JP6652106B2 - Goods transport equipment - Google Patents

Description

  The present invention relates to an article transport facility that transports articles between a plurality of transfer target locations by driving a plurality of article transport vehicles along a track.

  Japanese Patent Application Laid-Open No. 2009-35403 (Patent Document 1) discloses an example of an article transport facility that drives a plurality of article transport vehicles along a track to transport articles between a plurality of transfer target locations. I have. This article transport facility automatically transports articles (520) by using an article transport vehicle (200) suspended on a track (100) provided on a ceiling (reference numerals in parentheses in the background art). Is that of Patent Document 1.). The support (230) for suspending the article (520) suspends and raises and lowers the article (520) in a state where the article (520) is positioned immediately below the track (100) as shown in FIG. ) As well as suspending and raising and lowering the article (520) at a position moved in the width direction orthogonal to the extending direction of the track (100) as shown in FIG. (520) can also be transferred.

  By the way, in the article transport equipment, in many cases, the tracks have parallel parts, but for the purpose of increasing the space use efficiency, the article transport vehicles traveling on the parallel tracks can pass each other without contact. To the extent, the interval between parallel orbits may be set narrow. When the interval between the parallel tracks is narrow as described above, one article transport vehicle located on one track projects the above-described support portion (230) in the width direction and the other article transport vehicle protrudes from the other track. When another article transport vehicle travels along the road, there is a possibility that the support portion (230) and the another article transport vehicle come into contact with each other. It is conceivable to mount an obstacle sensor or the like on each article transport vehicle, but this leads to an increase in the cost of the article transport vehicle. It is also conceivable to limit the number of article transport vehicles that can enter the area where the tracks are parallel to one, but in this case, the transport efficiency of the article transport equipment may be reduced.

JP 2009-35403 A

  In view of the above background, in an article transport facility having a parallel section in which a plurality of tracks are parallel, an article is transported using an article transport vehicle having a support that can move in and out in a width direction orthogonal to a direction in which the tracks extend. At this time, it is desired to provide a technique that suppresses an increase in cost and a decrease in transport efficiency and that prevents an article transport vehicle from contacting in a parallel section.

In view of the above, an article transport facility that transports articles between a plurality of transfer target locations by traveling a plurality of article transport vehicles along a track is provided as one embodiment.
A plurality of the tracks have parallel sections in parallel, and a direction along the horizontal plane and orthogonal to the extending direction of the tracks is defined as a width direction.
The article transport vehicle moves out and retreats between a retreat position retracted to the article transport vehicle side and a projecting position projected along the width direction according to the position of the transfer target location. Having a support that supports
The projecting position when the article transporter projects the support in one of the tracks in the parallel section according to the position of the transfer target location is the same as the article transport vehicle in the other track in the parallel section. When the traveling space, which is a trajectory of traveling, and the position where the support interferes, at least the position where the traveling space and the support interfere with each other is associated with the transfer target location. , An interference management zone is set in the parallel section,
If one of the article transport vehicles is performing a transfer operation to the transfer target location corresponding to the interference management zone, entry of the other article transport vehicle into the interference management zone is prohibited. .

  According to this configuration, the interference management zone is set at a location where the support projecting to transfer the article and another article carrier may come into contact with each other, and one interference management zone is set in the interference management zone. When the article transport vehicle is performing the transfer operation, entry of another article transport vehicle into the interference management zone is prohibited. Therefore, it is possible to reduce the possibility that the support projecting to transfer the article and the other article transport vehicle come into contact with each other. Since each article transport vehicle does not need to detect a support protruded by another article transport vehicle using an obstacle sensor or the like, there is no increase in cost due to the mounting of the obstacle sensor. In addition, since the entry of the article transport vehicle is not necessarily restricted in all the parallel sections, a decrease in the transport efficiency of the article transport equipment is suppressed. As described above, according to the present configuration, in an article transporting facility having a parallel section in which a plurality of tracks are parallel to each other, using an article transporting vehicle having a support that can retreat in a width direction orthogonal to the extending direction of the track. In transporting an article, it is possible to suppress an increase in cost and a decrease in transport efficiency, and to prevent an article transport vehicle from contacting in a parallel section.

  Further features and advantages of the article transport facility will become apparent from the following description of embodiments which is described with reference to the drawings.

