WO2022049929A1 - 搬送車システム、及び搬送車制御方法 - Google Patents

搬送車システム、及び搬送車制御方法 Download PDF

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Publication number
WO2022049929A1
WO2022049929A1 PCT/JP2021/027760 JP2021027760W WO2022049929A1 WO 2022049929 A1 WO2022049929 A1 WO 2022049929A1 JP 2021027760 W JP2021027760 W JP 2021027760W WO 2022049929 A1 WO2022049929 A1 WO 2022049929A1
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WIPO (PCT)
Prior art keywords
transport
priority
command
empty
vehicles
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/027760
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English (en)
French (fr)
Japanese (ja)
Inventor
正幸 高原
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
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to JP2022546157A priority Critical patent/JP7501644B2/ja
Priority to KR1020237007032A priority patent/KR20230043982A/ko
Priority to US18/023,842 priority patent/US20230322486A1/en
Priority to EP21863987.0A priority patent/EP4209852A4/en
Priority to IL301064A priority patent/IL301064A/en
Priority to CN202180053896.8A priority patent/CN116075792A/zh
Publication of WO2022049929A1 publication Critical patent/WO2022049929A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3214—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicle
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3216—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations using a general scheme of a conveying path within a factory
    • 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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories

Definitions

  • the present invention relates to a transport vehicle system and a transport vehicle control method.
  • Patent Document 1 discloses a technique of assigning a high-priority transport command to a transport vehicle with priority by using a transport command with a priority.
  • a high-priority transport command is assigned when a high-priority transport command is issued with no empty transport vehicle remaining.
  • Have difficulty That is, in the prior art, regardless of the number of empty transport vehicles remaining, if there are empty transport vehicles, the transport command is assigned when the transport command is generated, so that the transport command with high priority cannot be assigned. A situation can occur. In a transport vehicle system, if the situation in which a high-priority transport command cannot be assigned is prolonged, the operating rate of the device that processes the transported article decreases.
  • the present invention provides a transport vehicle system capable of suppressing a decrease in the operating rate of an apparatus for processing an article to be transported, and a transport vehicle control method.
  • the transport vehicle system is a transport vehicle system including a plurality of transport vehicles and a controller for assigning a transport command to the plurality of transport vehicles, and the controller has a first number of empty transport vehicles.
  • the first transport command of the first priority is generated in the situation of the number of vehicles, the first transport command is assigned to the empty transport vehicle, and the first priority is in the situation where the number of empty transport vehicles is the first number.
  • the second transport command is not assigned to an empty transport vehicle.
  • the transport vehicle control method is a transport vehicle control method for assigning a transport command to a plurality of transport vehicles, and is the first priority in a situation where the number of empty transport vehicles is the first. 1
  • the first transport command is assigned to an empty transport vehicle, and in a situation where the number of empty transport vehicles is the first number, the second priority is lower than the first priority. This includes not allocating the second transport command to an empty transport vehicle when a transport command is generated.
  • the allocation of the transport command with high priority is permitted, and the number of empty transport vehicles is low. Since the allocation of the transport command is not allowed, it is possible to suppress the occurrence of a situation in which the transport command having a high priority cannot be assigned, and it is possible to suppress the decrease in the operating rate of the device for processing the article to be transported.
  • the controller issues the first transport command to empty transport. It does not have to be assigned to the car. According to this aspect, if the number of empty transport vehicles is smaller than that of the first number, even if the transport command has a high priority, it cannot be assigned. Therefore, there is a shortage of empty transport vehicles and the transport command is assigned. It is possible to suppress the occurrence of a situation in which there is no empty carrier at a position where the above can be carried out quickly.
  • the second transport command is generated.
  • the transport command may be assigned to an empty transport vehicle. According to this aspect, if the number of empty transport vehicles is larger than that of the first number, the low priority transport command is allowed to be assigned. Therefore, even if the low priority transport command is assigned, the empty transport vehicle is assigned. It is possible to suppress the occurrence of a situation in which is not present.
  • the second priority is divided into a plurality of indicators as the index of the priority that decreases in order
  • the first number is divided into a plurality of indicators of the number of empty transport vehicles that increase in order.
  • the controller may allow a lower priority transport command to be assigned to the empty transport vehicle as the number of empty transport vehicles increases.
  • the priority index and the index of the number of empty transport vehicles are divided into a plurality of indicators, and as the number of empty transport vehicles increases, a lower priority transport command is assigned to the empty transport vehicles. Therefore, it is possible to flexibly change the index according to the scale of the system and the user's request, and suppress the occurrence of a situation in which a higher priority transport command cannot be assigned.
