A is an example showing a case where there are multiple push out points whose return route score is less than a threshold.
  • FIG. 10B is a table showing processing results of push out control in the case of FIG. 10A .
  • FIG. 11A is an example showing a case where the priority of a push out point whose return route score is less than a threshold is low;
  • FIG. 11B is a table showing processing results of push out control in the case of FIG. 11A .
  • FIG. 12A is an example showing a case where there is no push out point whose return route score is less than a threshold
  • FIG. 12B is a table showing processing results of push out control in the case of FIG. 12A .
  • FIG. 13 is a table exemplifying push out points.
  • a transport vehicle system 1 defines a system for transporting articles.
  • the article is a container that stores multiple semiconductor wafers, for example, but may be a glass substrate, a general component, or the like.
  • the transport vehicle system 1 includes a track 4 , a transport vehicle 6 , and a controller 50 .
  • the track 4 is a predetermined route on which the transport vehicle 6 travels.
  • the track 4 is laid near the ceiling, which is an overhead space of an operator, for example.
  • the track 4 is suspended from the ceiling.
  • Multiple point marks are attached to the track 4 so as to be positioned at regular intervals along the extending direction of the track 4 . Examples of the point mark include a barcode.
  • the track 4 includes straight and curved routes. For each route defining the track 4 , a route cost related to an estimated time required to pass, for example, is set in advance.
  • the route of the track 4 is a one-way route in which the transport vehicle 6 travels only in one direction.
  • the track 4 includes a branch point P that is a point dividing one route into multiple routes. Each of one route proceeding to one side and the other rout proceeding to the other side through the branch point P is set with a travelling priority.
  • the transport vehicle 6 travels preferentially to one of the one route and the other route that has a higher priority.
  • the layout of the track 4 is not particularly limited, and various layouts can be adopted.
  • the transport vehicle 6 is a vehicle that is able to travel along the track 4 , that is, a vehicle that can travel along a predetermined route.
  • the transport vehicle 6 transports an article.
  • the transport vehicle 6 is an overhead travelling unmanned transport vehicle.
  • the transport vehicle 6 is also referred to as a carriage (transport carriage), an overhead travelling vehicle (overhead travelling carriage), or a travelling vehicle (travelling carriage), for example.
  • the number of transport vehicles 6 included in the transport vehicle system 1 is not particularly limited, and there are multiple transport vehicles 6 .
  • the transport vehicle 6 is a linear motor driven vehicle, for example, and has an electromagnetic linear motor, for example, as a drive source. This allows the transport vehicle 6 to perform smooth and efficient acceleration/deceleration and high-speed continuous operation in short inter-vehicle distances.
  • the transport vehicle 6 includes a position acquisition unit (not shown) that acquires position information regarding the position of the transport vehicle 6 on the track 4 .
  • the position acquisition unit includes a reader that reads a point mark on the track 4 , and the like.
  • the position information on the transport vehicle 6 includes information on a point mark acquired by the reader, and information regarding a travel distance after passing the point mark, for example.
  • the controller 50 is an electronic control unit including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like.
  • the controller 50 is able to be configured as software that is executed by the CPU by loading a program stored in the ROM on the RAM, for example.
  • the controller 50 may be configured as hardware including an electronic circuit and other components.
  • the controller 50 may be one device or multiple devices. When the controller 50 includes multiple devices, the devices are connected through a communication network such as the Internet or an intranet, so that one controller 50 is logically constructed.
  • the controller 50 performs periodic communication with multiple transport vehicles 6 in a jurisdiction area (predetermined area). For example, the controller 50 transmits a status query to the transport vehicle 6 in the jurisdiction area, and the transport vehicle 6 that receives the status query transmits a status report including its own position information, speed information, and the like to the controller 50 .
  • the controller 50 sequentially performs such communication with the multiple transport vehicles 6 in a periodic manner to grasp states (including the current position and whether the vehicle is stopped or travelling, for example) of the multiple transport vehicles 6 in the jurisdiction area.
  • the jurisdiction area is not particularly limited.