Plan view of goods transport equipment The figure which shows the example which transfers goods between the transfer target places immediately below the goods conveyance vehicle. The figure which shows the example which transfers goods between the transfer target places of the goods conveyance vehicle diagonally downward. Schematic block diagram showing the system configuration of the article transport facility A diagram showing an example of a control protocol of the article transport vehicle by the transport management device. Diagram for explaining the presence or absence of interference between the traveling space and the support The figure which shows an example of the setting method of an interference management zone Diagram explaining travel restrictions on the interference management zone Diagram explaining entry prohibition to the interference management zone The figure which shows an example of the setting method of several interference management zones

  Hereinafter, embodiments of an article transport facility will be described with reference to the drawings. FIG. 1 is a plan view of an article transport facility 100 in which an article transport vehicle 1 transports an article 90 (see FIGS. 2, 3 and the like). The article transport facility 100 transports the articles 90 between the plurality of transfer target locations S by causing the plurality of article transport vehicles 1 to travel along the track K. The transfer target location S is provided with, for example, a storage (not shown) for storing the article 90 and a processing device (not shown) for performing various physical / chemical processes on the article 90. In the article transport facility 100, an area E such as an area where storages are gathered and an area where processing devices are gathered for each processing content are set. FIG. 1 illustrates a mode in which four areas E (E1 to E4) are set. Further, as shown in FIG. 1, the article transport facility 100 has a parallel section PK in which a plurality of tracks K are parallel. The trajectory K is laid in accordance with the arrangement of the storage and the processing apparatus, that is, the arrangement of the transfer target location S, and the interval of the trajectory K in the parallel section PK varies depending on the characteristics of each area E.

  2 and 3 are front views of the article transport vehicle 1 as viewed from the front to the rear along the traveling direction of the article transport vehicle 1 (the extending direction L of the track K). In the following description, a direction along the horizontal plane and orthogonal to the extending direction L of the track K will be referred to as a width direction W. The article transport vehicle 1 includes a traveling body 9 and a transport vehicle body 10 suspended from and supported by the traveling body 9. The track K is constituted by a traveling rail 2 suspended from the ceiling by a suspension member. In the present embodiment, two traveling rails 2 are arranged in parallel on a horizontal plane to form a traveling rail pair. Then, the traveling body 9 travels as the wheels 15 provided on the traveling body 9 roll on the upper surface of the traveling rail 2. The wheels 15 are driven by a traveling motor (TRV-MOTOR) M1 (see FIG. 4).

  The article transport vehicle 1 transports the article 90 by suspending and supporting the article 90 to be transported by the transport vehicle body 10 suspended and supported by the traveling body 9. The article 90 is, for example, a FOUP (Front Opening Unified Pod) containing a semiconductor substrate or a reticle pod containing a reticle (photomask). The transport vehicle main body 10 has an article support 20 (support) having an elevating unit 13, a slide unit 14, a grip unit 18, and an elevating wire 19. The elevating unit 13 is suspended and supported by the slide unit 14 by an elevating wire 19, and a grip unit 18 is provided below the elevating unit 13. A flange portion 91 is formed on the upper surface of the article 90, and the grip section 18 grips the flange section 91 so that the article 90 is suspended and supported by the elevating section 13.

  The article transport vehicle 1 of the present embodiment exchanges articles 90 with a transfer target location S immediately below and obliquely below the traveling body 9. FIG. 2 illustrates an example in which the article 90 is transferred to and from a transfer target location S immediately below the traveling body 9, and FIG. Shows an example in which the article 90 is transferred. Further, the schematic block diagram of FIG. 4 shows a system configuration of the article transport facility 100 and the article transport vehicle 1. When the article 90 is transferred to and from the transfer target location S immediately below the traveling body 9, as shown in FIG. 2, the gripping portion 18 is moved to the flange of the article 90 by the gripping actuator (GRP-ACT) A3. The article 90 is moved by grasping the section 91 and moving the elevating section 13 up and down in the up-down direction V by driving the drive up / down motor (VM-MOTOR) M3.

  When the article 90 is transferred to and from the transfer target position S diagonally below the traveling body 9, the slide motor (SLD-MOTOR) M2 is further driven to move the lifting unit 13 as shown in FIG. The supporting slide unit 14 moves sideways along the width direction W, and the elevating unit 13 moves up and down along the vertical direction V at the moved position, thereby moving the article 90. The article support body 20 moves out and retreats between a retreat position retracted toward the article transport vehicle 1 and a projecting position projected along the width direction W in accordance with the position of the transfer target location S, and the article 90 moves. I support. Although only the sliding movement to one side in the width direction W is illustrated here, it is obvious that the sliding movement may be performed in both directions.

  As shown in FIG. 4, the article transport vehicle 1 is provided with a transport vehicle control unit (VHL-CTRL) 51 having a microcomputer or the like as a core and serving as a core of the article transport operation. The article transport vehicle 1 wirelessly communicates via a communication unit (COM-UNIT) 52 and a network 50 with a transport control device (MCP: Material Control Processor) H1 which is a core system controller of the article transport facility 100. The transport vehicle control unit 51 operates by autonomous control (article transport operation) based on a transport command from the transport management device H1, and holds and transports the article 90. The above-described traveling motor M1, slide motor M2, lifting / lowering motor M3, and gripping actuator A3 are driven and controlled by the carrier control unit 51. The article transport operation includes a transfer operation for transferring the article 90 to and from the transfer target location S and a target stop position corresponding to each transfer target location S (for example, the third position Q3: FIG. 8 and FIG. 9 and the like).

