WO2019187631A1 - 搬送システム、搬送コントローラ、及び、搬送車の制御方法 - Google Patents
搬送システム、搬送コントローラ、及び、搬送車の制御方法 Download PDFInfo
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- WO2019187631A1 WO2019187631A1 PCT/JP2019/003838 JP2019003838W WO2019187631A1 WO 2019187631 A1 WO2019187631 A1 WO 2019187631A1 JP 2019003838 W JP2019003838 W JP 2019003838W WO 2019187631 A1 WO2019187631 A1 WO 2019187631A1
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- transport
- command
- controller
- vehicle
- transport vehicle
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- 238000000034 method Methods 0.000 title claims description 49
- 230000032258 transport Effects 0.000 claims abstract description 779
- 238000012546 transfer Methods 0.000 claims description 85
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Classifications
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/46—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points
- B65G47/51—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
- B65G47/5104—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67276—Production flow monitoring, e.g. for increasing throughput
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
Definitions
- the present invention relates to a transport system, a transport controller, and a control method for a transport vehicle.
- a package (article) containing a semiconductor wafer or a reticle is transported by a transport system.
- the transport system includes, for example, a host controller that controls the transport of luggage, a plurality of transport vehicles that travel on a track, and a transport controller that controls the plurality of transport vehicles.
- the host controller transmits a host transport command related to the transport of the package to the transport controller.
- Each of the plurality of transport vehicles transmits information such as the current position to the transport controller by wireless communication or the like.
- the transport controller determines a transport vehicle to execute the upper transport command based on the position of the transport vehicle and assigns a transport command based on the upper transport command to the transport vehicle. .
- Patent Document 1 discloses a technique for changing a package transport destination to a buffer in the vicinity of the load port when another package is located in the load port that is the package transport destination and cannot be loaded on the load port. Is disclosed.
- the host controller first transmits a command to stop the execution of the host transport command to the transport controller.
- the transport controller that has received the command transmits a stop command for deleting the transport command to the transport vehicle to which the transport command based on the upper transport command is assigned.
- the transport vehicle that has received the stop command temporarily stops, deletes the transport command assigned to the own machine, and transmits a report to the transport controller that the deletion is complete.
- the transport controller that has received the report transmits a report to the upper controller indicating that the deletion of the transport command based on the upper transport command has been completed.
- the host controller After receiving this report, transmits a host transport command for transporting the package to a new transport destination to the transport controller. In other words, if the transport vehicle does not send a report to the transport controller (higher-order controller) that the deletion of the transport command assigned to its own device has been completed, a transport command for transporting the package to a new transport destination will not occur. .
- the transport vehicle that has received the stop command needs to stop before sending a report that the transport command has been deleted, which is a cause of a decrease in transport efficiency.
- the present invention relates to a transport system, a transport controller, and a transport capable of reassigning a transport command for transporting a package to a new transport destination without stopping the transport vehicle to which the transport command has been assigned. It aims at providing the control method of a car.
- a transport system of the present invention includes a transport vehicle that travels along a predetermined route and transports an article, and a transport controller that controls the transport vehicle based on an upper transport command related to the transport of an article received from a host controller.
- a transport controller having a transport command unit for allocating a transport command for transporting an article at a grabbing destination to a destination for unloading the transport vehicle according to the upper transport command received from the host controller;
- the transfer command assigned to the transfer vehicle is overwritten with the movement command that travels to the predetermined position and does not unload at the predetermined position.
- the overwrite processing unit assigned to the transport vehicle and when overwriting by the overwrite processing unit is completed, indicating that the upper stop command has been completed It includes a completion report section that transmits the completion report to the host controller.
- the transport command unit for the transport vehicle overwritten by the overwriting processing unit, in the upper transport command newly issued for the article held by the transport vehicle after the host controller receives the stop completion report.
- a corresponding conveyance command may be assigned.
- the overwriting processing unit may set the predetermined position at any position from the current position of the transport vehicle overwritten with the movement command to the branching part of the route in the traveling direction.
- the overwriting processing unit selects either the current vehicle position from the current position of the transport vehicle to the load gripper.
- the transport vehicle When the transport vehicle is traveling toward the unloading destination, it may be set at any position from the current position of the transport vehicle to the unloading destination.
- the transport command unit assigns a movement command as a predetermined position when the transport vehicle is traveling toward the load gripper when the overwriting processing unit overwrites the transport command with the movement command and assigns it. During the predetermined period, only the transport command to the same cargo gripping destination as that in the overwritten transport command may be assigned to the transport vehicle.
- a conveyance controller is a conveyance controller that controls a conveyance vehicle that travels along a predetermined route and conveys an article based on an upper conveyance instruction related to conveyance of an article received from an upper controller.
- the transport command unit assigns a transport command for transporting the article to be unloaded to the unloading destination to the transport vehicle, and the higher order stop cancels the higher order transport command received from the host controller.
- an overwrite processing unit that overwrites the transfer command assigned to the transport vehicle with a movement command that travels to a predetermined position and does not unload at the predetermined position and assigns the transfer command to the transport vehicle
- an overwrite processing unit Completion report unit that sends a stop completion report to the host controller indicating that the host stop command has been completed when overwriting is completed , Comprising a.
- the transport vehicle control method of the present invention is a transport vehicle control method for controlling a transport vehicle that travels along a predetermined route and transports an article, and is based on an upper transport command related to transport of an article received from a host controller.
- assign a transport command to the transport vehicle to transport the goods to be unloaded to the unloading destination and assign to the transport vehicle according to the upper stop command to cancel the upper transport command received from the host controller.
- the transfer command is overwritten with the transfer command to run to the specified position and the unloading at the specified position is not performed and assigned to the transfer vehicle, the upper stop command is completed when the transfer command is overwritten. Transmitting a cancellation completion report indicating that it has been performed to the host controller.
- the transport controller deletes the transport command assigned to the transport vehicle when the host stop command is received from the host controller. Rather than overriding the movement command that travels to the predetermined position and does not unload at the predetermined position, and when the overwriting is completed, the completion command of the higher order stop command is transmitted to the higher order controller.
- a new conveyance command transmitted from the host controller can be reassigned to the conveyance vehicle in response to the completion report without stopping the conveyance vehicle to which is assigned.
- the overwriting processing unit of the transport controller assigns the transport command assigned to the transport vehicle to the predetermined position in response to the upper stop command. Overwrite the movement command that does not unload at the specified position and the completion report section sends the stop completion report to the host controller, so the stop completion report can be sent to the host controller early without stopping the transport vehicle. And it can be transmitted reliably.
- the host controller can transmit a new host transport command to the transport controller by receiving the stop completion report, Since the transport controller assigns a new transport command to the traveling transport vehicle based on the higher-order transport command, it is possible to reliably suppress a decrease in the transport efficiency of articles due to the suspension of the higher-order transport command.
- the transfer system, transfer controller, and transfer vehicle control method according to the present invention can be implemented by changing only the transfer controller without changing the host controller in the existing transfer system, it is simple and low-cost. Can be introduced.
- the upper transport command newly issued with respect to the article held by the transport vehicle after the host controller receives the stop completion report.
