JP2019151474A - Transport system and transport method - Google Patents

Abstract

To improve conveyance efficiency of an article when the article at a load holding destination is conveyed to one of a plurality of unloading destinations by a conveyance vehicle.SOLUTION: A controller 110A includes: a first transfer command unit 112 for assigning a first transfer command to cause a transport vehicle VA to pick up an article W at a picking point P, and cause the article W to be conveyed to a specific position G set in advance upstream of a plurality of unloading destinations C in a predetermined route; and a second transfer command unit 116 for assigning a second transfer command to the transport vehicle VA when the transport vehicle VA that travels while holding the article W that has been picked up reaches the specific position G, or when entering a predetermined zone Z upstream of the specific position G in the predetermined route, and thereby, causing the transport vehicle to convey the article W to the unloading destination, which is designated from the plurality of unloading destinations C, and to unload the article W there.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport system and a transport method.

  A transport system is known in which a plurality of transport vehicles are controlled by a controller, and articles are transported by the transport vehicles within a range in which the transport vehicles move. In this transport system, there are cases where articles are delivered to and from other systems (such as other transport systems) in which the transport vehicle cannot enter. In such a case, since the article is transferred between the transport vehicle in the present transport system and the transport vehicle of the other system, a plurality of transport vehicles capable of delivering the articles respectively. It has been proposed to arrange a relay section (see, for example, Patent Document 1).

JP 2012-066933 A

  When an article is transported to any of a plurality of unloading destinations, a controller of a conventional transport system assigns a transport command specifying a load holding destination and a unloading destination to a transport vehicle. That is, when a command for causing the transport vehicle to hold the article at the load holding point is issued, the destination for unloading the article is designated. For this reason, for example, when a transport vehicle approaches a plurality of unloading destinations, unloading to another unloading destination (unloading destination different from the unloading destination specified in the transport command) cannot be performed, and the unloading is not possible. Even when the efficiency of unloading is improved, the unloading destination of the article being conveyed cannot be easily changed, which is a factor of reducing the efficiency of conveying the article.

  The present invention provides a transport system and a transport method capable of improving the transport efficiency of an article when the article to be grabbed by the transport vehicle is transported to any of a plurality of unloading destinations. Objective.

  The present invention is a transport system comprising: a transport vehicle that travels along a predetermined route; and a controller that causes the transport vehicle to transport an article at a load holding destination to one of a plurality of unloading destinations, The controller causes the transport vehicle to pick up the article at the destination of the load and sends a first transfer instruction to transfer the article to a specific position set in advance upstream of the plurality of destinations of loading in a predetermined route. The first conveyance command section to be allocated and the first conveyance instruction are allocated, and the transport vehicle that holds and holds the grabbed article reaches the specific position, or is upstream of the specific position on the predetermined route. When entering a predetermined section, a second transport command is assigned to the transport vehicle to designate one of a plurality of unloading destinations, transport the article to the unloading destination, and unload the article. Attach second It includes a transmission command unit, a.

  Further, the first transport command unit may assign the first transport command without determining whether there is a load unloading destination from which the transport vehicle can unload an article among a plurality of unloading destinations. In addition, the controller includes a determination unit that determines a destination to which the transport vehicle can unload an object among the plurality of destinations, and the first transport command unit is configured to determine at least one load that can be unloaded by the determination unit. When it is determined that there is an unloading destination, the first conveyance command is assigned, but when the determination unit determines that there is no unloading destination that can be unloaded, the first conveyance command may not be allocated. Further, the second transport command unit may assign a second transport command that designates the most downstream load unloading destination among a plurality of unloading destinations at which the transport vehicle can unload the article.

  In addition, the predetermined route has a circuit route until the transport vehicle that has passed through the specific position returns to the specific position again, and the controller can unload the plurality of unloading destinations so that the transport vehicle can unload the article. A determination unit configured to determine a destination, and when the transport vehicle assigned with the first transport command reaches a specific position, or enters a predetermined section upstream of the specific position on a predetermined route, the determination unit If it is determined that there is no unloading destination that can be unloaded, the second transport command unit does not assign the second transport command to the transport vehicle, and the first transport command unit again sets the second transport command to the transport vehicle. One conveyance command may be assigned. In addition, the route includes a branch portion, the first unloading destination is arranged along the first route branched in one direction in the branch portion, and along the second route branched in the other direction in the branch portion. A second unloading destination different from the first unloading destination may be arranged, and the specific position may be set on the upstream side of the branch portion in the route. Further, the vehicle includes another route in which the transport vehicle is not allowed to enter, and another transport vehicle that travels along the other route, and the predetermined route is incapable of entering another transport vehicle, The unloading destination may be arranged at a position where the other transport vehicles can hold the articles placed on the plurality of unloading destinations.