  • the controller when the controller generates the highest priority transport command having a specific priority higher than the first priority, the highest priority transport command is issued to the empty transport vehicle regardless of the number of empty transport vehicles. It may be allowed to be assigned to. According to this aspect, since the highest priority transport command is assigned to the vacant transport vehicle regardless of the number of vacant transport vehicles, it is possible to quickly process the transport to be carried out immediately. Further, in the transport vehicle system of the above aspect, the controller includes a plurality of area controllers, and each of the plurality of area controllers assigns a transport command to the transport vehicle in the jurisdiction area, and determines the number of empty transport vehicles in the jurisdiction area.
  • the controller may raise the priority of the transport command, which is not assigned to any of the transport vehicles, according to the passage of time from the occurrence of the transport command.
  • the controller may gradually raise the priority according to the passage of time. According to this aspect, since the priority is raised step by step, it is possible to suppress the raising of the low priority to the high priority in a short time. Further, in the transport vehicle system of the above aspect, the controller may allow the priority to be raised up to the upper limit set higher as the priority when the transport command is generated is higher. According to this aspect, it is possible to prevent the low priority from being unnecessarily raised.
  • FIG. 1 is a diagram showing an example of arrangement of a transport vehicle system according to the first embodiment.
  • FIG. 2 is a diagram showing a configuration example of the transport vehicle system according to the first embodiment.
  • the transport vehicle system 1 includes a controller 3, a plurality of transport vehicles 5, and a controller 10.
  • the transport vehicle system 1 is a system disposed in a semiconductor device manufacturing factory, and is a FOUP (Front-Opening Unified Pod) containing semiconductor wafers used for manufacturing semiconductor devices, or a processing member such as a reticle.
  • a container (article) such as a reticle pod containing the above is transported.
  • the track 7 is a traveling area of a plurality of transport vehicles 5.
  • the plurality of transport vehicles 5 are, for example, ceiling traveling vehicles.
  • the track 7 is a traveling rail provided on the ceiling of a clean room or the like, for example.
  • the track 7 is provided adjacent to a processing device (not shown), a stocker (not shown), or the like.
  • the processing device is, for example, an exposure device, a coater developer, a film forming device, an etching device, or the like, and various processes are applied to the semiconductor wafer in the container transported by the plurality of transport vehicles 5.
  • the stocker (automated warehouse) stores, for example, containers and the like transported by a plurality of transport vehicles 5.
  • the plurality of transport vehicles 5 may be tracked carriages traveling on the ground.
  • the track 7 is provided on the floor or the like when the transport vehicle 5 is a tracked carriage traveling on the ground. Further, the illustrated orbit 7 is an example and can be set arbitrarily.
  • a power supply line (not shown) is provided on the track 7.
  • the power supply line is arranged along the track 7. For example, an alternating current is supplied to the power supply line.
  • Each of the plurality of transport vehicles 5 is provided with a power receiving coil, and receives power from the power supply line by electromagnetic induction in a non-contact manner. When power is supplied by non-contact, it is suitable for a clean room because it can suppress the generation of dust and the like due to contact.
  • Orbit 7 is divided into a plurality of areas 9.
  • a controller 10 for controlling the transport vehicle 5 is arranged in each of the plurality of areas 9.
  • the controller 10 may be referred to as an "area controller".
  • the controller 10 controls the transport vehicle 5 traveling in the jurisdiction area with the area 9 in which the controller 10 is arranged as the jurisdiction area.
  • the transport vehicle 5 and the controller 10 are wirelessly connected to each other so as to be communicable. Further, each of the plurality of controllers 10 is wirelessly or wiredly connected to the controller 10 outside the jurisdiction area across the area 9.
  • the controller 3 outputs a transport command including information indicating the loading destination and the unloading destination of the article.
  • the controller 3 may be referred to as an "upper controller".
  • Each of the controller 3 and the controller 10 is wirelessly or wiredly connected so as to be communicable.
  • the controller 3 which is the upper controller transmits a transfer command to the controller 10 which is the lower controller.
  • the controller 10 executes the allocation processing of the received transport command, and determines the transport vehicle 5 for transporting the article. As a result, the transport vehicle 5 travels toward the loading / unloading destination of the article based on the transport command.
  • FIG. 3 is a block diagram showing a configuration example of a controller (area controller) according to the first embodiment.
  • the controller 10 has the same configuration.
  • the controller 10 has a communication unit 101, a storage unit 110, and a control unit 120.
  • the controller 10 is, for example, a computer device including a CPU (Central Processing Unit), a main memory, a storage device, a communication device, and the like, and executes various processes.
  • the configuration of the computer device is arbitrary, and may be configured by, for example, one device or a plurality of devices.