- the transfer instruction corresponding to the transfer vehicle is assigned to the transfer vehicle
- a new upper transfer instruction related to the article held by the transfer vehicle overwritten by the overwrite processing unit is assigned to another transfer vehicle.
- the transport of the product is performed. It can suppress reliably that efficiency falls.
- the overwriting processing unit is set as the predetermined position at any position from the current position of the transport vehicle overwritten with the transport command to the branching portion of the route in the traveling direction
- the destination of the movement command is Since the position of the transport vehicle is on the route on which the travel is scheduled and the travel vehicle originally travels on the route, the transport vehicle can travel on the new route.
- the overwriting process for the transport vehicle V can be executed more reliably.
- the overwriting processing unit can move from the current position of the transport vehicle to the load gripping destination.
- the overwriting process is used in the form of setting to any position from the current position of the transporting vehicle to the unloading destination. Since the new destination in the transport vehicle overwritten by the transport unit is the same as the destination of the transport command before the transport vehicle is overwritten with the transport command, the overloading process is easily performed to reduce the burden on the transport controller. Can be reduced.
- the overwriting processing unit assigns a movement command to the destination where the transfer vehicle is allocated.
- the transport vehicle for which the transport command is stopped travels toward the load gripper. Therefore, by assigning a new conveyance command to the conveyance vehicle, it is possible to quickly grasp the article at the grasping destination, and it is possible to suppress a decrease in the conveyance efficiency of the article.
- FIG. 6 is a diagram illustrating an example of the operation of the transport system following FIG. 5. It is a flowchart which shows an example of operation
- FIG. 2 directions in the figure will be described using an XYZ coordinate system.
- a plane parallel to the horizontal plane is defined as an XY plane.
- a direction in which the transport vehicle V travels on the XY plane is denoted as an X direction
- a direction orthogonal to the X direction is denoted as a Y direction.
- a direction perpendicular to the XY plane is expressed as a Z direction.
- the direction of the arrow in the figure is the + direction
- the direction opposite to the arrow is the ⁇ direction.
- FIG. 1 is a diagram illustrating an example of a transport system and a transport controller according to the embodiment.
- the transport system SYS according to the present embodiment is a system that transports an article W by a transport vehicle V.
- the transport system SYS is installed in a semiconductor factory, for example.
- the article W is, for example, a FOUP, SMIF Pod, or Rectile Pod that can accommodate a wafer, a reticle or the like.
- the transport system SYS includes, for example, a host controller MC, a transport controller TC according to the present embodiment, and a plurality of transport vehicles V.
- a host controller MC a transport controller TC according to the present embodiment
- a transport controller TC a transport controller TC according to the present embodiment
- a plurality of transport vehicles V a plurality of transport vehicles V.
- FIG. 1 etc. only one conveyance vehicle V is shown among the some conveyance vehicles V.
- Each transport vehicle V travels along a predetermined track TA (route) and transports the article W.
- the path TA includes a branching portion 10 and a merging portion 11.
- the route TA can be set arbitrarily.
- Each transport vehicle V transports the article W according to the transport command assigned by the transport controller TC.
- FIG. 2 shows an example of the configuration of the transport vehicle V.
- the transport vehicle V for example, travels in the + X direction along the track TA suspended from the ceiling 1 or the like of the building, and is disposed below (directly below) the track TA or below and laterally (including the Y direction).
- This is a ceiling transport vehicle that holds the article W at the destination where the article is held and unloads the article W at the destination where the article W is disposed below or below and on the side of the track TA.
- the transport vehicle V includes an in-vehicle controller VC.
- the in-vehicle controller VC controls various operations of the transport vehicle V (eg, travel, speed control (acceleration, deceleration, stop), operation related to execution of load grasping, operation related to execution of unloading).
- the in-vehicle controller VC controls the transport vehicle V according to a command transmitted from the transport controller TC.
- the transport controller TC transmits, for example, the transport command described above, a movement command described later, and the like to the transport vehicle V as commands for controlling the transport vehicle V.
- the in-vehicle controller VC is, for example, a computer device that includes a CPU, a main memory, a storage device, a communication device, and the like, and processes various types of information.
- the in-vehicle controller VC performs, for example, various information (data) processing, information storage, information input / output, information communication (transmission / reception), and the like.
- the in-vehicle controller VC manages state information indicating the state of the transport vehicle V.
- the in-vehicle controller VC transmits the status information to the transport controller TC in a manner that responds to the status information request periodically transmitted from the transport controller TC.
- Communication regarding the status information request and the status information performed between the in-vehicle controller VC and the transport controller TC is periodically performed at predetermined time intervals.
- the transport controller TC periodically receives state information from each transport vehicle V, so that the latest state of each transport vehicle V under management and the latest state of various commands transmitted to the transport vehicle V by the transport controller TC itself. Understand and manage.
- the state information of the transport vehicle V includes, for example, information indicating the current position of the transport vehicle V (current position information), information regarding travel (eg, speed, stop, etc.), information regarding whether or not the article W is held, and the transport controller TC.
- Information on the status of various commands in the status information includes, for example, completion or failure (impossible) of allocation of various commands, completion or failure of execution of various commands (eg, conveyance commands, movement commands), operations or processing ( Example, information indicating completion or failure of execution of travel, grabbing, and unloading).
- the conveyance controller TC receives state information periodically transmitted from each conveyance vehicle V, thereby grasping the state of each conveyance vehicle V, the execution state of a command for each conveyance vehicle V, and the like. Manage and control.
- the transport vehicle V includes a traveling unit M and a main body unit 3.
- the traveling unit M includes wheels 4 and travels along a track TA (path) by a traveling drive unit (not shown).
- the main body 3 is provided in a state of being hung below the traveling unit M.
- the main body 3 includes a transfer device 5.
- the transfer device 5 moves the article holding unit 6 that holds the article W, the lifting drive unit 7 that lifts and lowers the article holding unit 6, and the lifting drive unit 7 to the side of the track TA (+ Y direction or -Y direction).
- a laterally extending mechanism 8 to be provided.
- the article holding part 6 is a chuck having a movable claw part 6a, and the claw part 6a is entered below the flange part Wa of the article W to suspend and hold the article W.
- the article holding unit 6 is connected to a suspension member 6b such as a wire or a belt.
- the raising / lowering drive part 7 is a hoist, for example, and raises / lowers the article
- the laterally extending mechanism 8 slides the plurality of movable plates to move the article holding unit 6 and the elevation driving unit 7 from the position stored in the main body unit 3 to the side of the track TA.
- Grabbing and unloading of the article W by the transport vehicle V is performed by using the article holding unit 6 or the elevating drive unit 7 and the lateral ejection mechanism 8 described above.
- the operations of the article holding unit 6, the elevating drive unit 7, and the lateral ejection mechanism 8 are controlled by the in-vehicle controller VC.