  FIG. 5 shows an example of a control protocol of the article transport vehicle 1 by the transport management device H1. The position information of the article transport vehicle 1 on the track K is transmitted from each article transport vehicle 1 to the transport management device H1 via the network 50. When the transfer target location S of the transfer source (transfer source) and the transfer destination (transfer destination) is determined, the transfer management device H1 instructs the article transfer operation in accordance with the position of each article transport vehicle 1. The vehicle 1 is determined, and a transport command (INST) is transmitted to the article transport vehicle 1. The article transport vehicle 1 that has received the transport command transmits a reception confirmation (ACK) of the transport command to the transport management device H1.

  The transfer management device H1 is configured to transfer to the transfer target location S based on the current position of the article transport vehicle 1, the position of the transfer target location S of the transfer source, the state of the track K (congestion state or presence or absence of restrictions), and the like. Is calculated (# 1), and a route command (R-INST) is transmitted to the article carrier. Note that the route command may be included in the transport command. The article transport vehicle 1 that has received the route command starts running by autonomous control based on the route command. It is preferable that the article transport vehicle 1 transmit a departure response (DEP) to the transport management device H1 when it departs. When the state of the trajectory K changes after the departure of the article transport vehicle 1, the transport management device H1 may calculate the route again and transmit a route command (# 2). The transfer management device H1, for example, uses the trajectory K near the transfer target location S (including the parallel trajectory K in the parallel section PK) for the departure of the article transport vehicle 1, and the like. Use is prioritized (# 2 (details will be described later with reference to FIGS. 6 to 9 and the like)).

  When arriving at the target stop position (for example, the third position Q3) corresponding to the transfer target location S, the article transport vehicle 1 transmits an arrival response (ARV) indicating arrival to the transport management device H1. The transfer management device H1 determines whether or not the transfer can be started based on a situation around the transfer target location S (details will be described later), and when the transfer can be started, A transfer permission command (PMT) is transmitted to the article transport vehicle 1 (# 3). In particular, as described above with reference to FIG. 3, when the article 90 is transferred to and from the transfer target location S obliquely below the traveling body 9, the operation range of the article support 20 is widened. It is important to determine by the transport management device H1.

  The article transport vehicle 1 that has received the transfer permission command transmits a transfer start response (T-START) and starts transfer. The transport management device H1 performs an operation such as updating the location information of the article 90 (# 4). When the transfer of the article 90 is completed, the article transport vehicle 1 transmits a transfer completion response (T-CMPLT). The transfer management device H1 calculates a route to the transfer destination location S of the transfer destination, for example (# 5). Thereafter, by repeating the above-described processing, the article 90 can be transported to the transfer target location S of the transfer destination and transferred.

  By the way, as described above with reference to FIG. 1, the article transport facility 100 has a parallel section PK in which the trajectories K are parallel. When storages and processing devices are densely arranged for the purpose of increasing space use efficiency, the transfer target locations S corresponding to these storages and processing devices are also densely arranged. Since the trajectory K is laid according to the transfer target location S, in the parallel section PK, the trajectory K is set to such an extent that the article carriers 1 traveling on the parallel trajectory K can pass each other without contacting each other. May be set narrow.

  However, as described above with reference to FIG. 3, the article transport vehicle 1 may transfer the article 90 at a position moved from the track K in the width direction W. When the interval between the parallel tracks K is narrow, the article support 20 projecting in the width direction W may come into contact with another article transport vehicle 1. FIG. 6 shows that in the parallel section PK, the article transport vehicle 1 (the first transport vehicle 1A or the third transport vehicle 1C) is the transfer target location S (the first transfer target location) on one of the tracks K (the first track K1). When transferring the article 90 to S1 or the second transfer target location S2), the other track K (second track K2) is moved to another article transport vehicle 1 (second transport vehicle 1B or fourth transport vehicle 1D). Shows an example of traveling.

  When the article 90 is transferred to and from the first transfer target location S1, the article carrier 20 (sliding portion 14) extended in the width direction W is transported along the second track K2 by the article transport vehicle 1 ( Here, it overlaps with the traveling space SP of the second carrier 1B). For this reason, for example, when the first transport vehicle 1A is transferring the article 90 to and from the first transfer target location S1 on the first track K1, the second transport vehicle 1B is moved along the second track K2. When passing, there is a possibility that the article support 20 of the first carrier 1A and the second carrier 1B come into contact with each other. Therefore, when the first carrier 1A is performing the transfer, it is preferable that the traveling of the second track K2 be restricted.