  The present invention also relates to a transport method for transporting an article at a load destination to one of a plurality of unload destinations by a transport vehicle that travels along a predetermined route. Assigning a first conveyance command to grab the previous article and conveying the article to a specific position set in advance on the upstream side of a plurality of unloading destinations in a predetermined route, and assigning the first conveyance instruction When the transport vehicle that holds and holds the grabbed article reaches a specific position, or enters a predetermined section on the upstream side of the specific position in a predetermined route, with respect to the transport vehicle, Assigning a second transport instruction for designating any of a plurality of unloading destinations to transport the article to the unloading destination and unloading the article.

  According to the transport system and the transport method of the present invention, when the transport vehicle reaches the specific position on the upstream side of the plurality of cargo holding destinations by the first transport command or enters the predetermined section, the second transport command Since the unloading destination is assigned by, it is possible to start the grasping and transporting of the article without specifying the unloading destination, and to specify the appropriate unloading destination at the timing close to the unloading destination. It can be transported to the unloading destination, and the efficiency of transporting articles can be improved.

  Further, in the aspect in which the first transport command unit assigns the first transport command without determining whether or not there is a load destination where the transport vehicle can unload the article among the plurality of load destinations, Even if there is no destination for unloading the article, it is possible to start the conveyance by grasping the article at the grasping destination, so that the conveyance efficiency of the article can be improved. In addition, the controller includes a determination unit that determines a destination to which the transport vehicle can unload an article among a plurality of unload destinations, and the first transport command unit has at least one load that can be unloaded by the determination unit. When it is determined that there is an unloading destination, the first transfer command is assigned, but when the determination unit determines that there is no unloading destination that can be unloaded, the first transfer command is not allocated. The determination unit determines whether or not there is an unloading destination that can be unloaded and determines whether or not the first transfer command can be assigned. Therefore, if there is an unloading destination that can be unloaded, the first unloading destination is first. Along with assigning a transport command, the first transport command is assigned even when there are few (or insufficient) unloading destinations for the articles to be transported, so more first transports than available unloading destinations. Multiple transport commands It can be assigned to the. In a mode in which the second transport command unit assigns a second transport command that designates the most downstream load unloading destination among a plurality of unloading destinations at which the transport vehicle can unload articles, Since it is possible to unload an article to an unloading destination on the upstream side, it is not necessary for a subsequent conveyance vehicle to wait while the conveyance vehicle assigned with the second conveyance instruction is unloading, and the conveyance efficiency of the article Can be improved.

  In addition, the predetermined route has a circulation route until the transport vehicle that has passed through the specific position returns to the specific position again, and the controller can unload the load from the plurality of unloading destinations. A determination unit configured to determine a destination, and when the transport vehicle assigned with the first transport command reaches a specific position, or enters a predetermined section upstream of the specific position on a predetermined route, the determination unit If it is determined that there is no unloading destination that can be unloaded, the second transfer command unit assigns the second transfer command to the transfer vehicle, and the first transfer command unit again sets the second transfer command to the transfer vehicle. In the mode of assigning one transport command, the first transport command is assigned again to a transport vehicle for which no unloading destination is found. The car stops and the other Can be avoided that impede travel of Okukuruma, further by the transport vehicle returns to the specific position, it can be guided vehicle as an object to allocate the second transport command again. In addition, the route includes a branch portion, the first unloading destination is arranged along the first route branched in one direction at the branch portion, and along the second route branched in the other direction at the branch portion. In an aspect in which a second unloading destination different from the first unloading destination is arranged and the specific position is set on the upstream side of the branch portion in the route, the first unloading destination and the second unloading destination Since the specific position is set on the upstream side of the branching section while securing more unloading destinations, the second transfer command can be used regardless of whether the first unloading destination or the second unloading destination. You can head to the assigned unloading destination. Further, the vehicle includes another route in which the transport vehicle is not allowed to enter and another transport vehicle that travels along the other route. In a mode in which the unloading destination is arranged at a position where the other transporting vehicles can grasp the articles placed at the plurality of unloading destinations, the transporting vehicle travels along a predetermined route via the unloading destination. Then, the goods can be delivered to and from other transport vehicles traveling on other routes.