- the vehicle-mounted controller VC When the vehicle-mounted controller VC holds the article W at the load holding point, the vehicle-mounted controller VC stops the carrier vehicle V according to the load holding point, and operates the lifting drive unit 7 or the lifting drive unit 7 and the laterally extending mechanism 8. By moving the article holding unit 6 to a predetermined position, an instruction is given to hold the article W at the destination. For example, when the load holding point in the transfer command is the position P1a (load holding point P1a) shown in FIG. After being stopped at a position on the path TA), the lifting drive unit 7, the lateral ejection mechanism 8 and the like are operated to control each part of the transport vehicle V so that the article W is grasped by the article grasping point P1a.
- the cargo holding destination can be arbitrarily set in the transport system SYS.
- the load holding point is, for example, a load port of a processing device or a stocker, an overhead buffer in which a shelf on which an article W can be placed is suspended from the ceiling 1 of the building.
- the in-vehicle controller VC stops the transport vehicle V in accordance with the unloading destination, and moves the lifting drive unit 7 or the lifting drive unit 7 and the lateral loading mechanism 8 together. By operating it and moving the article holding unit 6 to a predetermined position, an instruction is given to unload the article W at the unloading destination.
- the unloading destination in the transport command is the position P3a shown in FIG. 1 (unloading destination P3a)
- the in-vehicle controller VC positions the transport vehicle V at the position P3 (the route corresponding to the unloading destination).
- the lifting drive unit 7, the lateral mechanism 8 and the like are operated to control each unit of the transport vehicle V so that the article W is unloaded to the unloading destination P3a.
- the unloading destination can be arbitrarily set in the transport system SYS.
- the unloading destination is, for example, a load port of a processing device or a stocker, an overhead buffer in which a shelf on which an article W can be placed is suspended from the ceiling 1 of the building.
- the transport controller TC and the in-vehicle controller VC are connected by wireless communication via a transmission path such as wireless LAN (Local Area Network) and feeder communication using a feeder line, for example.
- the transport controller TC and the host controller MC are communicatively connected via a transmission path such as a wired LAN or a wireless LAN.
- FIG. 3 is a diagram illustrating an example of functional block configurations of the host controller MC and the transport controller TC.
- the host controller MC includes a host transport command determination unit 31 and a host stop command determination unit 32.
- the host controller MC is, for example, a computer device that includes a CPU, a main memory, a storage device, a communication device, and the like, and processes various types of information.
- the host controller MC performs, for example, various information (data) processing, information storage, information input / output, information communication (transmission / reception), and the like.
- the host controller MC controls the conveyance of the article W.
- the host controller MC receives information on the status of each load gripping destination or each unloading destination, information on the status of the command transmitted to the transport controller TC, etc. from each part of the system including the transport controller TC. Is the position information of each article W, the information regarding the state of each load gripping or unloading destination (e.g., the operating state of the apparatus, the state of occupation of the article W), and the command sent by itself to the transport controller TC. Information related to status (eg, executing, execution completed, execution failed, etc.) is managed.
- the host controller MC transmits a host transport command, which is a command for transporting the predetermined article W from the transport source to the transport destination, to the transport controller TC, and controls the transport of the article W by the transport vehicle V via the transport controller TC.
- the upper conveyance command includes, for example, cargo holding destination information (sometimes abbreviated as “loading destination”) indicating the position (conveyance source, cargo holding destination) of the article W to be transferred, and the destination of the article W to be transferred. It includes unloading destination information (which may be abbreviated as “unloading destination”) indicating the position of (unloading destination) and a command for transporting the article W at the loading destination to the unloading destination.
- the host transport command determination unit 31 determines the execution of the host transport command.
- the upper transport instruction determination unit 31 generates an upper transport instruction and transmits it to the transport controller TC.
- the upper transport instruction determination unit 31 determines execution of the upper transport instruction based on, for example, information on the state of each load holding destination or the state of each unloading destination, and generates an upper transport instruction.
- the upper stop command determining unit 32 determines the execution of the upper stop command for instructing to stop the execution of the upper transport command.
- the upper stop instruction determination unit 32 generates an upper stop instruction and transmits it to the transport controller TC.
- the upper stop instruction determination unit 32 determines the execution of the upper stop instruction based on, for example, information on the state of each cargo holding destination or the state of each unloading destination, and generates an upper stop instruction. For example, when the host controller MC detects that the destination of picking up or unloading has become unusable due to a trouble, the host stop instruction determining unit 32 executes the host stop instruction based on the detected information. Determine and generate a higher order stop command.
- the transport controller TC controls each transport vehicle V.
- the transport controller TC controls each transport vehicle V by transmitting various commands to the transport vehicle V.
- the transport controller TC includes, for example, a status information requesting unit 41, a status information receiving unit 42, a higher level transport command receiving unit 43, a transport command unit 44, a higher level stop command receiving unit 46, an overwrite processing unit 47, The vehicle information storage part 48 and the completion report part 49 are provided.
- the transport controller TC is, for example, a computer device that includes a CPU, a main memory, a storage device, a communication device, and the like, and processes various types of information.
- the transport controller TC performs various types of information (data) processing, information storage, information input / output, information communication (transmission / reception), and the like.
- the transport controller TC In the transport controller TC, information (eg, route information (map information)) or a control program necessary for controlling each transport vehicle V is stored in a storage device (not shown). Note that the configuration of the transport controller TC is merely an example of the configuration illustrated in FIG. 3, and other configurations may be used.
- the state information requesting unit 41 transmits a state information request for requesting (commanding) a report of state information to each transport vehicle V.
- the state information request unit 41 periodically transmits a state information request to each of the plurality of transport vehicles V managed by the transport controller TC at predetermined time intervals (eg, within 1 second).
- Each transport vehicle V that has received the status information request immediately transmits the status information to the transport controller TC as a response to the status information request.
- the status information receiving unit 42 receives status information from each transport vehicle V.
- the state information from each transport vehicle V received by the state information receiving unit 42 is stored in the transport vehicle information storage unit 48.
- the transport controller TC determines the state of each transport vehicle V (for example, the current position of the transport vehicle V, the travel state (running, stopped). Middle), holding / unloading of luggage, completion of grabbing or unloading operation, etc.) status of commands (eg, conveyance commands, movement commands, etc.) sent to the transport vehicle V (eg, command assignment complete, Information about the command allocation failure, command execution completion, command execution completion, command execution failure, etc.) is acquired and managed.
- commands eg, conveyance commands, movement commands, etc.
- the upper transport command receiving unit 43 receives the upper transport command from the upper controller MC.
- the upper transport command receiving unit 43 transmits the received upper transport command to the transport command unit 44.
- the transport command unit 44 assigns a transport command for transporting the article W at the destination to the unloading destination to the transport vehicle V in accordance with the upper transport command received from the host controller MC.
- the transport command is a command for causing the transport vehicle V to transport the article W based on the upper transport command.
- the transport command is, for example, the same as the higher-order transport command, the load holding destination information and the unloading destination information, and travels to the position corresponding to the load holding destination, stops, holds the article W at the load holding destination, And a command for causing the transport vehicle V to run to a position corresponding to the unloading destination, stop, and unload the article W at the unloading destination.
- the conveyance command unit 44 determines (selects) a conveyance vehicle V that is in charge of conveyance of the article W from the plurality of conveyance vehicles V based on the upper conveyance command, and assigns the conveyance command to the decided conveyance vehicle V.