  FIG. 7 shows an example in which the travel of the second track K2 is limited as described above. That is, in the parallel section PK, the interference management zone Z including at least the position where the traveling space SP of the article transport vehicle 1 and the article support 20 interfere with each other in the second track K2 in association with the first transfer target location S1. Is set. In addition, position information P such as addresses and coordinates is assigned to the track K in order to manage the traveling of the article transport vehicle 1 and the like. Further, the entire trajectory K is divided into a plurality of unit sections B based on the position information P. In the present embodiment, a unit section B between two pieces of position information P is represented by arranging the two pieces of position information P. For example, a unit section B between the first position information P1 and the second position information P2 is represented as a first unit section B12. The interference management zone Z is set by at least one unit section B including a unit section B corresponding to the transfer target location S. 6 and 7, a first unit section B12 corresponding to the first transfer target location S1 is set as the interference management zone Z.

  On the other hand, as shown in FIG. 6, when the article 90 is transferred to and from the second transfer target location S2, the article support body 20 (slide portion 14) extended in the width direction W is moved along the second track. It does not overlap with the traveling space SP of the article transport vehicle 1 (here, the fourth transport vehicle 1D) traveling on K2. For this reason, when the third carrier 1C is transferring the articles 90 to and from the second transfer target location S2 on the first track K1, the fourth carrier 1D passes through the second track K2. However, the article support 20 of the third carrier 1C does not contact the fourth carrier 1D. Therefore, it is not necessary to restrict the travel of the second track K2 even when the third carrier 1C is performing the transfer. For this reason, as shown in FIG. 7, the interference management zone Z corresponding to the second transfer target location S2 does not need to be set.

  When the interference management zone Z is set as described above, the transport management device H1 performs a transfer operation to one transfer target location S corresponding to the interference management zone Z when one article transport vehicle 1 performs the transfer operation. , The entry of another article transport vehicle 1 into the interference management zone Z is prohibited. For example, when the first transfer vehicle 1A illustrated in FIGS. 6 and 7 is performing the transfer operation to the first transfer target location S1 corresponding to the interference management zone Z, the transfer management device H1 It is prohibited that another article carrier 1 such as the two carrier 1B enters the interference management zone Z.

  As shown in FIG. 1, a plurality of areas E are set in the article transport facility 100, the distance between the trajectories K in the parallel section PK is wide, and the article transport vehicle 100 and the other article transport vehicles 1 traveling on the parallel trajectory K have an article. There is also an area E where there is no risk of contact with the support 20. For example, in the first area E1, the third area E3, and the fourth area E4, the interval between the trajectories K in the parallel section PK is small and there is a possibility of contact with the article support 20, but the second area E2 is in the parallel section PK. The distance between the trajectories K is wide, and there is no risk of contact with the article support 20. Therefore, for example, in the first area E1, the third area E3, and the fourth area E4, by limiting the number of the article transport vehicles 1 that can enter the area E to one, the vehicle travels on the parallel track K. The contact between the article carrier 1 and the article support 20 can be avoided. However, in this case, the operating rate of the article transport vehicle 1 in each area E may decrease, and the operating rate of the entire article transport facility 100 may also decrease. By setting the interference management zone Z corresponding to each transfer target location S, a decrease in the operation rate in each area E is suppressed.

  By the way, when one article transport vehicle 1 is performing a transfer operation to the transfer target location S corresponding to the interference management zone Z, the transfer management device H1 performs another transfer to the interference management zone Z. Although entry of the article transport vehicle 1 is prohibited, entry of another article transport vehicle 1 into the interference management zone Z may be permitted before the transfer operation is performed. Therefore, for example, in FIG. 7, when the second transport vehicle 1B has entered the interference management zone Z first and the first transport vehicle 1A arrives at the transfer target location S and performs the transfer operation. Therefore, there is a possibility that the article support 20 of the first carrier 1A and the second carrier 1B come into contact with each other.

  As described above, the article transport vehicle 1 starts the transfer operation after receiving the transfer permission command (PMT) from the transport management device H1. Therefore, the transfer management device H1 is in a state where the first transfer vehicle 1A can start the transfer operation to the first transfer target location S1 corresponding to the interference management zone Z, and If there is another article transport vehicle (for example, the second transport vehicle 1B) even on the stand, transmission of the transfer permission command is suspended. After all the other article transport vehicles 1 have exited the interference management zone Z, the transport management device H1 prohibits the entry of another article transport vehicle 1 into the interference management zone Z, and also controls the first transport vehicle 1A. Permit the transfer operation.

  However, even if the second carrier 1B attempts to leave the interference management zone Z, for example, entry into another interference management zone Z is prohibited, or the previous track K is congested, You may not be able to proceed. Since the second carrier 1B does not leave the interference management zone Z, the carrier management device H1 cannot issue a transfer permission command to the first carrier 1A. Further, in a case where the stoppage of the first carrier 1A due to the transfer operation causes traffic congestion, the first carrier 1A is stopped waiting for the transfer permission command. As a result, the congestion is not resolved, the second transport vehicle 1B cannot travel, and a so-called deadlock state occurs.