  • the size of the jurisdiction area may be set according to specifications or the like.
  • the jurisdiction area may be an entire area or a partial area of a system.
  • the controller 50 communicates with multiple transport vehicles 6 in a jurisdiction area, and controls the multiple transport vehicles 6 .
  • the controller 50 performs wired or wireless communication with a host controller (not shown).
  • the controller 50 receives various commands from the host controller.
  • the controller 50 receives, from the host controller, a transport command to cause the transport vehicle 6 to transport the article.
  • the controller 50 receives, from the host controller, a move command to call (moving) the transport vehicle 6 to a predetermined position (e.g., an initial point of transport of a predicted transport command or a point before the initial point of transport).
  • the controller 50 receives, from the host controller, a circulation command to cause the transport vehicle 6 to circulate on a circulation route included in the track 4 .
  • the controller 50 assigns the received transport command to an empty transport vehicle 6 .
  • An empty transport vehicle 6 is a transport vehicle 6 to which a transport command is not yet assigned, and includes an empty transport vehicle 6 that is not transporting an article.
  • the controller 50 assigns the received move command or circulation command to an empty transport vehicle 6 to which various commands are not yet assigned.
  • the controller 50 reads layout data, which is data related to the layout of the track 4 , and creates a route map of the track 4 from the layout data.
  • the route map includes at least the route configuration, the travelling direction, the length of each route, and the priority order of the one route and the other route connected to the branch point P.
  • the controller 50 of the present preferred embodiment is configured or programmed to include a route searcher 51 , a route manager 52 , a storage 53 , a push out target vehicle determiner 54 , and a push out controller 55 .
  • the route searcher 51 searches for a planned travelling route of each transport vehicle 6 in the jurisdiction area.
  • a planned travelling route is a route on which the transport vehicle 6 plans to travel.
  • the route searching method is not particularly limited, and various known methods can be used.
  • the route searcher 51 searches for a planned travelling route of each transport vehicle 6 based on at least a status report received from each transport vehicle 6 , a command received from the host controller, and layout data that is data related to the layout of the track 4 .
  • the route manager 52 manages the planned travelling routes (the planned travelling route of all the transport vehicles 6 in the jurisdiction area) searched by the route searcher 51 .
  • the storage 53 stores and periodically updates information related to the planned travelling route managed by the route manager 52 .
  • the storage 53 stores and periodically updates information related to the current position and state of each transport vehicle 6 in the jurisdiction area.
  • the storage 53 stores information related to a route map of the track 4 created from layout data.
  • the push out target vehicle determiner 54 determines a push out target vehicle 6 E (see FIGS. 6A and 6B ), which is the transport vehicle 6 to be pushed out by push out control, based on pieces of information stored in the storage 53 .
  • the push out target vehicle 6 E is another transport vehicle 6 stopped in front of the travelling transport vehicle 6 , and is the transport vehicle 6 that approaches the travelling transport vehicle 6 until the inter-vehicle distance is equal to or shorter than a certain distance. Specific processing for determining the push out target vehicle 6 E will be described later.
  • the push out controller 55 performs push out control on the determined push out target vehicle 6 E.
  • Push out control is control to move (push out) the push out target vehicle 6 E so that the push out target vehicle 6 E does not obstruct travel of the transport vehicle 6 approaching from behind.
  • push out control in the jurisdiction area including the push out target vehicle 6 E, a push out point off the planned travelling routes of all the transport vehicles 6 is searched, and a command to travel to the push out point is transmitted as a travel command.
  • a push out point is a push out destination point of push out control.
  • the push out point is a point before the branch point P in the track 4 .
  • the distance from the push out point to the branch point P is a distance equal to or longer than a travel distance (e.g., 1 m to 2 m) necessary for the transport vehicle 6 to switch the travelling direction through the branch point P from one side to the other side.
  • a return route to return from the searched push out point to the stop point of the push out target vehicle 6 E is acquired, and a score evaluating ease with which the acquired return route returns to the stop point is calculated based on at least one of the distance, required travel time, and route cost of the return route.