- the conveyance command unit 44 includes, for example, information (e.g., cargo holding destination information and unloading destination information) included in the higher level conveyance command and information indicating the status of each conveyance vehicle V (e.g., status information (current position information, etc.)). Based on the above, the transport vehicle V to which the transport command is assigned is determined. The assignment of the conveyance command by the conveyance command unit 44 will be further described in the later description.
- the transport vehicle V to which the transport command or the movement command is allocated transmits an allocation completion report indicating that the commands are normally allocated to the transport controller TC as status information. Further, when execution of the assigned conveyance command or movement command is completed, a conveyance (movement) completion report indicating completion of execution of the assigned conveyance command (movement command) is transmitted to the conveyance controller TC as status information. To do. In addition, when a command to delete (cancel) the assigned conveyance command or movement command is received from the conveyance controller TC, and the command deletion is completed normally, a deletion completion report indicating that the command deletion is complete is displayed. Information is sent to the transport controller TC.
- the conveyance vehicle V transmits the report which shows the allocation failure of a conveyance command to the conveyance controller TC as status information, when the conveyance command allocated from the conveyance controller TC cannot be performed (when a conveyance command cannot be allocated).
- the transport vehicle V is in a state (situation) in which an operation related to transport cannot be performed, such as a trouble of a device that performs an operation related to transport, or a state (situation) in which it is impossible to stop at a load holding destination or a destination.
- the in-vehicle controller VC determines that the transfer command assigned from the transfer controller TC cannot be executed, and transmits a report indicating the transfer command assignment failure to the transfer controller TC as status information.
- the completion report unit 49 sends an upper transport command completion report indicating that the upper transport command corresponding to the transport command that has received the transport completion report has been completed. To the host controller MC. Further, when the status information receiving unit 42 receives the overwrite completion report from the transport vehicle V, the completion report unit 49 indicates that the deletion of the upper transfer command corresponding to the transfer command that has received the overwrite completion report has been completed. A command completion report is transmitted to the host controller MC. The host controller MC receives the host transport command completion report or host stop command completion report from the transport controller TC, so that the host transport command transmitted from the host controller MC itself to the transport controller TC is completed or deleted. To figure out. *
- the host stop command receiving unit 46 receives a host stop command from the host controller MC. When receiving the upper stop instruction, the upper stop instruction receiving unit 46 transmits information on the upper stop instruction to the overwriting processing unit 47.
- the overwriting processing unit 47 travels to a predetermined position and does not unload at the predetermined position in accordance with the conveyance command assigned to the conveyance vehicle V in response to the high-order cancellation command received from the high-order controller MC. Overwrites the movement command (hereinafter abbreviated as “movement command”). By overwriting the movement command on the transfer command assigned to the transport vehicle V, the transfer command can be made not to be assigned to the transport vehicle V. As a result, the transfer command has been assigned to the transport vehicle V. The conveyance command can be in a deleted state. *
- the movement command includes, for example, information indicating a predetermined position and a command for causing the transport vehicle V to travel to the predetermined position.
- the predetermined position in the movement command can be arbitrarily set.
- the overwrite processing unit 47 of the present embodiment sets the predetermined position at any position from the current position of the transport vehicle V overwritten with the movement command to the branching section 10 of the route TA in the traveling direction.
- the state of the transport vehicle V shown by a solid line in FIG. 1 is that the transport vehicle V picks up the article W at the load holding point (load holding point P1a) at the position P1a, and unloads the load at the position P3a (unloading destination P3a).
- a conveyance command for unloading the article W to the unloading destination P3a is assigned, and after the article W is unloaded at the loading destination P1a, the position corresponding to the unloading destination P3a It is assumed that the vehicle is traveling toward P3 and the current position of the transport vehicle V is the position Pc (hereinafter, sometimes abbreviated as “example of FIG. 1”).
- the overwriting processing unit 47 reaches the branching unit 10 of the route TA in the traveling direction from the current position Pc of the transport vehicle V overwriting the movement command as a predetermined position in the movement command. Is set to any one of the positions P2, P3, P4, and P5, and the position P6 that is the position that has passed through the branch portion 10 of the route TA in the traveling direction is set from the predetermined position set in the movement command. exclude.
- the transport vehicle V When receiving the movement command, the transport vehicle V determines whether or not the route to the destination of the travel command can be traveled, and if possible, transmits a report normally assigned to the transport controller TC, If it is not possible, send a report that it cannot be assigned.
- the overwriting processing unit 47 sets the predetermined position in the movement command to any position from the current position of the transport vehicle V to the branching unit 10 of the route TA in the traveling direction, the overwriting process is performed.
- the destination of the travel command is Since the position is on the route TA where the traveling is planned and the route is originally traveling, the transport vehicle V can travel on the new route TA. As a result, the overwriting process for the transport vehicle V can be executed more reliably.
- the transport vehicle V When a host stop command is transmitted from the host controller MC, the transport vehicle V is unloaded at the load holding destination specified in the transport command corresponding to the host stop command, or the transport vehicle V is unloaded at the unload destination. Should not be done.
- the transport controller TC transmits a delete command to the transport vehicle V to which the transport command corresponding to the higher order stop command is assigned.
- the conveyance vehicle V that has received the deletion command decelerates to a stop, and when the conveyance vehicle V stops, the conveyance command deletion completion report is transmitted to the conveyance controller TC. With this process, it is possible to prevent the conveyance vehicle V from being grasped at the load grasping destination determined in the conveyance instruction corresponding to the upper stop instruction or the conveyance vehicle V from being unloaded from the unloading destination.
- the transport controller TC transmits a movement command to the transport vehicle V to which the transport command corresponding to the upper stop command is assigned, and the transport By overwriting the movement command on the command, the transport vehicle V is not assigned the transport command.
- the transport vehicle V is grabbed or unloaded at the load grabbing destination determined in the transport command corresponding to the upper stop command.
- the unloading of the transport vehicle V may be executed.
- the overwriting processing unit 47 in the present embodiment performs an overwriting process on the transport vehicle V by overwriting the transport command with a movement command having the destination on the route TA where the transport vehicle V is scheduled to travel. This process is executed reliably, and by this process, it is possible to prevent the conveyance vehicle V from being grasped at the loading destination determined in the conveyance command corresponding to the upper stop instruction or the conveyance vehicle V from being unloaded from the loading destination.
- the overwriting processing unit 47 sets the load gripping destination in the transport command assigned to the transport vehicle V. Set to the corresponding position. For example, the position is set to any position from the current position of the transport vehicle V to the cargo gripping destination.
- a position corresponding to the unloading destination in the transport command assigned to the transport vehicle V is set. For example, it is set to any position from the current position of the transport vehicle V to the unloading destination.
- the overwriting processing unit 47 of this configuration in the case of the above-described example of FIG. 1, the transport vehicle V to be overwritten is traveling toward the unloading destination P3a. The position is set to the position P3 corresponding to the destination P3a.
- the overwrite processing unit 47 sets the position corresponding to the cargo gripping destination in the overwritten transport command.