  For this reason, an upper limit is set for the time during which the first carrier 1A waits for the transfer permission command. For example, in a state where one article transport vehicle 1 (the first transport vehicle 1A) can start the transfer operation to the first transfer target location S1 corresponding to the interference management zone Z, the predetermined standby time is set. Even after the elapse, if another article transport vehicle (the second transport vehicle 1B or the like) is present in the interference management zone Z, it exits from the interference management zone Z without performing the transfer operation, and The trajectory K orbits and returns to the target stop position (for example, the third position Q3) again. This exit and lap may be performed autonomously as autonomous control in each article transport vehicle 1, or the time since the transport management device H1 receives an arrival response (ARV) from the article transport vehicle 1 is measured. Then, after the elapse of the standby time, an exit command (circulation command) may be transmitted to the article transport vehicle 1. When the congestion is resolved by the movement of the first carrier 1A, the second carrier 1B can leave the interference management zone Z. When the deadlock is eliminated, when the first carrier 1A returns, the carrier management device H1 can issue a transfer permission command to the first carrier 1A.

  In the above description, when one article transport vehicle 1 is performing the transfer operation to the transfer target location S corresponding to the interference management zone Z, the transfer management device H1 is The form in which the entry of another article transport vehicle 1 is prohibited has been described. However, in consideration of the occurrence of deadlock as described above, it is preferable that the other article transport vehicles 1 be kept away from the interference management zone Z as much as possible. Therefore, when an article transport operation to a certain transfer target location S is assigned to one article transport vehicle 1, another article transport vehicle 1 travels in the interference management zone Z corresponding to the transfer target location S. It is preferable that the operation is restricted. For example, when the transfer management device H1 assigns the operation of transferring the article to the first transfer target location S1 to the first transfer vehicle 1A, the transfer management device H1 sets the interference management zone Z corresponding to the first transfer target location S1 to another transfer management zone H. It is preferable to restrict the traveling of the article transport vehicle (the second transport vehicle 1B or the like). Hereinafter, description will be made with reference to FIGS.

  FIG. 8 illustrates a case where the transport management device H1 assigns the operation of transporting the article to the first transfer target location S1 to the first transport vehicle 1A. The second transport vehicle 1B is also traveling near the first transfer target location S1. The current position of the second transport vehicle 1B is the first position Q1, and the stop target position is the second position Q2 corresponding to the transfer target location S indicated by reference numeral S10. The target stop position of the first transport vehicle 1A that performs the article transport operation to the first transfer target location S1 is the third position Q3. The transfer management device H1 calculates a cost that quantifies the load passing through the route on the track K (moving distance, moving time including waiting time, presence / absence of traffic regulation, etc.), selects a route with the smallest possible cost, A route command (R-INST) is given to each article transport vehicle 1.

  The route when the second transport vehicle 1B moves from the first position Q1 to the second position Q2 is a first route passing through the first lane L11, the second lane L12, the third lane L13, or the first lane L11. There are two routes, a second route passing through the fourth lane L14, the fifth lane L15, the sixth lane L16, and the third lane L13. Here, assuming that all the costs of each lane are “1”, the total cost of the first route is “3” and the total cost of the second route is “5”. Therefore, the first route which is relatively low in cost is selected. However, in the second lane L12, an interference management zone Z corresponding to the first transfer target location S1, which is the target of the transfer operation by the first carrier 1A, is set. As described above, when the article transport operation to the first transfer target location S1 is assigned to the first transport vehicle 1A, the restriction condition of the interference management zone Z corresponding to the first transfer target location S1 is activated. It is preferable that traveling of another article carrier (the second carrier 1B or the like) be restricted.

  When the traveling of the interference management zone Z is not limited, the first route including the second lane L12 where the interference management zone Z exists is selected by the above-described route calculation. Thus, when the transfer operation of the article to the first transfer target location S1 is assigned to the first transfer vehicle 1A, the transfer management device H1 includes the interference management zone Z corresponding to the first transfer target location S1. The cost of the two lanes L12 is increased, for example, set to “10”. The total cost of the first route is “12”, which exceeds the total cost of the second route “5”. As a result, the second route is selected as the route of the second transport vehicle 1B. In other words, by making it relatively difficult for the lane including the interference management zone Z to be selected as a route, it becomes difficult for the article transport vehicle 1 to enter the interference management zone Z.

  Here, when the first carrier 1A has arrived at the third position Q3, the cost of the second lane L12 may be further increased, or the connection of the second lane L1 itself may be cut off. (So-called lane cut). For example, by setting the cost to an extremely large value such as "1000", the same effect as the shutoff can be obtained. Due to an increase in cost or lane cut, entry into the interference management zone Z is substantially prohibited. That is, when the second lane L12 is cut off, the first lane L11, the second lane L12, and the third lane L13 are used as routes when the second carrier 1B moves from the first position Q1 to the second position Q2. Is not established, and the second route is the only route. Therefore, the second transport vehicle 1B travels from the first position Q1 to the second position Q2 without entering the interference management zone Z.