It is a figure which shows an example of the conveyance system which concerns on embodiment. It is a figure which shows an example of the conveyance vehicle VA. It is a figure which shows an example of a functional block structure of a controller and a high-order controller. It is a figure which shows an example of the operation | movement flow of a controller. It is a figure which shows an example of the operation | movement flow of a controller. It is a figure which shows an example of the operation | movement sequence regarding the conveying method which concerns on embodiment. It is a figure explaining an example of operation of a conveyance vehicle. FIG. 8 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 7. FIG. 9 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 8. FIG. 10 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 9. FIG. 11 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 10. FIG. 12 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 11. It is a figure explaining the other example of operation | movement of a conveyance vehicle. FIG. 14 is a diagram for explaining another example of the operation of the transport vehicle following FIG. 13. FIG. 15 is a diagram for explaining another example of the operation of the transport vehicle following FIG. 14. It is a figure which shows the other example of a conveyance system. It is a figure explaining an example of operation of a conveyance car in other examples of a conveyance system. FIG. 18 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 17. FIG. 19 is a diagram for explaining an example of the operation of the transport vehicle following FIG. 18.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to this form. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed by partially enlarging or emphasizing the description. In FIG. 2, directions in the figure will be described using an XYZ coordinate system. In this XYZ coordinate system, a plane parallel to the horizontal plane is defined as an XY plane. A direction in which the transport vehicle VA travels on the XY plane is denoted as an X direction, and a direction orthogonal to the X direction is denoted as a Y direction. A direction perpendicular to the XY plane is expressed as a Z direction. Each of the X direction, the Y direction, and the Z direction will be described assuming that the direction of the arrow in the drawing is the + direction and the direction opposite to the arrow is the − direction.

  FIG. 1 shows an example of a transport system according to the embodiment. The transport system SA travels along a track TA, which is a predetermined route, and transports a plurality (or one) of transporting articles W1, W2,... (Hereinafter sometimes referred to as articles W). Vehicles VA1 and VA2 (hereinafter may be referred to as a transport vehicle VA) and a controller 110A that controls the transport vehicle VA. And a controller 110A that transports the article W of the article W (which may be referred to as “there may be referred to as”) to any of a plurality of unloading destinations C1, C2, and C3 (hereinafter may be referred to as “unloading destination C”). . Here, the article W is, for example, a FOUP, SMIF Pod, or Rectile Pod that can accommodate a wafer, a reticle or the like. In addition, the unloading destination C can deliver the article W by the transport vehicle VB traveling along the track TB which is another route in the transport system SB which is another system.

  The transport vehicle VA of the transport system SA cannot get on the track TB of the transport system SB (cannot enter), and the transport vehicle (other transport vehicle) VB of the transport system SB Route) Cannot enter TA (cannot enter). For example, when the specifications of the controller 110 (control program version, control algorithm itself, etc.) are different between the transport system SA and the transport system SB, when the transport vehicle V is not compatible, or when the track is different, The transport vehicle VA and the transport vehicle VC cannot enter the track TA and the track TB with each other. Therefore, when the article W in the transport system SA is delivered to the transport system SB, it is necessary to deliver the article W via a plurality of unloading destinations C as a relay unit.

  FIG. 2 shows an example of the transport vehicle VA. The transport vehicle VA travels in the + X direction along the track TA suspended from the ceiling 1 or the like of the building, and loads at a load gripping point P (P1, P2,...) Arranged immediately below the track TA. , And the unloading destination C (C1, C2,...) Disposed below and on the side of the track TA is an overhead transport vehicle. The transport vehicle VA can hold and unload the article W with respect to both the load holding point P directly below the track TA and the load destination C below and on the side of the track TA. Note that the cargo holding point P may not be directly below the track TA, and may be disposed below and on the side of the track TA. The unloading destination C may be arranged directly below the track TA, not below and on the side of the track TA. The transport vehicle VA includes an in-vehicle controller 130. The in-vehicle controller 130 controls the transport vehicle VA according to a command transmitted from the controller 110 (or area controller). The transport vehicle VA is controlled by the in-vehicle controller 130 and performs various operations.