- the transport vehicle V is traveling toward the unloading destination, in the configuration in which the transport vehicle V is set at a position corresponding to the unloading destination, a new destination in the transport vehicle V overwritten by the overwriting processing unit 47 is Since the transport vehicle V is the same as the destination of the transport command before the transport command is overwritten, the transport vehicle V can travel on the new route TA because it is originally traveling on the route TA. . As a result, the overwriting process for the transport vehicle V can be executed more reliably. Moreover, the burden on the transport controller TC can be reduced by performing the overwriting process easily.
- the transport vehicle V When the movement command is assigned by the overwriting processing unit 47, the transport vehicle V immediately executes the movement command and travels to the destination based on the movement command. In other words, in the transport system SYS (transport controller TC) of the present embodiment, the transport vehicle V immediately travels based on the movement command when the higher order stop command is executed by the host controller MC. Maintain the state of running without stopping. By this process, the transport system SYS (transport controller TC) of the present embodiment can suppress a decrease in the transport efficiency of the system due to the cancellation of the upper transport command.
- the transport vehicle V When the transfer command is normally assigned by the overwriting processing unit 47, the transport vehicle V reports an overwriting completion report indicating that the overwriting of the moving command to the transport command is completed as a status report. Send to.
- the overwriting completion report includes information indicating that the deletion of the upper conveyance command has been completed.
- the completion report unit 49 indicates that the execution of the upper stop command (deletion of the upper transfer command) has been completed when the overwrite processing unit 47 overwrites the transfer command with the transfer command (stop completion report). Is transmitted to the host controller MC.
- the completion reporting unit 49 transmits a higher level stop command completion report (stopped completion report) to the higher level controller MC.
- the completion reporting unit 49 immediately transmits the upper stop instruction completion report to the upper controller MC to the upper controller MC.
- the host controller MC receives the host stop command completion report from the completion report unit 49, thereby grasping that the execution of the host stop command transmitted from the host controller MC itself to the transport controller TC has been completed.
- the host controller MC transmits to the transport controller TC a new upper transport command related to the article W of the canceled upper transport command on condition that the upper stop command completion report has been received from the transport controller TC. That is, in the transport system SYS (transport controller TC) of the present embodiment, the host controller MC stops execution of the host transport command, and transmits a new host transport command related to the article W of the canceled host transport command to the transport controller TC. In this case, the host controller MC receives a host stop command completion report from the transport controller TC, and then transmits a new host transport command related to the article W of the canceled host transport command to the transport controller TC. Have.
- the host controller MC when the host controller MC changes the transport source or transport destination of the upper transport command once transmitted to the transport controller TC to another transport source or transport destination, first, the host controller MC first cancels the upper transport command of the upper transport command. After the command is transmitted and the upper stop command completion report is received from the transport controller TC, a new transport command in which the transport source or transport destination is changed is transmitted to the transport controller TC.
- the conveyance command unit 44 determines a conveyance vehicle V to which a conveyance command is assigned from a plurality of conveyance vehicles V, for example, according to a predetermined condition set in advance. For example, the transport command unit 44 assigns a transport command to the idle traveling vehicle V or the standby transport vehicle V to which no transport command is assigned. For example, the conveyance command unit 44 selects an appropriate conveyance vehicle V from the plurality of conveyance vehicles V so that the conveyance efficiency in the system is as high as possible, and assigns the conveyance command to the selected conveyance vehicle V.
- the transport command unit 44 holds the transport vehicle V after the upper controller MC receives the completion report of the upper stop command for the transport vehicle V in which the transfer command is overwritten with the movement command by the overwrite processing unit 47.
- a conveyance command corresponding to a newly issued higher-order conveyance command is assigned to the existing article W.
- a new host transport command for an article W related to the host transport command canceled from the host controller MC is issued in a predetermined period after the transport controller TC assigns a movement command to the transport vehicle V.
- the transport controller TC assigns a movement command to the transport vehicle V.
- the transport vehicle V holds the transport vehicle V after the host controller MC receives the stop completion report.
- the conveyance command corresponding to the newly issued upper conveyance command is assigned to the article W
- the upper conveyance command newly issued for the article W held by the conveyance vehicle V is assigned to the conveyance vehicle V. It can suppress reliably that the conveyance efficiency about the articles
- the conveyance command unit 44 when the transfer processing unit 47 assigns a movement command by overwriting the conveyance command to the conveyance vehicle V traveling toward the gripping destination, a predetermined period after the movement command is assigned. May be configured such that only the transport command including the same cargo gripping destination as the cargo gripping destination in the overwritten transport command is assigned to the transport vehicle V.
- the predetermined period in this configuration can be arbitrarily set according to, for example, the configuration of the system, and is set to about several seconds, for example.
- the conveyance command unit 44 may set other conditions than the above as conditions for assigning the conveyance command.
- the transport controller TC assigns a transport command corresponding to the higher transport command already transmitted from the host controller MC. There is a case that is suspended. In this case, when a new transport vehicle V to which no transport command is assigned is generated, the transport command that has been put on hold is assigned to the transport vehicle V.
- the transport vehicle V overwritten with the transport command by the overwriting processing unit 47 and assigned with the movement command is not assigned with the transport command, and therefore the article W that is the transport target of the original transport command (upper transport command)
- the transfer command unit 44 assigns a movement command by overwriting the transfer command the transfer command may be assigned to the transport vehicle V.
- the transfer command is canceled in the configuration in which only the transfer command including the same load holding destination as that in the overwritten transfer command is assigned to the transfer vehicle V. Since the transport vehicle V is traveling toward the load gripping destination, a new transport command can be assigned to the transport vehicle V so that the article W at the load gripping location can be quickly gripped. The reduction in transport efficiency of the article W can be suppressed.
- FIG. 4 shows an example of the operation flow of the transport system SYS.
- an operation for causing the transport vehicle V to transport the article W based on the upper transport command of the upper controller MC in the transport system SYS will be described.
- the control method of the conveyance vehicle of this embodiment is demonstrated based on operation
- FIGS. 5A and 5B and FIGS. 6A to 6D are diagrams showing the operation of the transport system SYS in the operation flow shown in FIG. 4 will be referred to in the description of the operation flow of FIG.
- step S1 of FIG. 4 when the transport vehicle V is caused to transport the article W based on the host transport command of the host controller MC, in step S1 of FIG. 4, as shown in FIG.
- the command determination unit 31 determines the execution of the upper transport command and transmits it to the transport controller TC.
- the upper conveyance instruction is that the article to be conveyed is the article W
- the destination of the cargo is the position P1a
- the destination of the unloading is the position P3a.
- the upper transport command receiving unit 43 (see FIG. 3) of the transport controller TC receives the upper transport command transmitted from the upper controller MC.
- the upper transport command receiving unit 43 transmits information related to the received upper transport command to the transport command unit 44.
- step S2 of FIG. 4 the transport command unit 44 of the transport controller TC allocates a transport command to the transport vehicle V in accordance with the received upper transport command.
- the conveyance command unit 44 determines a predetermined conveyance vehicle V from the plurality of conveyance vehicles V, and transmits a conveyance command to the determined conveyance vehicle V.