  It should be noted that, when the article transport operation to the first transfer target location S1 is assigned to the first transport vehicle 1A, the entry into the interference management zone Z is immediately prohibited, for example, the traffic in the second lane L12 is shut off. It is also possible. However, when a plurality of routes do not exist as described above, the second carrier 1B cannot move from the first position Q1 to the second position Q2. Alternatively, another route that is a detour may have a higher total cost. By adding an appropriate cost to the second lane L12, even if the end of the transfer operation by the first carrier 1A before the interference management zone Z is to be waited, the route including the second lane L12 is It is also possible to make a selection. Therefore, at the time point when the article transport operation to the first transfer target location S1 is assigned to the first transport vehicle 1A, the cost of the second lane L12 including the interference management zone Z is increased, and the first transport vehicle 1A becomes the third transport vehicle 1A. By imposing a restriction that prohibits entry into the interference management zone Z after arriving at the position Q3, it is possible to suppress a decrease in the operation rate of the article transport equipment 100.

 Such interference management zones Z are set at a plurality of locations of the article transport equipment 100. As described above, the entire track K is divided into a plurality of unit sections B. The interference management zone Z is set by at least one unit section B including a unit section B corresponding to the transfer target location S. The transfer target locations S are provided in accordance with the arrangement of the storage, the processing device, and the like, so that a plurality of transfer target locations S may correspond to one unit section B. Therefore, different interference management zones Z may share the same unit section B. That is, different interference management zones Z corresponding to different transfer target locations may correspond to the same unit section.

  FIG. 10 illustrates the relationship between the unit section B and the interference management zone Z. As described above with reference to FIG. 7, FIG. 8, FIG. 9, and the like, the first interference management zone Z1 includes one unit section B (first unit section B12) corresponding to the first transfer target location S1. In this embodiment, two interference management zones Z are set. Although the second transfer target location S2 exists at a position corresponding to the second unit section B23, the interference management zone Z is not set because there is no risk of contact with the article support 20 as described above.

  The third transfer target location S3 exists at a position corresponding to the third unit section B34, but is close to the boundary with the second unit section B23. Therefore, the third interference management zone Z3 corresponding to the third transfer target location S3 is set by both the second unit section B23 and the third unit section B34. Thus, the interference management zone Z may be set by a plurality of unit sections B. It is preferable that the interference management zone Z is set so that the distance between the position corresponding to the transfer target location S and the boundary of the unit section B is equal to or longer than a predetermined set distance. There is a fourth transfer target location S4 near the third transfer target location S3, but the position corresponding to the fourth transfer target location S4 is near the center of the third unit section B34. For this reason, the distance between the two boundaries of the third unit section B34 is equal to or longer than the set distance, and the fourth interference management zone Z4 is set by a single unit section B (third unit section B34). The third interference management zone Z3 and the fourth interference management zone Z4 have a third unit section B34, which is the same unit section B.

  The fifth transfer target location S5 and the sixth transfer target location S6 are arranged at positions corresponding to different unit sections B, that is, the fourth unit section B45 and the fifth unit section B56. However, at the position corresponding to the fifth transfer target location S5 belonging to the fourth unit section B45, the distance to the boundary of the fifth unit section B56 is less than the set distance, and the sixth transfer belonging to the fifth unit section B56. In the position corresponding to the target location S6, the distance from the boundary of the fourth unit section B45 is shorter than the set distance. For this reason, the fifth interference management zone Z5 corresponding to the fifth transfer target location S5 includes not only the fourth unit section B45 but also the fifth unit section B56. The sixth interference management zone Z6 corresponding to the sixth transfer target location S6 includes not only the fifth unit section B56 but also the fourth unit section B45. That is, the fifth interference management zone Z5 and the sixth interference management zone Z6 are interference management zones Z corresponding to different transfer target locations S, but the same area is set.

  As described above, the interference management zone Z may be set to have the same unit section B, or different interference management zones Z may all be set to the same unit section B. As a matter of course, the transfer target locations S corresponding to the respective interference management zones Z are different, so that they are limited to the interference management zones Z including the same unit section B at the same time (increase in lane cost, lane cut (entry prohibited)). Etc.) may be applied. Such a restriction may easily cause the above-mentioned deadlock. Therefore, it is preferable that the transfer of the articles 90 by the different article transport vehicles 1 is assigned to the transfer target locations S respectively corresponding to the different interference management zones Z including the same unit section B so as not to overlap at the same time. It is. Specifically, the transport management device H1 determines that the transfer of the articles 90 by the different article transport vehicles 1 to the transfer target locations S corresponding to the different interference management zones Z including the same unit section B at the same time. Is assigned so as not to be duplicated, and the transfer command (INST) is transmitted.