  The transport vehicle VA includes a traveling unit M and a main body unit 3. The traveling unit M includes wheels 4 and travels along the track TA by a traveling drive unit (not shown). The main body 3 is provided in a state of being hung below the traveling unit M. The main body 3 includes a transfer device 5. The transfer device 5 moves the article holding unit 6 that holds the article W, the elevation driving unit 7 that raises and lowers the article holding unit 6, and the elevation driving unit 7 to the side of the track TA (+ Y direction or -Y direction). A laterally extending mechanism 8 to be provided.

  The article holding part 6 is a chuck having a movable claw part 6a, and the article W is suspended and held by allowing the claw part 6a to enter below the flange part WA of the article W. The article holding unit 6 is connected to a suspension member 6b such as a wire or a belt. The raising / lowering drive part 7 is a hoist, for example, and raises / lowers the article | item holding | maintenance part 6 by paying out or winding up the suspension member 6b. The laterally extending mechanism 8 slides the plurality of movable plates to move the article holding unit 6 and the elevation driving unit 7 from the position stored in the main body unit 3 to the side of the track TA. The article holding unit 6, the elevating drive unit 7, and the lateral mechanism 8 are controlled by the in-vehicle controller 130. The transport vehicle VB has the same configuration as the transport vehicle VA.

  When the article W is grasped by the article grasping point P, the in-vehicle controller 130 stops the carrier VA in accordance with the article grasping point P, and lowers the article holding unit 6 by the elevating drive unit 7 to thereby lower the article grasping point. P is instructed to grasp the article W. Note that the article W can be unloaded at the load gripping point P by lowering the article holding unit 6 holding the article W by the lifting drive unit 7. The load holding point P is, for example, a processing device or a load port of a stocker. When unloading the article W at the unloading destination C, the in-vehicle controller 130 stops the transport vehicle VA according to the unloading destination C, and the lateral drive mechanism 8 moves the lifting drive unit 7 to the side of the track TA. Then, the article holding unit 6 holding the article W is lowered to instruct the unloading destination C to unload the article W. In addition, the article W at the unloading destination C can be grasped by lowering the article holding section 6 in a state where the raising / lowering driving section 7 is laterally extended to the side of the track TA by the lateral loading mechanism 8. The unloading destination C is, for example, an overhead buffer in which a shelf on which the article W can be placed is suspended from the ceiling 1 of the building.

  The controller 110A and the in-vehicle controller 130 are connected by wireless communication via a transmission path such as wireless LAN (Local Area Network) and feeder communication using a feeder line. In addition, the controller 110A and the transport system SB 110B (hereinafter also referred to as the controller 110) are communicatively connected to the host controller 150 via a transmission line such as a wired LAN or a wireless LAN.

  The controller 110 </ b> A includes a first conveyance command unit 112 and a second conveyance command unit 116. The first transport command unit 112 causes the transport vehicle VA to grip the article W at the load holding destination P and travels on a track TA (predetermined route) toward a plurality of unloading destinations C. 1, a first transport command for transporting the article W to a specific position G set in advance upstream of a plurality of unloading destinations C is assigned. The first transport command is a command that does not allow unloading even when the transport vehicle VA reaches the specific position G. The second transport command unit 116 is specified when the first transport command is assigned and the transport vehicle VA that travels while holding the grasped article W reaches the specific position G or in the track TA (predetermined route). When entering a predetermined zone Z upstream of the position G, the article W is conveyed to the unloading destination C by designating one of the plurality of unloading destinations C to the transport vehicle VA. A second transport command for unloading the article W is assigned. The second transport command is a command for causing the unloading destination C to unload after the transport vehicle VA reaches the unloading destination C.

  The predetermined section Z is set based on the traveling speed of the transport vehicle VA heading to the specific position G. For example, since the speed of the transport vehicle VA toward the predetermined section Z is known in advance (relatively fast for a straight section and relatively slow for a curved section), the section is set in advance according to the speed. . The predetermined section Z may be set in advance as a fixed value, or may be set as appropriate by the host controller 150 or the like according to the operating status of the transport system SA.