- the conveyance command includes the load holding point information with the load holding point as the position P1a, the load discharge point information with the load holding point as the position P3a, and the position P1a of the load holding point. Travels to a position P1 corresponding to, stops, grabs the article W at the destination P1a, stops to travel to a position P3 corresponding to the unloading position P3a, and unloads the position P3a. And a command for causing the transport vehicle V to unload the article W.
- the in-vehicle controller VC of the transport vehicle V determines whether or not the received transport command can be executed.
- step S4 the vehicle-mounted controller VC displays information indicating the failure in allocation of the conveyance command. Information is reported to the transport controller TC (allocation failure report).
- the conveyance command unit 44 allocates the conveyance command to the conveyance vehicles V other than the conveyance vehicle V for which the allocation of the conveyance command has failed.
- step S3 in FIG. 4 When it is determined that the on-board controller VC of the transport vehicle V can execute the received transport command (step S3 in FIG. 4; YES), the received transport command is allocated to the transport vehicle V, and the transport vehicle V is allocated. The execution of the specified transfer command is started.
- step S ⁇ b> 6 the in-vehicle controller VC reports information indicating completion of allocation of the conveyance command to the conveyance controller TC as status information (allocation completion report).
- step S7 of FIG. 4 the transport vehicle V moves to the position P1a where the article W is grabbed according to the transport command.
- the vehicle travels to the corresponding position P1 and stops (carrying bag).
- step S8 the in-vehicle controller VC reports information indicating the completion of the grasping travel to the transport controller TC as state information (the grasping travel). final report).
- step S9 in FIG. 4 the transport vehicle V grips and holds the article W at the position P1a at the gripping destination according to the transport command as shown in FIG. 6B (load gripping).
- step S10 the in-vehicle controller VC reports information indicating completion of the grasping operation to the transport controller TC as status information (load grasp completion report). .
- step S11 of FIG. 4 the transport vehicle V travels to a position P3 corresponding to the unloading destination position P3a of the article W and stops (unloading travel) in accordance with the transport command, as shown in FIG. 6C. ).
- the above-described cargo holding travel (step S7) and unloading travel (step S11) in the transport vehicle V are referred to as “transport travel”.
- step S11 in FIG. 4 When the unloading travel of step S11 in FIG. 4 is completed, the vehicle-mounted controller VC reports information indicating the completion of the unloading travel to the transport controller TC as state information in step S12 (unloading travel). final report).
- step S13 of FIG. 4 the transport vehicle V unloads the held article W to the unloading destination position P3a (unloading) in accordance with the transport command, as shown in FIG. 6D.
- step C14 the vehicle-mounted controller VC reports information indicating the completion of the execution of the conveyance command to the conveyance controller TC as state information (step C14). report).
- step S15 of FIG. Information indicating the completion of execution is transmitted to the completion report unit 49, and the completion report unit 49 transmits an upper conveyance command completion report indicating completion of execution of the upper conveyance command to the upper controller MC.
- the host controller MC receives the host transport command completion report from the transport controller TC, thereby grasping that the host transport command transmitted by the host controller MC itself to the transport controller TC has been completed.
- the host transport command of the host controller MC is executed by the operations from step S1 to step S15.
- FIGS. 1 to 6 show an example of an operation flow of the transport system SYS.
- an example of an operation for executing the cancellation of the higher-order transport command based on the higher-order stop command of the higher-order controller MC in the transport system SYS will be described.
- FIGS. 1 to 6 are referred to.
- symbol is attached
- step S1 a host transport command is transmitted from the host controller MC to the transport controller TC.
- step S2 a transport command is assigned to the transport vehicle V from the transport controller TC.
- the transport vehicle V executes the transport command assigned in steps S7 to S13.
- the host controller MC may stop the host transport command that has been determined to be executed.
- the upper stop instruction determination unit 32 of the upper controller MC determines execution of the upper stop instruction in step S21 and transmits the upper stop instruction to the transport controller TC.
- the host stop command receiving unit 46 of the transport controller TC receives a host stop command from the host controller MC.
- the upper stop instruction receiving unit 46 receives the upper stop instruction, the information about the upper stop instruction is transmitted to the overwriting processing unit 47.
- the overwrite processing unit 47 that has received the upper stop command overwrites the transfer command with the movement command in step S22 in FIG. That is, a movement command having a predetermined position as a destination is assigned to the transport vehicle V to which a transport command corresponding to the upper transport command that is the target of the upper stop command is assigned.
- the overwrite processing unit 47 sets the predetermined position to any position from the current position of the transport vehicle V to be overwritten with the movement command to the branching unit 10 of the route TA in the traveling direction as described above. Set to.
- the predetermined position is set to any position from the current position of the transport vehicle V to be overwritten with the movement command to the load gripping destination or the unloading destination of the transport command assigned to the transport vehicle V.
- step S23 of FIG. 7 when the vehicle-mounted controller VC receives a movement command from the transfer controller TC, the vehicle-mounted controller VC determines whether the received movement command can be overwritten on the conveyance command.
- the in-vehicle controller VC determines that the movement command can be overwritten when it is determined that the received movement command can be executed based on its own state information.
- step S24 the vehicle-mounted controller VC carries information indicating failure of overwriting of the movement command as state information. Report to controller TC (overwrite failure report).
- step S25 the transport controller TC fails to execute the received upper stop command.
- a high-order stop command failure report indicating that it has been sent is sent to the high-order controller MC.
- the host controller MC When the host controller MC receives the host stop command failure report, the host controller MC cancels the host stop command in step S26.
- step S14 a conveyance command completion report is transmitted from the conveyance vehicle V to the conveyance controller TC
- step S15 a completion report of the upper conveyance command is transmitted from the conveyance controller TC to the upper controller MC.
- step S27 the vehicle-mounted controller VC indicates that the overwriting of the movement command to the transport command has been completed. Is reported to the transport controller TC as status information (overwrite completion report). When the transfer command assigned to the transport vehicle V is overwritten on the movement command, the transport command is not assigned to the transport vehicle V.
- step S29 the transport vehicle V in which the transfer command is overwritten on the transfer command travels to the destination in the transfer command in accordance with the transfer command.
- the transport system SYS transport controller TC
- the transport command assigned to the transport vehicle V is overwritten with the movement command and assigned to the transport vehicle V.
- the traveling state of the transport vehicle V can be maintained without stopping the transport vehicle V.
- step S28 the completion report unit 49 of the transport controller TC A host stop command completion report indicating that the command execution has been completed is transmitted to the host controller MC. That is, in the transport system SYS (transport controller TC) of the present embodiment, when the transport controller TC receives the upper stop command, the delete command is transmitted to the transport vehicle V to which the transport command corresponding to the upper stop command is assigned. Instead of allocating (overwriting) a movement command instead. Then, when the movement command is normally overwritten on the transport vehicle V, the transport command that has been assigned to the transport vehicle V is deleted, and the transport controller TC transfers the transport command (upper transport command). Is transmitted to the host controller MC.
- the host controller MC receives the host stop command completion report from the completion report unit 49, thereby acquiring information indicating that the host stop command transmitted from the host controller MC itself to the transport controller TC has been completed.