  As described above, in the article transport facility 100 having the parallel section PK in which the plurality of tracks K are parallel, the article transport having the article support 20 that can retreat in the width direction W orthogonal to the extending direction L of the track K. When the article 90 is transported using the vehicle 1, it is possible to suppress an increase in cost and a reduction in transport efficiency, and to prevent the article transport vehicle 1 from contacting in the parallel section PK. In the above description, the ceiling transport vehicle is described as an example of the article transport vehicle 1, but the article transport vehicle 1 may be a transport vehicle that travels on the ground.

[Overview of Embodiment]
Hereinafter, the outline of the article transport facility described above will be briefly described.

An article transport facility that travels a plurality of article transport vehicles along a track and transports articles between a plurality of transfer target locations, as one aspect,
A plurality of the tracks have parallel sections in parallel, and a direction along the horizontal plane and orthogonal to the extending direction of the tracks is defined as a width direction.
The article transport vehicle moves out and retreats between a retreat position retracted to the article transport vehicle side and a projecting position projected along the width direction according to the position of the transfer target location. Having a support for supporting
The projecting position when the article transporter projects the support in one of the tracks in the parallel section according to the position of the transfer target location is the same as the article transport vehicle in the other track in the parallel section. When the traveling space, which is a trajectory of traveling, and the position where the support interferes, at least the position where the traveling space and the support interfere with each other is associated with the transfer target location. , An interference management zone is set in the parallel section,
If one of the article transport vehicles is performing a transfer operation to the transfer target location corresponding to the interference management zone, entry of the other article transport vehicle into the interference management zone is prohibited. .

  According to this configuration, the interference management zone is set at a location where the support projecting to transfer the article and another article carrier may come into contact with each other, and one interference management zone is set in the interference management zone. When the article transport vehicle is performing the transfer operation, entry of another article transport vehicle into the interference management zone is prohibited. Therefore, it is possible to reduce the possibility that the support projecting to transfer the article and the other article transport vehicle come into contact with each other. Since each article transport vehicle does not need to detect a support protruded by another article transport vehicle using an obstacle sensor or the like, there is no increase in cost due to the mounting of the obstacle sensor. In addition, since the entry of the article transport vehicle is not necessarily restricted in all the parallel sections, a decrease in the transport efficiency of the article transport equipment is suppressed. As described above, according to the present configuration, in an article transporting facility having a parallel section in which a plurality of tracks are parallel to each other, using an article transporting vehicle having a support that can retreat in a width direction orthogonal to the extending direction of the track. In transporting an article, it is possible to suppress an increase in cost and a decrease in transport efficiency, and to prevent an article transport vehicle from contacting in a parallel section.

  Here, the article transport vehicle is configured to perform the transfer operation for transferring the article to and from the transfer target location, and travel along the track to a target stop position corresponding to each of the transfer target locations. And performing the article transport operation including the operation, and when the article transport operation to the transfer target location is assigned to one of the article transport vehicles, the interference management corresponding to the transfer target location is performed. It is preferable to restrict the other article transport vehicles from traveling in the zone.

  For example, if entry into the interference management zone is prohibited, the article carrier may temporarily stop before the interference management zone and wait for the end of the transfer operation by another article carrier. If the article transport vehicle is stopped, the transport efficiency of the article transport equipment may be reduced. In many cases, an article carrier can travel to a destination through a plurality of different routes. If the interference management zone is restricted, it may be possible to travel to the destination earlier than stopping temporarily in front of the interference management zone by passing through another route. By restricting travel in the interference management zone corresponding to the transfer target location to be subjected to the article transport operation, it becomes easier to travel in advance to the destination by bypassing the interference management zone.

  In addition, one of the article transport vehicles is capable of starting the transfer operation to the transfer target location corresponding to the interference management zone, and at least one of the article transport vehicles is located in the interference management zone. If a vehicle is present, after all the other article transport vehicles have exited the interference management zone, entry of the other article transport vehicles into the interference management zone is prohibited, and the transfer is performed. Preferably, operation is permitted.

  Before banning entry into the interference management zone or restricting travel, an article carrier may be present in the interference management zone. In this case, the article carrier performs the transfer operation May contact the support. Therefore, it is preferable that the transfer operation is performed after the article transport vehicle existing in the interference management zone leaves the interference management zone.

  In addition, one of the article transport vehicles can start the transfer operation to the corresponding transfer target location in the interference management zone, and at least one other article transport in the interference management zone. If a vehicle is present, after all the other article transport vehicles have exited the interference management zone, entry of the other article transport vehicles into the interference management zone is prohibited, and the transfer is performed. In a case where the operation is permitted, the pre-defined waiting time elapses in a state in which the one article transport vehicle can start the transfer operation to the corresponding transfer target location in the interference management zone. However, when the other article transport vehicle is present in the interference management zone, it is preferable to exit the interference management zone without performing the transfer operation.