  FIG. 3 is a diagram illustrating an example of functional block configurations of the controller 110 </ b> A and the host controller 150. The host controller 150 includes a determination unit 151 and an unloading destination determination unit 152. The determination unit 151 determines an unloading destination C from which the transport vehicle VA can unload the article W among a plurality of unloading destinations C. The unloading destination determination unit 152 will be described later. The controller 110A includes a transport command receiving unit 111, a first transport command unit 112, a status report receiving unit 113, a position specifying unit 114, an unloading destination request unit 115, a second transport command unit 116, and transport completion. A report unit 117 and a transport vehicle information storage unit 118 are provided. The conveyance command receiving unit 111 receives the conveyance command transmitted from the host controller 150. The conveyance command transmitted from the host controller 150 to the controller 110 </ b> A includes a loading destination P (From) of the article W and a loading destination C (To) of the article W.

  The first transport command unit 112 assigns the first transport command when, for example, the determination unit 151 of the host controller 150 determines that there is at least one unloading destination C that can be unloaded, If it is determined that there is no possible unloading destination C, the first conveyance command may not be assigned. For example, the first transport command unit 112 does not determine whether the transport vehicle VA has the unloading destination C where the article W can be unloaded, among the plurality of unloading destinations C, by the determination unit 151. The first transport command may be assigned. The transport vehicle VA to which the first transport command is assigned is, for example, an idle transport vehicle VA that is not transporting the article W or a standby transport vehicle VA. Further, the first transport command unit 112 can assign more first transport commands to a plurality of transport vehicles VA than the number of unloading destinations C at which the article W can be unloaded. The status report receiving unit 113 receives the status report transmitted from the in-vehicle controller 130 in response to the status report request transmitted from the controller 110A. The status report transmitted from the in-vehicle controller 130 to the controller 110A includes a position report for reporting the position of the transport vehicle VA, a load completion report for reporting that the transport vehicle VA has finished gripping the article W, and a transport A transport completion report that reports that the vehicle VA has finished unloading the article W, and further includes information such as the traveling speed.

  The position specifying unit 114 specifies the position of the transport vehicle VA on the track TA based on the position report sent from the transport vehicle VA. The unloading destination request unit 115 determines the unloading destination C of the article W in the transport vehicle VA based on the fact that the transport vehicle VA that has received the first transport command has traveled to the predetermined zone Z. To request. When the determination unit 151 determines that there are a plurality of unloading destinations C that can be unloaded based on a request from the unloading destination requesting unit 115, the host controller 150 uses, for example, a plurality of unloading destination determining units 152 The unloading destination on the most downstream side of the unloading destination C is determined as the unloading destination C of the article W, and the determined content is transmitted to the controller 110A. The controller 110A that has received the determination details regarding the unloading destination C of the article W receives the timing or trajectory (predetermined by the second transport command unit 116 when the transport vehicle VA to which the first transport command is assigned reaches the specific position G. (Route) TA is assigned to the transport vehicle VA with the second transport command for setting the most downstream unloading destination C as the unloading destination C of the article W at the timing of entering the predetermined section Z upstream from the specific position G in TA. . Further, when the transport vehicle VA to which the first transport command is assigned reaches the specific position G, the determination unit 151 of the host controller 150 allows the transport vehicle VA to unload the article W among the plurality of unloading destinations C. When it is determined that there is no unloading destination C, the first conveyance command unit sends a first conveyance command to convey the article W to the specific position G again without allocating the second conveyance command by the second conveyance command unit 116. You may assign by 112, and you may assign the 2nd conveyance command to drive to a predetermined place, without instructing any unloading place C. The second transport command unit 116 assigns the second transport command to the transport vehicle VA from when the transport vehicle VA enters the predetermined section Z until it reaches the specific position G.