- the upper controller MC is permitted to transmit a new upper transfer command related to the article W of the canceled upper transfer command to the transfer controller TC on the condition that the upper stop command completion report has been received.
- a new upper conveyance command related to the article W of the canceled upper conveyance command is transmitted to the conveyance controller TC.
- a higher order transport command related to the article, which is different from the canceled upper order transport command, is transmitted to the transport controller TC.
- the transport controller TC may use another flow when overwriting the transport command with the movement command and assigning the transport command to the transport vehicle V in step S22.
- the overwrite processing unit 47 of the transport controller TC that has received the upper stop command in step S21, as described above, sets the predetermined position of the transport vehicle V that has overwritten the transport command in step S32.
- a movement command that is set to any position from the current position to the branching portion 10 of the route TA in the traveling direction and executes traveling to a predetermined position may be assigned to the transport vehicle V. In the case of this configuration, as described above, a newly assigned transfer command can be easily executed.
- the overwrite processing unit 47 of the transport controller TC that has received the upper stop instruction in S21, as described above in steps S33 to SS5 in FIG. If the transport vehicle V is traveling toward the unloading destination, the position corresponding to the unloading destination is set. It is good also as a structure set to a position. In the case of this configuration, in step S33, the overwriting processing unit 47 determines whether or not the transport vehicle V to be overwritten is before the grasping and traveling. When the overwriting processing unit 47 determines that the target transport vehicle V is before traveling with grabbing (YES in step S33), the overwriting processing unit 47 sets the load in the overwritten transport command as a predetermined position in step S34.
- a position corresponding to the gripping point is set, and a movement command for executing traveling to a predetermined position is assigned to the transport vehicle V.
- the overwriting processing unit 47 determines that the target transport vehicle V is after grabbing and traveling (NO in step S33)
- the overwriting processing unit 47 sets the transport command overwritten as a predetermined position in step S35. Is set to a position corresponding to the unloading destination at, and a movement command for executing traveling to a predetermined position is assigned to the transport vehicle V.
- the new destination in the transport vehicle V overwritten with the movement command by the overwriting processing unit 47 is the same as the destination of the transport command before being overwritten. Therefore, the transport vehicle V can travel on a new route. As a result, the overwriting process for the transport vehicle V can be executed more reliably.
- FIGS. 1 to 8 are referred to.
- symbol is attached
- the host controller MC receives the upper stop command completion report, and in step S30, transmits a new upper transport command related to the article W of the canceled upper transport command to the transport controller TC.
- the upper transport command receiving unit 43 of the transport controller TC receives the upper transport command and transmits information related to the upper transport command to the transport command unit 44.
- the conveyance command unit 44 newly relates to the article W held by the conveyance vehicle V after the host controller MC receives the high-order stop command completion report for the conveyance vehicle V overwritten by the overwrite processing unit 47.
- a transfer command corresponding to the issued higher transfer command is assigned to the transport vehicle V.
- the conveyance command unit 44 determines whether or not the article W related to the upper conveyance instruction is the article W held by the conveyance vehicle V that has executed the overwrite process (upper stop instruction).
- the conveyance command unit 44 determines that the article W related to the higher-level conveyance command is not the article W held by the conveyance vehicle V that has performed the overwriting process (NO in step S40), the conveyance command unit 44 performs processing in step S41 in FIG. Similarly to step S2, the transport vehicle V in charge of the upper transport command is determined, and a transport command based on the upper transport command is assigned to the determined transport vehicle V.
- the conveyance command unit 44 determines that the article W related to the higher-level conveyance instruction is the article W held by the conveyance vehicle V that has executed the overwriting process (YES in step S40), the conveyance instruction unit 44 overwrites in step S42.
- a transport command based on the upper transport command is assigned to the transport vehicle V that has executed the process.
- the transport vehicle V to which the transport command is assigned executes the transport command in steps S7 to S13 similar to FIG. 4, and transmits a transport completion report as a status report to the transport controller TC in step S14.
- the completion report unit 49 of the transfer controller TC transmits a higher transfer command completion report to the higher controller MC.
- the transport controller TC may use the flow shown in FIG. 11 when assigning a transport command based on the upper transport command to the transport vehicle V in step S40.
- the conveyance command unit 44 overwrites the conveyance command and assigns a movement command by overwriting the conveyance command, if the conveyance vehicle V is traveling toward the cargo holding destination, For a predetermined period after the command is assigned, only the transfer command including the same load holding destination as that in the overwritten transfer command is assigned to the transport vehicle V.
- step S45 in FIG. 11 the transport command unit 44 is traveling for a predetermined period after the transport vehicle V to which the transport command based on the higher-order transport command is traveling toward the gripping destination and the travel command is allocated. It is determined whether or not (time) has elapsed.
- the conveyance command unit 44 determines in step S46 whether or not it includes the same cargo gripping destination as that of the transport command in which the upper transport command is overwritten.
- the conveyance command unit 44 determines that the higher level in the step S47.
- the transfer command based on the transfer command is assigned to another transfer vehicle V without being assigned to the transfer vehicle V that has been subjected to the overwriting process.
- the conveyance command unit 44 determines that a predetermined period (time) has elapsed since the conveyance vehicle V that allocates a conveyance command based on the higher-level conveyance command is traveling toward the gripping destination and the movement command is allocated (step) (NO in S45), and when the transport command unit 44 determines that the same load grip destination as the transport command overwritten with the upper transport command is included (YES in step S46), the transport command unit 44 Similarly to step S42 in FIG. 10, a transport command based on the upper transport command is assigned to the transport vehicle V that has executed the overwriting process.
- the transport vehicle V for which the transport command has been stopped is traveling toward the load gripping destination, by assigning a new transport command to the transport vehicle V, the article at the load gripping destination. W can be grabbed at an early stage, and a decrease in the conveyance efficiency of the article W can be suppressed.
- the transport vehicle V to which the transport command is assigned executes the transport command in steps S7 to S13 similar to FIG. 4, and transmits a transport completion report as a status report to the transport controller TC in step S14.
- the completion report unit 49 of the transfer controller TC transmits a higher transfer command completion report to the higher controller MC.
- the transport system SYS after the host stop command of the host controller MC is completed by the operations shown in FIGS. 9 to 11, a new host transport command for the article W for which the host controller MC has executed the host stop command is executed. Is done.
- the transport system SYS uses the transport command assigned to the transport vehicle V in response to the upper stop command for stopping the upper transport command received from the host controller MC.
- a completion report unit 49 that transmits a cancellation completion report indicating completion to the host controller MC.
- the transport vehicle control method of the present embodiment is a method of controlling the transport vehicle V that travels along the predetermined route TA and transports the article W, and relates to transport of the article W received from the host controller MC.
- the conveyance command for allocating the article W as a holding destination to the unloading destination is assigned to the conveyance vehicle V, and the higher-order stop command for canceling the higher-order conveyance command received from the higher-level controller MC. Accordingly, the transfer command assigned to the transport vehicle V is overwritten with the transfer command that travels to a predetermined position and does not unload at the predetermined position, and the transfer command is overwritten. Transmitting a stop completion report indicating that the host stop command has been completed to the host controller MC.