  • a command to travel to the push out point when the calculated score is less than a threshold is defined as a travel command.
  • the track 4 in the jurisdiction area is traced frontward in the travelling direction from the stop point of the push out target vehicle 6 E. Then, when a point off the planned travelling routes of all the transport vehicles 6 in the jurisdiction area is found, the push out point is determined based on the found point. On the other hand, when a point off the planned travelling routes of all the transport vehicles 6 in the jurisdiction area is not found within a predetermined distance from the stop point, the push out point is determined based on a point that is a predetermined distance away from the stop point.
  • the predetermined distance is determined in advance and stored in the storage 53 . The predetermined distance is able to be appropriately changed by input of a user operation, for example. The predetermined distance is about 50 m, for example. Specific processing for searching for the push out point will be described later.
  • the push out target vehicle determiner 54 searches for a stopped transport vehicle 6 from all the transport vehicles 6 in the jurisdiction area based on various information stored in the storage 53 (step S 1 ).
  • the push out target vehicle determiner 54 searches for the push out target vehicle 6 E from the transport vehicles 6 that are stopped in the jurisdiction area based on various information stored in the storage 53 (step S 2 ). For example, in step S 2 , based on the positions and travelling routes of all the transport vehicles 6 travelling in the jurisdiction area and the positions of all the transport vehicles stopped in the jurisdiction area, another stopped transport vehicle 6 that approaches the travelling transport vehicle 6 until the inter-vehicle distance is equal to or shorter than a certain distance is derived as the push out target vehicle 6 E.
  • step S 2 If the push out target vehicle 6 E is not searched in step S 2 , the processing of this cycle is terminated, and the processing is repeatedly performed from step S 1 in the subsequent cycle. If the push out target vehicle 6 E is searched in step S 2 , the push out controller 55 performs the next push out control.
  • the planned travelling routes and route maps of all the transport vehicles 6 in the jurisdiction area are acquired from the storage 53 (step S 11 ).
  • the acquired route map and the planned travelling route are collated (step S 12 ).
  • a non-travelled route that is a route off the planned travelling routes of all the transport vehicles 6 is identified.
  • Push out point search processing to search for a push out point is performed (step S 13 , details will be described later).
  • a push out route that is a route to move to the push out point searched in step S 13 is searched based on various information stored in the storage 53 (step S 14 ).
  • the route searching method in step S 14 is not particularly limited, and various known methods can be used.
  • a travel command to travel along the push out route to the push out point is generated, and the travel command is transmitted to the push out target vehicle 6 E (step S 15 ).
  • step S 13 the push out point search processing in step S 13 will be described more specifically with reference to the flowcharts of FIGS. 4 and 5 .
  • step S 21 The search for the push out point is started (step S 21 ).
  • step S 21 the route starts to be traced along the travelling direction from the stop point of the push out target vehicle 6 E until the branch point P is found. It is determined whether or not a new branch point P is found within the search distance (distance on the route from the stop position to the traced position) within a predetermined distance (step S 22 ).
  • step S 22 it is determined whether the found branch point P is on the non-travelled route identified in the verification in step S 12 , that is, whether the branch point P is off the planned travelling routes of all the transport vehicles 6 (step S 23 ). If NO in step S 23 , the search for the push out point is continued (step S 24 ).
  • the one with a lower priority of the one route and the other route branching from the found branch point P is traced.
  • the one with a lower priority of the one route and the other route has already been searched, the one with a higher priority of the one route and the other route is traced.
  • the search is continued by going back to the previous branch point P on the upstream side.
  • the search distance exceeds a predetermined distance, the search is continued by going back to the previous branch point P on the upstream side.
  • step S 23 a point before the found branch point P is set as the push out point (step S 25 ). It is determined whether or not the number of set push out points has reached a predetermined number (step S 26 ). If NO in step S 26 , the processing proceeds to step S 24 . If YES in step S 26 , the search for the push out point is ended (step S 27 ). If NO in step S 22 , the search for the push out point is ended (step S 28 ). After step S 28 , it is determined whether there is no set push out point (step S 29 ).