  The transfer completion reporting unit 117 reports to the host controller 150 that the transfer to the unloading destination C has been completed. In the transport vehicle information storage unit 118, information related to the transport vehicle VA is stored. The information related to the transport vehicle VA includes information that can identify the transport vehicle VA that has received the first transport command. The unloading destination determination unit 152 of the host controller 150 determines the unloading destination C of the article W in the transport vehicle VA based on the fact that the transport vehicle VA that has received the first transport command has traveled to the predetermined zone Z. The load that can be unloaded by the determination unit 151 when the transport vehicle VA to which the first transport command is assigned reaches the specific position G or enters the predetermined zone Z upstream of the specific position G on the track TA. When it is determined that there are a plurality of unloading destinations C, the unloading destination determining unit 152 determines, for example, the most downstream unloading destination among the plurality of unloading destinations C as the unloading destination C of the article W. . With this configuration, while the transport vehicle VA assigned the second transport command is unloading, the subsequent transport vehicle VA does not have to wait, and the unloading of the article W is performed at the upstream unloading destination C. Since it is possible, the conveyance efficiency of the article | item W can be improved. In addition, a second transport command that designates a downstream unloading destination C may be assigned to the subsequent transport vehicle VA. If there is an unloading destination C on the downstream side and the second transfer command for unloading at the upstream loading destination C is assigned to the preceding transfer vehicle VA, the subsequent transfer vehicle VA When the second transport command for unloading at the downstream unloading destination C is assigned, the subsequent transport vehicle VA needs to wait before the unloading of the article W on the upstream side is completed.

  4 and 5 show an example of an operation flow of the controller 110A. First, an operation when the controller 110A assigns a conveyance command will be described with reference to an operation flow shown in FIG. In the description of this operation flow, FIGS. 1 to 3 are referred to. When the article W at the cargo holding point P is conveyed to one of the unloading destinations C, the host controller 150 holds the article W at the cargo holding destination P and conveys the article W to the specific position G. A command for conveying the cargo is sent to the controller 110A. When the determination unit 151 determines that there is at least one unloading destination C that can be unloaded, the host controller 150 transmits a load-carrying conveyance command, but determines that there is no unloading destination C that can be unloaded. If it is done, the cargo handling instruction is not transmitted. Note that the host controller 150 may transmit a cargo holding conveyance command without determining whether or not there is a loading destination C where the article W can be unloaded. For example, even if there is no unloading destination where the article W can be unloaded, the host controller 150 may transmit a load holding conveyance command. Further, the host controller 150 can transmit more unloading conveyance commands than the number of unloading destinations capable of unloading articles.

  When receiving the data from the host controller 150, the conveyance command receiving unit 111 of the controller 110A determines whether the data is a conveyance command (step S101). In the process of step S101, the conveyance command receiving unit 111 may refer to, for example, the header of the data received from the host controller 150 and determine whether the data is a conveyance command. If the data received from the host controller 150 is not a conveyance command (step S101; NO), the process of the operation flow shown in FIG.

  When the data received from the host controller 150 is a transport command (step S101; YES), the transport command receiving unit 111 determines whether the transport command is a cargo holding transport command (step S102). In the process of step S102, the conveyance command receiving unit 111 refers to, for example, the header of the conveyance command, and determines whether the conveyance command is a cargo holding conveyance command. When the conveyance command is a cargo holding conveyance command (step S102; YES), the conveyance command receiving unit 111 sends the cargo holding conveyance command to the first conveyance command unit 112.

  When the first conveyance command unit 112 receives the cargo holding conveyance command from the conveyance command receiving unit 111, the first conveyance command unit 112 causes one of the plurality of conveyance vehicles VA to hold the article W at the loading destination P, and the specific position The first conveyance command for conveying the article W to G is assigned (step S103), and the process of the operation flow shown in FIG. In the process of step S103, first, the first transport command unit 112 determines a transport vehicle to be gripped at the load gripping destination P that is instructed as a load gripping destination by the transport command among the plurality of transport vehicles VA. For example, the first transport command unit 112 determines the transport vehicle VA that is closest to the load gripping destination P indicated as the load gripping destination by the transport command. The first transport command unit 112 transmits a first transport command to the on-vehicle controller 130 of the determined transport vehicle VA. In addition, the first transport command unit 112 associates the information on the transport vehicle VA to which the first transport command is assigned with the information on the cargo holding destination P and the article W instructed by the first transport command, and transport vehicle information. Store in the storage unit 118.