  • the communication unit 101 is communicably connected to another controller 10 and the transport vehicle 5 existing in the area 9 under the jurisdiction, and transmits and receives various information.
  • the controller 10 periodically communicates with all the transport vehicles 5 existing in the area 9 under its jurisdiction by polling or the like.
  • the storage unit 110 has a transport vehicle information table 111 and a transport command information table 112.
  • the storage unit 110 is, for example, a non-volatile memory, and stores various information received by the communication unit 101.
  • the transport vehicle information table 111 stores information about a plurality of transport vehicles 5. Specifically, the transport vehicle information table 111 stores information about the transport vehicle 5 in the area 9 under the jurisdiction of the controller 10 and information about the transport vehicle 5 in the area 9 outside the jurisdiction of the controller 10.
  • FIG. 4 is a diagram showing an example of information stored in the transport vehicle information table according to the first embodiment.
  • the transport vehicle information table 111 indicates that the transport vehicle ID exists in each of the area 9 within the jurisdiction (inside the jurisdiction area) and the area 9 outside the jurisdiction (outside the jurisdiction area). , "State", and "current position” are stored in association with each other.
  • the transport vehicle ID is identification information that uniquely identifies each of the plurality of transport vehicles 5.
  • the state is information indicating whether the transport vehicle 5 is an empty transport vehicle. In addition, the state may include information indicating the state of the transport vehicle 5, such as whether the state of the transport vehicle 5 is normal (whether it can be used).
  • 1 in use is a flag indicating that the vehicle is traveling on the track 7 based on the transport command, and indicates that the vehicle is not an empty transport vehicle.
  • 0 unused is a flag indicating that the vehicle is not traveling based on the transport command, and indicates that the vehicle is an empty transport vehicle.
  • the current position is information indicating the current position in the traveling area of the transport vehicle 5.
  • the controller 10 exists in the number of empty transport vehicles existing in the area 9 within the jurisdiction, the number of empty transport vehicles existing in the area 9 outside the jurisdiction, and the plurality of areas 9. You can recognize the number of empty transport vehicles to be used.
  • the transport command information table 112 stores information related to the transport command.
  • FIG. 5 is a diagram showing an example of information stored in the transport command information table according to the first embodiment.
  • the transport command information table 112 stores information of the “transport command ID”, the “command content”, the “priority”, and the “occurrence date / time” in association with each other.
  • the transport command ID is identification information that uniquely identifies each of the transport commands.
  • the content of the instruction includes information on the unloading destination (from) and the unloading destination (to).
  • the priority is information indicating the degree of priority of the transport command. It is preferable that the higher the priority, the higher the priority of the transport command. As an example, the priority is expressed by a larger numerical value as the priority is higher. In the present embodiment, the priority of less than 40 is "low", the priority of 40 or more and less than 60 is “medium”, the priority of 60 or more is “high”, and the priority of 99 is "specific" (specification). Priority).
  • a transport command with a priority of "low” corresponds to a transport command from the stocker to the stocker.
  • a transport command with a priority of "medium” corresponds to a transport command from the stocker to the processing device.
  • a high priority transport command corresponds to a transport command from the processing device to the stocker. That is, in the present embodiment, one of the purposes is to suppress a decrease in the operation of the processing device by giving priority to the transfer to the processing device or the transfer from the processing device.
  • the transport command having the priority "specific" can be assigned not only to the empty transport vehicle but also to the transport vehicle 5 in which another transport command is being executed.
  • the priority classification is not limited to this, and can be set to any range, any numerical value, and any number of classifications.
  • the date and time of occurrence is information indicating the date and time when the transport command was issued.
  • the date and time when the transport command is generated may be unified by either the date and time added at the timing of transmission by the controller 3 or the date and time added at the timing of reception by the controller 10.
  • the control unit 120 includes a data processing unit 121, a transport vehicle information output unit 122, a number calculation unit 123, an allocation unit 124, a route search unit 125, and a transport vehicle determination unit 126.
  • the data processing unit 121 executes processing of various information received by the communication unit 101 and processing of various information transmitted by the communication unit 101. Specifically, the data processing unit 121 stores various information (for example, transport vehicle information, transport command information, etc.) received by the communication unit 101 in the storage unit 110. Further, when the transport command information is received by the communication unit 101, the data processing unit 121 may notify the number calculation unit 123 that the transfer command information has been received. Further, the data processing unit 121 receives various information (for example, transport vehicle information, transport command, etc.) from the transport vehicle information output unit 122 and the transport vehicle determination unit 126, and controls the transmission of various information by the communication unit 101.
  • various information for example, transport vehicle information, transport command, etc.
  • the transport vehicle information output unit 122 outputs the transport vehicle information existing in the area 9 under the jurisdiction of the controller 10 (self).