  • the return route for each of the multiple set push out points is acquired (step S 31 ).
  • the return route is a route to return from the searched push out point to the stop point of the push out target vehicle 6 E.
  • the return route is a route that connects two points, starting from the push out point and ending at the point where the push out target vehicle 6 E is currently stopped.
  • various known route search methods can be used.
  • a score of each return route is calculated (step S 32 ).
  • the score is an index to evaluate ease with which the push out target vehicle 6 E returns to the stop point. The larger the score, the more difficult it is for the push out target vehicle 6 E to return from the push out point to the stop point.
  • the score is calculated based on at least one of the distance of the return route, the time required for the transport vehicle 6 to travel along the return route, and the route cost of the return route.
  • the route cost is set high for routes that are prone to congestion.
  • various known route evaluation indexes and their calculation methods can be used.
  • step S 33 It is determined whether or not the calculated score is equal to or greater than a threshold (step S 33 , return route determination). As a result of the return route determination in step S 33 , it is determined whether or not the scores of all return routes are equal to or greater than a threshold (step S 34 ).
  • step S 34 the push out point set in the first step S 25 is selected from the multiple push out points.
  • the selected push out point is determined as the result of search of the push out point of the travel command by push out control (step S 35 ). If NO in step S 34 , the push out point initially set in step S 25 is selected from the multiple push out points of the return routes whose score is less than the threshold. The selected push out point is determined as the result of search of the push out point of the travel command by push out control (step S 36 ).
  • step S 29 a point before a branch point P whose search distance is within a predetermined distance and which has the longest search distance is set as a temporary point, and the temporary point is selected as the push out point (step S 37 ).
  • the push out point is selected based on a point that is a predetermined distance away from the stop point.
  • transport vehicles 61 and 62 that are travelling with a transport command assigned around the stopped push out target vehicle 6 E.
  • the push out target vehicle 6 E is stopped because: the push out target vehicle 6 E has been called by a move command; the push out target vehicle 6 E is waiting for another transport vehicle 6 to pass through the branch point P or the junction due to blocking control caused by the transport vehicle 6 ahead, or, it is determined that an abnormality has occurred.
  • a transport vehicle 61 is approaching the push out target vehicle 6 E from behind.
  • a planned travelling route L 1 of the transport vehicle 61 is a route that travels along a route R 10 and travels to a route R 12 through a branch point P 1 .
  • a planned travelling route L 2 of a transport vehicle 62 is a route that travels along a route R 20 , travels to a route R 41 through a branch point P 4 , travels along the route R 10 and a route R 11 , and travels to a route R 22 through a branch point P 2 .
  • the route starts to be traced along the route R 10 from the stop point of the push out target vehicle 6 E, and the branch point P 1 is found.
  • the branch point P 1 does not exist on a non-travelled route off the planned travelling routes L 1 and L 2 , and therefore the search is continued.
  • the route R 11 has a lower priority than the route R 12 , the search is continued toward the route R 11 .
  • the route is traced from the branch point P 1 along the route R 11 , and the branch point P 2 is found.
  • the branch point P 2 does not exist on the non-travelled route off the planned travelling routes L 1 and L 2 , and therefore the search is continued.
  • a route R 21 has a lower priority than the route R 22 , the search is continued toward the route R 21 .
  • the route is traced from the branch point P 2 along the route R 21 , and a branch point P 3 is found.
  • the branch point P 3 exists on the non-travelled route off the planned travelling routes L 1 and L 2 .
  • a point before the branch point P 3 is set as a first push out point O 1 .
  • the search is then continued to find the second push out point.
  • the search is continued by returning to the branch point P 2 , which is the previous branch point P.
  • the search distance exceeds a predetermined distance.
  • the search is interrupted and the search is continued by returning to the branch point P 1 , which is the previous branch point P.
  • the route is traced from the branch point P 1 along the route R 12 , and the branch point P 4 is found.
  • the branch point P 4 does not exist on the non-travelled route off the planned travelling routes L 1 and L 2 , and therefore the search is continued.