- the configuration other than the above is an arbitrary configuration, and there may or may not be a configuration other than the above. Good.
- the control method of the present embodiment may be supplied by a program that causes a computer device to execute the control method described above, or a storage medium that stores (records) the program.
- the above configuration is such that the host controller MC stops the execution of the host transport command, and a new host related to the article W of the stopped host transport command.
- the host controller MC receives a completion report indicating that the stop of the execution of the host transport command has been completed from the transport controller TC, and then receives a new package related to the canceled upper transport command package.
- the configuration is such that the higher order transport command is transmitted to the transport controller TC, and the configuration conforms to the SEMI standard.
- the movement command not traveling at the predetermined position and unloading at the predetermined position is overwritten, and the completion report unit 49 transmits the cancellation completion report to the host controller MC.
- the completion report can be transmitted to the host controller MC early and reliably.
- the host controller MC can transmit a new host transport command to the transport controller TC by receiving the stop completion report, and the transport controller TC is running the new transport command based on the host transport command.
- the transport system SYS transport controller TC
- the transport vehicle control method of the present embodiment can be implemented by changing only the transport controller without changing the host controller in the existing transport system. It can be introduced at a cost.
- the transport controller TC is assigned to the transport vehicle V when an upper stop command is received from the host controller. Instead of deleting the current transport command, it overwrites the move command that travels to the specified position and does not unload at the specified position, and when the overwriting is completed, sends the higher level stop command completion report to the higher level controller. By doing so, a new transport command transmitted from the host controller can be reassigned to the transport vehicle V in accordance with the completion report without stopping the transport vehicle V to which the transport command has been assigned.
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Abstract
Description
MC・・・上位コントローラ
TC・・・搬送コントローラ
TA・・・軌道(経路)
10・・・分岐部
11・・・合流部
31・・・上位搬送指令決定部
32・・・上位中止指令決定部
41・・・状態情報要求部
42・・・状態情報受信部
43・・・上位搬送指令受信部
44・・・搬送指令部
46・・・上位中止指令受信部
47・・・上書き処理部
48・・・搬送車情報格納部
49・・・完了報告部
Claims (7)
- 所定の経路に沿って走行し、物品を搬送する搬送車と、上位コントローラから受信した物品の搬送に関する上位搬送指令に基づいて、前記搬送車を制御する搬送コントローラと、を備える搬送システムであって、
前記搬送コントローラは、
前記上位コントローラから受信した前記上位搬送指令に応じて、前記搬送車に対して、前記荷つかみ先の物品を荷おろし先に搬送させる搬送指令を割り付ける搬送指令部と、
前記上位コントローラから受信した前記上位搬送指令を中止する上位中止指令に応じて、前記搬送車に割り付けている前記搬送指令に、所定位置まで走行させかつ前記所定位置での荷おろしを行わない移動指令を上書きしてその搬送車に割り付ける上書き処理部と、
前記上書き処理部による上書きが完了したときに、前記上位中止指令が完了したことを示す中止完了報告を前記上位コントローラに送信する完了報告部と、を備える、搬送システム。 - 前記搬送指令部は、前記上書き処理部により前記移動指令を上書きした前記搬送車に対して、前記上位コントローラが前記中止完了報告を受信した後にその搬送車が保持している物品に関して新たに出される前記上位搬送指令に応じた前記搬送指令を割り付ける、請求項1に記載の搬送システム。
- 前記上書き処理部は、前記所定位置として、前記移動指令を上書きした前記搬送車の現在位置から走行方向において前記経路の分岐部に至るまでのいずれかの位置に設定する、請求項1又は請求項2に記載の搬送システム。
- 前記上書き処理部は、前記所定位置として、前記搬送指令が割り付けられている搬送車が荷つかみ先に向けて走行している場合には、前記搬送車の現在位置から前記荷つかみ先に至るまでのいずれかの位置に設定し、前記搬送車が荷おろし先に向けて走行している場合には、前記搬送車の現在位置から前記荷おろし先に至るまでのいずれかの位置に設定する、請求項1又は請求項2に記載の搬送システム。
- 前記搬送指令部は、
前記上書き処理部が前記搬送指令に上書きして前記移動指令を割り付けたときに、前記搬送車が荷つかみ先に向けて走行している場合、前記移動指令を割り付けてから所定の期間は、その搬送車に対して、前記搬送指令における前記荷つかみ先と同一の前記荷つかみ先への搬送指令のみを割り付ける、請求項1から請求項4のいずれか一項に記載の搬送システム。 - 所定の経路に沿って走行し、物品を搬送する搬送車を、上位コントローラから受信した物品の搬送に関する上位搬送指令に基づいて制御する搬送コントローラであって、
前記上位コントローラから受信した前記上位搬送指令に応じて、前記搬送車に対して、荷つかみ先の物品を荷おろし先に搬送させる搬送指令を割り付ける搬送指令部と、
前記上位コントローラから受信した前記上位搬送指令を中止する上位中止指令に応じて、前記搬送車に割り付けている前記搬送指令に、所定位置まで走行させかつ前記所定位置での荷おろしを行わない移動指令を上書きしてその搬送車に割り付ける上書き処理部と、
前記上書き処理部による上書きが完了したときに、前記上位中止指令が完了したことを示す中止完了報告を前記上位コントローラに送信する完了報告部と、を備える、搬送コントローラ。 - 所定の経路に沿って走行し、物品を搬送する搬送車を制御する方法であって、
上位コントローラから受信した物品の搬送に関する上位搬送指令に応じて、前記搬送車に対して、荷つかみ先の物品を荷おろし先に搬送させる搬送指令を割り付けることと、
前記上位コントローラから受信した前記上位搬送指令を中止する上位中止指令に応じて、前記搬送車に割り付けている前記搬送指令に、所定位置まで走行させかつ前記所定位置での荷おろしを行わない移動指令を上書きしてその搬送車に割り付けることと、
前記移動指令の上書きが完了したときに、前記上位中止指令が完了したことを示す中止完了報告を前記上位コントローラに送信することと、を備える、搬送車の制御方法。
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EP19775921.0A EP3778435A4 (en) | 2018-03-27 | 2019-02-04 | TRANSPORTATION SYSTEM, TRANSPORTATION CONTROL DEVICE, AND CONTROL METHOD FOR TRANSPORTATION VEHICLE |
JP2020510334A JP6897865B2 (ja) | 2018-03-27 | 2019-02-04 | 搬送システム、搬送コントローラ、及び、搬送車の制御方法 |
CN201980021978.7A CN111902347B (zh) | 2018-03-27 | 2019-02-04 | 搬运系统、搬运控制器、以及搬运车的控制方法 |
US17/041,503 US11339008B2 (en) | 2018-03-27 | 2019-02-04 | Transport system, transport controller, and transport vehicle control method |
SG11202009524SA SG11202009524SA (en) | 2018-03-27 | 2019-02-04 | Transport system, transport controller, and transport vehicle control method |
KR1020207027847A KR102392084B1 (ko) | 2018-03-27 | 2019-02-04 | 반송 시스템, 반송 컨트롤러, 및, 반송차의 제어 방법 |
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