  • the transport vehicle information output unit 122 periodically outputs transport vehicle information.
  • the transport vehicle information output unit 122 acquires the transport vehicle information of the area 9 under its jurisdiction from the transport vehicle information table 111 (see FIG. 4A) and outputs it to the data processing unit 121.
  • the data processing unit 121 transmits the transport vehicle information to another controller 10 arranged in the area 9 outside the jurisdiction via the communication unit 101. Take control.
  • the other controller 10 receives the transport vehicle information, it stores the received transport vehicle information in the transport vehicle information table 111 (see FIG.
  • the data processing unit 121 when the data processing unit 121 receives the carrier vehicle information via the communication unit 101, it stores it in the transport vehicle information table 111 as the transport vehicle information of the area 9 outside the jurisdiction. Further, the data processing unit 121 periodically receives the transport vehicle information from the transport vehicle 5 existing in the area 9 within the jurisdiction via the communication unit 101, and the transport vehicle information table 111 (see FIG. 4A). Store in.
  • the number calculation unit 123 calculates the number of empty transport vehicles. Specifically, the number calculation unit 123 refers to the transport vehicle information table 111, and calculates the number of data whose state is "0 (unused)" (corresponding to an empty transport vehicle). Here, the number calculation unit 123 sets the total number of the number of data in the area 9 within the jurisdiction and the number of data in the area 9 outside the jurisdiction as the number of empty transport vehicles. That is, the number of vacant transport vehicles is the total number of vacant transport vehicles existing in each of the plurality of areas 9. The number calculation unit 123 may periodically calculate the number of empty transport vehicles, or may calculate the number of empty transport vehicles at the timing when the data processing unit 121 receives the transport command.
  • the allocation unit 124 determines the allocation of the transfer command using the transfer command information table 112. Specifically, in the situation where the number of empty transport vehicles calculated by the number calculation unit 123 is the first number, the allocation unit 124 refers to the transport command information table 112 and refers to the transport command information table 112 for the first transport of the first priority. When a command is generated, it is decided to allocate the first transport command to an empty transport vehicle. Further, in the situation where the number of empty transport vehicles calculated by the number calculation unit 123 is the first number, the allocation unit 124 refers to the transport command information table 112 and has a second priority lower than the first priority. When the second transport command is generated, it is determined not to allocate the second transport command to the empty transport vehicle.
  • the first number is not an index representing a predetermined number, but an index having a range such as X or more and less than Y. That is, in the situation where the number of empty transport vehicles is the first number (X or more and less than Y), the allocation unit 124 has the first transport command of the first priority and the second priority lower than the first priority. When the second transport command is generated, it is determined that only the first transport command is assigned to the empty transport vehicle. When the transfer commands having the same priority are generated, the allocation unit 124 targets the transfer command having a higher priority value, and if the priority values are the same, the generation date and time is set. Based on this, past transport commands are subject to allocation.
  • the allocation unit 124 in a situation where the number of empty transport vehicles calculated by the number calculation unit 123 is smaller than the first number, the first transport command of the first priority is issued with reference to the transport command information table 112. When it occurs, it is decided not to allocate the first transport command to the empty transport vehicle. That is, in the situation where the number of empty transport vehicles is smaller than the first number (less than X), the allocation unit 124 determines that even the first transport command of the first priority is not allocated.
  • the allocation unit 124 has a second priority with reference to the transport command information table 112 in a situation where the number of empty transport vehicles calculated by the number calculation unit 123 is a second number larger than the first number.
  • the allocation unit 124 determines to allocate even the second transport command of the second priority.
  • the first number of vehicles is divided into a plurality of indicators as an index of the number of empty transport vehicles that increase in order.
  • the second priority is divided into a plurality of indexes as an index of priority that becomes lower in order. That is, the allocation unit 124 allows the vacant transport vehicle to be assigned a lower priority transport command as the number of vacant transport vehicles increases.
  • the allocation unit 124 refers to the transport command information table 112, and when the highest priority transport command having a specific priority higher than the first priority is generated, the highest priority transport command is given regardless of the number of empty transport vehicles. Is allowed to be assigned to an empty carrier. That is, in the allocation unit 124, when the highest priority transport command of the specific priority is generated, the number of empty transport vehicles is smaller than the first number (less than X), and the first number (X or more and less than Y). ) Or the second number (Y or more), the highest priority transport command is allowed to be assigned to the empty transport vehicle. As described above, the highest priority transport command of the specific priority can be assigned not only to the empty transport vehicle but also to the transport vehicle 5 in which another transport command is being executed.