  • a route R 42 has a lower priority than the route R 41 , the search is continued toward the route R 42 .
  • the route is traced from the branch point P 4 along the route R 42 , and a branch point P 5 is found.
  • the branch point P 5 exists on a non-travelled route off the planned travelling routes L 1 and L 2 .
  • a point before the branch point P 5 is set as a second push out point O 2 .
  • return routes M 1 and M 2 from the respective push out points O 1 and O 2 to the stop point of the push out target vehicle 6 E are acquired.
  • the scores of the return routes M 1 and M 2 are calculated.
  • the initially set push out point O 1 is selected as the destination point of travelling by push out control.
  • a normal route search is performed, and as shown in FIG. 9B , a push out route F for moving to the push out point O 1 is searched.
  • a travel command for travelling along the push out route F is transmitted to the push out target vehicle 6 E.
  • the push out target vehicle 6 E is moved to the push out point O 1 off the planned travelling routes of all the transport vehicles 6 in the jurisdiction area.
  • the push out point O 1 to be reached by performing push out control can be set to a point off the planned travelling routes of all the transport vehicles 6 (a location that does not interfere with any of the travelling transport vehicles 6 ).
  • the push out point O 1 is a point before the branch point P on the track 4 . Accordingly, when a new command is assigned to the push out target vehicle 6 E moved to the push out point O 1 by push out control, and the push out target vehicle 6 E heads for the next destination, for example, the push out target vehicle 6 E can travel on any of the one route and the other route through the branch point P. Thus, the number of travelling route options for going to the next destination is able to be increased.
  • the return route M 1 to return from the searched push out point O 1 to the stop point of the push out target vehicle 6 E is acquired.
  • a score evaluating ease with which the acquired return route M 1 returns to the stop point is calculated based on at least one of the distance, required travel time, and the route cost of the return route M 1 .
  • a command to travel to the push out point O 1 when the calculated score is less than the threshold is defined as a travel command.
  • the route of the track 4 in the jurisdiction area is traced to the front side in the travelling direction from the stop point of the push out target vehicle 6 E.
  • the push out point O 1 is selected based on the found point.
  • the push out point is determined based on a point where the search distance is a predetermined distance. Specifically, a point before the branch point P having the longest search distance within the predetermined distance is determined as the push out point.
  • the push out target vehicle 6 E is temporarily moved to a push out point based on the point where the search distance is a predetermined distance. Thereafter, the push out target vehicle 6 E is moved again by the next push out control.
  • it when it is difficult to search for a point off the planned travelling routes of all the transport vehicles 6 by push out control at the present moment, it can be searched again later by push out control that is performed again under changed route conditions.
  • the transport vehicle system 1 also has the following effects. As long as the transport vehicle 6 is stopped, it is possible to avoid hindrance of travel of the transport vehicle 6 to which a transport command is assigned, and transport capability is able to be improved. The number of executions of push out control is able to be reduced, and the risk of narrowing (clogging) the inter-vehicle distance from the rear transport vehicle 6 is able to be reduced. The push out target vehicle 6 E is able to be kept as close as possible to the initially stopped location. By stopping after completion of transport, it is possible to reduce power consumption and contribute to energy saving.
  • the push out point can be determined according to various cases or situations as exemplified below.
  • FIG. 10A is an example showing a case where there are multiple push out points whose return route score is less than the threshold.
  • FIG. 10B is a table showing processing results of push out control in the case of FIG. 10A .
  • branch points P 1 , P 2 , and P 3 off the planned travelling routes of all transport vehicles 6 are found in this order.
  • the points before the respective branch points P 1 , P 2 , and P 3 are set as push out points A 1 , B 1 , and C 1 in this order.
  • the score of each return route of the push out points A 1 , B 1 , and C 1 is less than the threshold (“success” in FIG. 10B ).
  • the push out point A 1 having the earliest setting order is selected from the push out points A 1 , B 1 , and C 1 .
  • FIG. 11A is an example showing a case where the priority of the push out point whose return route score is less than the threshold is low.