  For example, when an article carrier waiting for the start of the transfer operation is stopped, congestion or the like occurs, and other article carriers existing in the interference management zone cannot leave the interference management zone. In a so-called deadlock state. If the article carrier waiting for the start of the transfer operation once leaves the place and turns around and returns, the deadlock is resolved, and thereafter transfer becomes possible. In other words, if another article carrier present in the interference management zone can leave the interference management zone due to the elimination of the traffic congestion, if the article carrier performing the transfer operation returns, the article is immediately transferred. Operation can begin.

  In one aspect, the entire track is divided into a plurality of unit sections, and the interference management zone is set by at least one of the unit sections including the unit section corresponding to the transfer target location and is different. It is preferable that the interference management zones can share the same unit section.

  In many cases, addresses and coordinates are assigned to tracks in order to manage the traveling of the article transport vehicle, and a plurality of unit sections are set by the addresses and coordinates. If the interference management zone is set based on this unit section, the behavior of the article transport vehicle with respect to the interference management zone can be appropriately managed. However, the positional relationship between the transfer target location and the unit section is not generally determined. For example, a plurality of transfer target locations may exist in one unit section, or a transfer target location may exist near a boundary between adjacent unit sections. That is, different interference management zones corresponding to different transfer target locations may correspond to the same unit section. Therefore, if different interference management zones can share the same unit section, the interference management zone can be appropriately set.

  Further, in a case where the different interference management zones share the same unit section, the transfer target locations respectively corresponding to the different interference management zones including the same unit section are different from each other. It is preferable that the transfer of the articles by the article transport vehicle is assigned so as not to overlap at the same time.

  When a plurality of article transport vehicles gather in the vicinity, traffic congestion is caused, and the above-mentioned state called deadlock easily occurs. If the transfer of articles by different article transport vehicles is assigned to the transfer target locations corresponding to different interference management zones including the same unit section so as not to overlap at the same time, multiple article transport vehicles will be difficult to gather. Therefore, the possibility of occurrence of deadlock or the like can be reduced.

1: Article transport vehicle 1A: First transport vehicle (article transport vehicle that performs transfer operation on the first track)
1B: 2nd carrier (other article carrier of 1st carrier)
13: lifting part (article support)
14: Slide part (article support)
18: gripping part (article support)
19: lifting wire (article support)
20: Article support (article support)
90: article 100: article transport facility B: unit section K: track K1: first track (one track in a parallel section)
K2: Second trajectory (the other trajectory in the parallel section)
L: extending direction PK: parallel section S: transfer target location SP: traveling space W: width direction Z: interference management zone

Claims (6)

An article transport facility that travels a plurality of article transport vehicles along a track to transport articles between a plurality of transfer target locations,
A plurality of the tracks have parallel sections in parallel, and a direction along the horizontal plane and orthogonal to the extending direction of the tracks is defined as a width direction.
The article transport vehicle moves out and retreats between a retreat position retracted to the article transport vehicle side and a projecting position projected along the width direction according to the position of the transfer target location. Having a support for supporting
The projecting position when the article transporter projects the support in one of the tracks in the parallel section according to the position of the transfer target location is the same as the article transport vehicle in the other track in the parallel section. When the traveling space, which is a trajectory of traveling, and the position where the support interferes, at least the position where the traveling space and the support interfere with each other is associated with the transfer target location. , An interference management zone is set in the parallel section,
If one of the article transport vehicles is performing a transfer operation to the transfer target location corresponding to the interference management zone, entry of the other article transport vehicle into the interference management zone is prohibited. Goods transport equipment. The article transport vehicle performs the transfer operation of transferring the article to and from the transfer target location, and the traveling operation of traveling on the track to a target stop position corresponding to each of the transfer target locations. To carry out the article transport operation, including
When the article transport operation to the transfer target location is assigned to one of the article transport vehicles, it is determined that another article transport vehicle travels in the interference management zone corresponding to the transfer target location. 2. The article transport facility according to claim 1, wherein the article transport facility is restricted.   One of the article transport vehicles can start the transfer operation to the transfer target location corresponding to the interference management zone, and at least one other article transport vehicle is located in the interference management zone. If there is, after all the other article transport vehicles have exited the interference management zone, the entry of the other article transport vehicles into the interference management zone is prohibited, and the transfer operation is performed. The article transport facility according to claim 1 or 2, wherein the article transport facility is permitted.   Even if a predetermined standby time elapses in a state where one article transport vehicle can start the transfer operation to the corresponding transfer target location in the interference management zone, the other article transports 4. The article transport facility according to claim 3, wherein when the vehicle is present in the interference management zone, the vehicle exits the interference management zone without performing the transfer operation. The entire track is divided into a plurality of unit sections,
The interference management zone is set by at least one unit section including the unit section corresponding to the transfer target location,
The article transport facility according to any one of claims 1 to 4, wherein the different interference management zones can share the same unit section. 6. The transfer target locations respectively corresponding to the different interference management zones including the same unit section are assigned such that transfer of the articles by different article transport vehicles does not overlap at the same time. Article transfer equipment as described in the above.

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