  • the allocation unit 124 refers to the transport command information table 112 to confirm the presence or absence of the highest priority transport command of the specific priority before the number calculation unit 123 calculates the number of empty transport vehicles, and the specific priority is given. It may be decided to assign the highest priority transfer command when the highest priority transfer command of the degree exists. Alternatively, the allocation unit 124 may receive from the data processing unit 121 that the highest priority transfer command of the specific priority has been received, and may decide to allocate the highest priority transfer command. That is, when the highest priority transport command of the specific priority is generated, the allocation of the highest priority transport command may be determined even if the number of empty transport vehicles is not calculated by the number calculation unit 123.
  • the route search unit 125 sets a travel route according to the transport command. Specifically, the route search unit 125 sets the travel route of the transport vehicle 5 based on the transport command determined by the allocation unit 124, the map information of the transport vehicle system 1, and the like. The route search may be omitted if the system searches for a route on the transport vehicle 5 side.
  • the transport vehicle determination unit 126 determines the transport vehicle 5 that executes the transport command. Specifically, the transport vehicle determination unit 126 determines the transport vehicle 5 that executes the transport command determined to be allocated by the allocation unit 124 with reference to the transport vehicle information table 111. For example, the transport vehicle determination unit 126 determines the transport vehicle 5 (empty transport vehicle) whose state stored in the transport vehicle information table 111 is “0 (unused)” as the transport vehicle 5 that executes the transport command. .. Here, if there is no empty transport vehicle in the area 9 under the jurisdiction, the transport vehicle determination unit 126 determines the empty transport vehicle existing in the area 9 outside the jurisdiction as the transport vehicle 5 that executes the transport command.
  • the transport vehicle determination unit 126 preferably adopts an empty transport vehicle existing in an area 9 outside the jurisdiction, which is closer to the area 9 under the jurisdiction, based on the current position. By determining the closer empty transport vehicle as the transport vehicle 5 that executes the transport command, the transport efficiency can be improved. Further, the transport vehicle determination unit 126 determines the transport vehicle 5 that executes the transport command for the empty transport vehicle when the transport command determined to be allocated by the allocation unit 124 is the highest priority transport command of the specific priority. Alternatively, the transport vehicle 5 that executes the transport command may be determined for the transport vehicle 5 that is executing another transport command.
  • the transport vehicle determination unit 126 determines the transport vehicle 5 that executes the transport command for the transport vehicle 5 that is executing another transport command when there is no empty transport vehicle. Then, the transport vehicle determination unit 126 instructs the data processing unit 121 to transmit the transport command and the travel route set by the route search unit 125 to the transport vehicle 5 that executes the transport command. As a result, the data processing unit 121 controls to transmit a transfer command or the like to the transfer vehicle 5 via the communication unit 101.
  • the controller 10 After transmitting the transport command or the like to the transport vehicle 5, the controller 10 updates the information stored in the transport command information table 112. Specifically, the controller 10 deletes the information corresponding to the transport command transmitted to the transport vehicle 5 from the transport command information table 112. Alternatively, the controller 10 may set a flag (a flag indicating that the transport command has been completed) in the transport command information table 112 for the information corresponding to the transport command transmitted to the transport vehicle 5. The controller 10 may delete the information flagged indicating that the transfer command has been completed from the transfer command information table 112 at an arbitrary timing. Since the controller 10 receives the transport vehicle information from the transport vehicle 5 and other controllers 10, the information stored in the transport vehicle information table 111 is stored at the timing after the transport command or the like is transmitted to the transport vehicle 5. You do not have to update.
  • FIG. 6 is a flowchart showing an example of the transport vehicle control process according to the first embodiment.
  • the number calculation unit 123 calculates the number of empty transport vehicles (step S101). Specifically, the number calculation unit 123 refers to the carrier vehicle information table 111 and calculates the number of data whose state is “0 (unused)”. The number calculation unit 123 sets the total number of the number of data in the area 9 within the jurisdiction and the number of data in the area 9 outside the jurisdiction as the number of empty transport vehicles.
  • the allocation unit 124 determines the allocation of the transport command based on the number of empty transport vehicles and the priority of the transport command (step S102). Specifically, the allocation unit 124 has a larger number of empty transport vehicles based on the number of empty transport vehicles calculated by the number calculation unit 123 and the priority of the transport command stored in the transport command information table 112. , Allows lower priority transport commands to be assigned to empty transport vehicles. The details of the process in step S102 will be described later.
  • the route search unit 125 searches for a travel route (step S103). Specifically, the route search unit 125 sets the travel route of the transport vehicle 5 based on the transport command determined by the allocation unit 124, the map information of the transport vehicle system 1, and the like.
  • the transport vehicle determination unit 126 determines a transport vehicle to which a transport command is assigned (step S104). Specifically, the transport vehicle determination unit 126 determines the transport vehicle 5 that executes the transport command determined to be allocated by the allocation unit 124 with reference to the transport vehicle information table 111.