  • FIG. 11B is a table showing the processing results of push out control in the case of FIG. 11A .
  • branch points P 1 , P 2 , and P 3 off the planned travelling routes of all transport vehicles 6 are found in this order.
  • the points before the respective the branch points P 1 , P 2 , and P 3 are set as push out points A 2 , B 2 , and C 2 in this order.
  • the score of the return route of the push out point A 2 is less than the threshold (“success” in FIG. 11B ), but the score of each return route of the push out points B 2 and C 2 is equal to or greater than the threshold (“failed” in FIG. 11B ).
  • the push out point A 2 of the return route whose score is less than the threshold is selected.
  • FIG. 12A is an example showing a case where there is no push out point whose return route score is less than the threshold.
  • FIG. 12B is a table showing processing results of push out control in the case of FIG. 12A .
  • branch points P 1 , P 2 , and P 3 off the planned travelling routes of all transport vehicles 6 are found in this order.
  • the points before the respective branch points P 1 , P 2 , P 3 are set as push out points A 3 , B 3 , and C 3 in this order.
  • the score of each return route of the push out points A 3 , B 3 , and C 3 is equal to or greater than the threshold (“failed” in FIG. 12B ).
  • the push out point A 3 having the earliest setting order is selected from the push out points A 3 , B 3 , and C 3 .
  • FIG. 13 is a table exemplifying patterns of push out points.
  • push out points A, B, and C are set in this order.
  • the return route determination result “success” means that the return route score is less than a threshold.
  • the return route determination result “failed” means that the return route score is equal to or greater than the threshold.
  • an overhead travelling unmanned transport vehicle is preferably used as the transport vehicle 6 , for example.
  • the transport vehicle 6 is not particularly limited.
  • the transport vehicle 6 may be an overhead travelling shuttle.
  • the transport vehicle 6 may be a tracked unmanned transport vehicle that can travel along a track on the floor.
  • the transport vehicle 6 may be a magnetic induction unmanned transport vehicle that can travel along a path made of magnetic tape or the like.
  • the transport vehicle 6 may be a laser guided unmanned transport vehicle that can travel along a predetermined route by being guided by laser light.
  • the transport vehicle 6 preferably includes an electromagnetic linear motor as a drive source, for example.
  • the drive source of the transport vehicle 6 is not particularly limited.
  • the transport vehicle 6 may include a normal rotary motor as a drive source. When the transport vehicle 6 is driven by a rotary motor, power is consumed if the motor moves continuously. Hence, the effect of reducing or eliminating repetition of push out control is significant.
  • controllers that relay between the controller 50 and the transport vehicle 6 may be provided.
  • the material and shape of each configuration in the above preferred embodiments are not particularly limited, and various materials and shapes are applicable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
US16/676,522 2018-12-05 2019-11-07 Transport vehicle system Abandoned US20200180668A1 (en)

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JP2018228021A JP6973362B2 (ja) 2018-12-05 2018-12-05 搬送車システム
JP2018-228021 2018-12-05

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Publication number Priority date Publication date Assignee Title
AU555610B2 (en) * 1983-11-15 1986-10-02 Si Handling Systems Inc. Driverless vehicle
JP3364021B2 (ja) * 1993-12-10 2003-01-08 神鋼電機株式会社 運行管理制御装置およびその方法
JP3212029B2 (ja) * 1997-11-07 2001-09-25 村田機械株式会社 無人搬送車システム
JP4577554B2 (ja) * 2004-08-09 2010-11-10 株式会社ダイフク 搬送装置
JP4340976B2 (ja) * 2006-02-13 2009-10-07 株式会社ダイフク 物品搬送設備
JP2013035670A (ja) * 2011-08-09 2013-02-21 Murata Machinery Ltd 搬送車システム
JP6172554B2 (ja) * 2014-06-04 2017-08-02 村田機械株式会社 搬送車システムと搬送方法

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CN111268378A (zh) 2020-06-12
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CN111268378B (zh) 2023-02-21

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