  • the data processing unit 121 transmits a transport command (step S105). Specifically, the data processing unit 121 controls to transmit a transport command or the like to the transport vehicle 5 determined by the transport vehicle determination unit 126 via the communication unit 101.
  • FIGS. 7 to 10 are flowcharts showing an example of the transport command allocation process according to the first embodiment. 7 to 10 are details of the process in step S102. Further, in the description of FIGS. 7 to 10, the index of the number of empty transport vehicles is less than the first number (less than X), the first number (X or more and less than Y), and the second number (Y or more and less than Z). , 2nd number or more (Z or more), and the priority index is specified priority, 1st priority, 2nd priority, and 3rd priority (specific priority> 1st priority> 2nd priority The case of dividing into (degree> third priority) is given as an example. Note that X, Y, and Z are natural numbers satisfying X ⁇ Y ⁇ Z.
  • the allocation unit 124 determines whether or not the highest priority transfer command of the specific priority exists (step S201). Specifically, the allocation unit 124 refers to the transport command information table 112 and determines whether or not the highest priority transport command of the specific priority "99 (specific)" exists. Then, the allocation unit 124 determines the allocation of the highest priority transfer command when the highest priority transfer command of the specific priority exists (step S201: YES) (step S202). Specifically, the allocation unit 124 determines the allocation of the highest priority transfer command to the transfer vehicle 5 when the highest priority transfer command of the specific priority "99 (specific)" exists in the transfer command information table 112. do. On the other hand, if the highest priority transfer command of the specific priority does not exist (step S201: NO), the process proceeds to the flow in "A".
  • the allocation unit 124 determines whether the number of empty transport vehicles is less than the first number (step S203). Specifically, the allocation unit 124 determines whether the number of empty transport vehicles calculated by the number calculation unit 123 is less than the first number (less than X). At this time, when the number of empty transport vehicles is less than the first number (step S203: YES), the allocation unit 124 ends the process without deciding the allocation of the transport command. Specifically, in the allocation unit 124, the number of empty transport vehicles is less than the first number (less than X), and the number of empty transport vehicles is very small (or there is no empty transport vehicle). The first transfer command of priority, the second transfer command of second priority, and the third transfer command of third priority are not assigned.
  • the allocation unit 124 determines whether the number of empty transport vehicles is the first number (step S204). Specifically, in the allocation unit 124, when the number of empty transport vehicles calculated by the number calculation unit 123 is not less than the first number (less than X), the number of empty transport vehicles is the first number (X). (More than or less than Y) is determined. At this time, the allocation unit 124 determines whether or not the first transport command of the first priority exists when the number of empty transport vehicles is the first (step S204: YES) (step S205).
  • the allocation unit 124 refers to the transport command information table 112 and first. It is determined whether or not the first transfer command having the priority "high" exists. On the other hand, when the number of empty transport vehicles is not the first number (step S204: NO), the allocation unit 124 shifts to the flow in "B".
  • the allocation unit 124 determines the allocation of the first transfer command when the first transfer command of the first priority exists (step S205: YES) (step S206). Specifically, the allocation unit 124 determines to allocate the first transport command to the empty transport vehicle when the first transport command of the first priority "high" is stored in the transport command information table 112. do. Here, when a plurality of first transport commands having a first priority of "high" are stored in the transport command information table 112, the allocation unit 124 sends the first transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the first transport command having an earlier occurrence date and time to the vacant transport vehicle.
  • step S205 when the first transfer command of the first priority does not exist (step S205: NO), the allocation unit 124 ends the process without determining the allocation of the transfer command. Specifically, since the allocation unit 124 does not have a transfer command (first transfer command) that can be assigned to the first number of units (X or more and less than Y), the process ends without determining the allocation of the transfer command. ..
  • the allocation unit 124 determines whether the number of empty transport vehicles is the second number (step S207). Specifically, the allocation unit 124 determines whether the number of empty transport vehicles calculated by the number calculation unit 123 is the second number (Y or more and less than Z). At this time, the allocation unit 124 shifts to the flow in "C" when the number of empty transport vehicles is not the second number (step S207: NO). Specifically, the allocation unit 124 shifts to the flow in "C" because the number of empty transport vehicles calculated by the number calculation unit 123 is the second number or more (Z or more).
  • the allocation unit 124 determines whether or not the first transport command of the first priority exists (step S208). Specifically, when the number of empty transport vehicles calculated by the number calculation unit 123 is the second number (Y or more and less than Z), the allocation unit 124 refers to the transport command information table 112 and gives first priority. It is determined whether or not the first transfer command of "high" degree exists. At this time, the allocation unit 124 determines the allocation of the first transfer command when the first transfer command of the first priority exists (step S208: YES) (step S209).
  • the allocation unit 124 determines to allocate the first transport command to the empty transport vehicle when the first transport command of the first priority "high" is stored in the transport command information table 112. do.
  • the allocation unit 124 sends the first transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the first transport command having an earlier occurrence date and time to the vacant transport vehicle.
  • the allocation unit 124 determines whether or not the second transfer command of the second priority exists (step S210) when the first transfer command of the first priority does not exist (step S208: NO). Specifically, in the allocation unit 124, when the first transfer command of the first priority "high” is not stored in the transfer command information table 112, the second transfer command of the second priority "medium” is transferred. It is determined whether or not it is stored in the command information table 112. At this time, the allocation unit 124 determines the allocation of the second transfer command when the second transfer command of the second priority exists (step S210: YES) (step S211).
  • the allocation unit 124 determines to allocate the second transport command to the empty transport vehicle when the second transport command of the second priority "medium" is stored in the transport command information table 112. do.
  • the allocation unit 124 sends a second transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the second transport command having an earlier occurrence date and time to the empty transport vehicle.
  • step S210: NO the allocation unit 124 ends the process without determining the allocation of the transfer command. Specifically, the allocation unit 124 determines the allocation of the transfer command because there is no transfer command (first transfer command and second transfer command) that can be assigned to the second number (Y or more and less than Z). End the process without.
  • FIG. 10 is a flow when the number of empty transport vehicles is the second number or more (Z or more).
  • the allocation unit 124 determines whether or not the first transfer command of the first priority exists (step S212). Specifically, the allocation unit 124 is the first transport command having the first priority "high" when the number of empty transport vehicles calculated by the number calculation unit 123 is the second number or more (Z or more). Determines if is present. At this time, the allocation unit 124 determines the allocation of the first transfer command when the first transfer command of the first priority exists (step S212: YES) (step S213).
  • the allocation unit 124 determines to allocate the first transport command to the empty transport vehicle when the first transport command of the first priority "high" is stored in the transport command information table 112. do.
  • the allocation unit 124 sends the first transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the first transport command having an earlier occurrence date and time to the vacant transport vehicle.
  • the allocation unit 124 determines whether the second transfer command of the second priority exists (step S214). Specifically, in the allocation unit 124, when the first transfer command of the first priority "high" is not stored in the transfer command information table 112, the second transfer command of the second priority "medium” is transferred. It is determined whether or not it is stored in the command information table 112. At this time, the allocation unit 124 determines the allocation of the second transfer command when the second transfer command of the second priority exists (step S214: YES) (step S215).
  • the allocation unit 124 determines to allocate the second transport command to the empty transport vehicle when the second transport command of the second priority "medium" is stored in the transport command information table 112. do.
  • the allocation unit 124 sends a second transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the second transport command having an earlier occurrence date and time to the empty transport vehicle.
  • step S216 determines whether the third transfer command of the third priority exists. Specifically, when the second transfer command of the second priority "medium" is not stored in the transfer command information table 112, the allocation unit 124 transfers the third transfer command of the third priority "low”. It is determined whether or not it is stored in the command information table 112. At this time, the allocation unit 124 determines the allocation of the third transfer command when the third transfer command of the third priority exists (step S216: YES) (step S217). Specifically, the allocation unit 124 determines to allocate the third transport command to the empty transport vehicle when the third transport command of the third priority "low" is stored in the transport command information table 112.
  • the allocation unit 124 sends a third transport command having a higher priority value to the empty transport vehicle. It is decided to allocate, and if the numerical values of the priority are the same, it is decided to allocate the third transport command having an earlier occurrence date and time to the empty transport vehicle.
  • the transport vehicle system 1 is based on an index of the number of empty transport vehicles that increase in order and an index of priority that decreases in order, and the larger the number of empty transport vehicles, the lower the priority of the transport command.
  • the transport vehicle system 1 allows the highest priority transport command to be assigned to the empty transport vehicle regardless of the number of empty transport vehicles when the highest priority transport command of the specific priority is generated, so that it is desired to be implemented immediately. Transport can be processed quickly. Further, since the transport vehicle system 1 uses the total number of empty transport vehicles in the plurality of areas 9, it is possible to realize the allocation of the transport command to the empty transport vehicles existing in the plurality of areas 9.
  • FIG. 11 is a block diagram showing a configuration example of a controller (area controller) according to the second embodiment.
  • the controller 10a has a communication unit 101, a storage unit 110, and a control unit 120a.
  • the storage unit 110 has a transport vehicle information table 111 and a transport command information table 112. Each information stored in the storage unit 110 is the same as that of the above-described embodiment. In the second embodiment, the transfer command information table 112 is updated with priority information as described later.
  • the control unit 120a includes a data processing unit 121, a transport vehicle information output unit 122, a number calculation unit 123, an allocation unit 124, a route search unit 125, a transport vehicle determination unit 126, and a priority update unit 127a.
  • the priority updating unit 127a raises the priority of the transport command, which is not assigned to any of the transport vehicles 5, according to the passage of time from the occurrence of the transport command.
  • the transport command information table 112 (see FIG. 5) stores information related to the transport command that is not assigned to any of the transport vehicles 5.
  • the priority update unit 127a accesses the transport command information table 112 and raises the priority of the transport command for which a predetermined time has elapsed based on the occurrence date and time of the transport command. For example, the priority update unit 127a raises the priority by "+5" if a predetermined time has elapsed from the generation date and time of the transport command having the priority of "30".
  • the predetermined time may be set by, for example, the scale of the transport vehicle system 1 or the capacity (processing time, etc.) of the processing device, and can be arbitrarily changed. In addition, the points for raising the priority can be changed arbitrarily.
  • the priority update unit 127a raises the priority step by step according to the passage of time.
  • the number of times the priority is raised is not particularly limited. Therefore, even if the initial priority is “low", it may be gradually increased to "medium” or "high” with the passage of time.
  • the priority update unit 127a allows the priority to be raised up to the upper limit set higher as the priority when the transfer command is generated is higher.
  • the upper limit of raising the priority "low” eg, less than 40
  • the upper limit of raising the priority "medium” eg, 40 or more and less than 60
  • the priority is "low” (eg, less than 60).
  • the upper limit of raising (60 or more) is set to "90".
  • the upper limit can be changed arbitrarily.
  • each unit of the control unit 120a executes various processes described in the above embodiment by using the transfer command information table 112 whose priority is updated by the priority update unit 127a.
  • FIG. 12 is a flowchart showing an example of the priority raising process according to the second embodiment.
  • the priority update unit 127a determines whether or not an unallocated transfer command exists (step S301). Specifically, the priority update unit 127a accesses the transport command information table 112 and determines whether or not the information related to the transport command is stored. At this time, the priority update unit 127a ends the process when there is no unallocated transfer command (step S301: NO). Specifically, the priority update unit 127a ends the process when the information regarding the transfer command is not stored in the transfer command information table 112.
  • the priority update unit 127a determines whether the priority of the transfer command has reached the upper limit when there is an unallocated transfer command (step S301: YES) (step S302). Specifically, the priority update unit 127a receives a transfer command based on the priority when the information related to the transfer command is stored in the transfer command information table 112 when the information related to the transfer command is stored in the transfer command information table 112. Determines if the priority of is reached the upper limit.
  • the priority update unit 127a ends the process when the priority of the transfer command has reached the upper limit (step S302: YES). Specifically, the priority update unit 127a ends the process when the upper limit corresponding to the priority when stored in the transport command information table 112 is reached.
  • the priority update unit 127a raises the priority according to the lapse of time from the occurrence of the transfer command (step S303). Specifically, when the priority update unit 127a has not reached the upper limit corresponding to the priority when stored in the transport command information table 112, a predetermined time elapses based on the generation date and time of the transport command. Raise the priority of the transport command you are issuing.
  • the transport vehicle system 1 raises the priority of the transport command that is not assigned to any of the transport vehicles 5 according to the passage of time from the time when the transport command is generated, so that the transport has a low priority. It is possible to prevent the command from remaining unassigned. Further, since the transport vehicle system 1 gradually raises the priority up to the upper limit set higher as the priority when the transport command is generated is higher, it is possible to suppress the originally low priority from being raised unnecessarily.
  • the controller 10 includes, for example, a computer system.
  • the controller 10 reads out the transport vehicle control program stored in the storage unit 110, and executes various processes according to the read transport vehicle control program.
  • the transport vehicle control program for example, assigns the first transport command to the empty transport vehicle when the first transport command of the first priority is generated in the situation where the number of empty transport vehicles is the first number in the computer.
  • the second transport command is not assigned to the empty transport vehicle. Let's do that.
  • the carrier control program may be stored and provided in a computer-readable storage medium.
  • Transport vehicle system Controller (upper) 5 Transport vehicle 7 Track 9 Area 10 Controller (area) 101 Communication unit 110 Storage unit 111 Transport vehicle information table 112 Transport command information table 120 Control unit 121 Data processing unit 122 Transport vehicle information output unit 123 Number calculation unit 124 Allocation unit 125 Route search unit 126 Transport vehicle determination unit

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