  As described above, the first transport command unit 112 assigns the first transport command when the determination unit 151 of the host controller 150 determines that there is at least one unloading destination C that can be unloaded. If it is determined that there is no unloadable destination C, the first transfer command is not assigned. Note that the first transport command unit 112 has, for example, a load destination C from which the transport vehicle VA can unload the article W among the plurality of load destinations C in response to receiving the load grasping transport command. The first conveyance command may be assigned to any one of the plurality of conveyance vehicles VA without performing the determination of whether or not by the determination unit 151. According to this configuration, even when there is no unloading destination C where the article W can be unloaded, the first transport command is assigned by the first transport command unit 112. In other words, the first transport command unit 112 can assign more first transport commands to the plurality of transport vehicles VA than the number of unloading destinations C at which the article W can be unloaded.

  The in-vehicle controller 130 assigned the first conveyance command from the controller 110A controls the conveyance vehicle VA according to the first conveyance command. The in-vehicle controller 130 causes the transport vehicle VA to travel to the load gripping destination P specified by the first transport command, causes the transport vehicle VA to grip the article W at the load gripping destination P, and then causes the transport vehicle VA to Control is performed so that the article W is conveyed to the specific position G.

  The controller 110A requests the host controller 150 to determine the unloading destination C of the article W in the transport vehicle VA based on the fact that the transport vehicle VA that has received the first transport command has traveled to the predetermined section Z. In response to this request, the host controller 150 determines an unloading destination C for the article W, and transmits an unloading conveyance command for instructing the unloading destination C for the article W to the controller 110A. The load that can be unloaded by the determination unit 151 when the transport vehicle VA to which the first transport command is assigned reaches the specific position G or enters the predetermined zone Z upstream of the specific position G on the track TA. When it is determined that there are a plurality of unloading destinations C, the unloading destination determination unit 152 of the host controller 150, for example, unloads the most downstream unloading destination C among the plurality of unloading destinations C. Determine as the destination C.

  If the conveyance command is not a grab conveyance command in the process of step S102 (step S102; NO), the conveyance command receiving unit 111 determines whether the conveyance command is an unloading conveyance command (step S104). In the process of step S104, for example, the conveyance command receiving unit 111 refers to the header of the conveyance command and determines whether the conveyance command is an unloading conveyance command. If the transport command is an unloading transport command (step S104; YES), the transport command receiving unit 111 sends the unloading transport command to the second transport command unit 116.

  When the second transport command unit 116 receives the unloading transport command from the transport command receiving unit 111, the second transport command unit 116 responds to the fact that the transport vehicle VA that has received the first transport command has traveled to the predetermined zone Z upstream of the specific position G. Then, a second transport command for assigning one of the plurality of unloading destinations C to the unloading destination C is assigned to the transport vehicle VA (step S105), and the processing of the operation flow shown in FIG. . In the process of step S105, the second transport command unit 116 assigns a second transport command for transporting the article W to the unloading destination C of the article W determined by the host controller 150 and unloading the article W.

  First, the 2nd conveyance command part 116 specifies the conveyance vehicle used as the object of unloading conveyance command among a plurality of conveyance vehicles VA. For example, the second transport command unit 116 refers to the information stored in the transport vehicle information storage unit 118 to determine which transport vehicle VA is transporting the article W instructed by the unloading transport command. To identify. Then, the 2nd conveyance command part 116 transmits the 2nd conveyance command to in-vehicle controller 130 of specified conveyance vehicle VA. In addition, the second transport command unit 116 associates the information stored in the transport vehicle information storage unit 118 with the information of the transport vehicle VA to which the second transport command is assigned, and the load designated by the second transport command. Stores information about the destination C.

  The in-vehicle controller 130 assigned the second transport command from the controller 110A controls the transport vehicle VA according to the second transport command. The in-vehicle controller 130 performs control so that the vehicle travels to the unloading destination C instructed by the second conveyance command, and the article W is unloaded at the unloading destination C. In addition, when the transport vehicle VA to which the first transport command is assigned reaches the specific position G, or enters the predetermined zone Z upstream of the specific position G on the track TA (that is, a plurality of unloading destinations C When the determination unit 151 determines that there are a plurality of unloading destinations C that can be unloaded, the second transport command unit 116 sets the most downstream load among the plurality of unloading destinations C. Allocate a second conveyance command that designates the destination C. With this configuration, it is possible to determine an optimum unloading destination C for the article W being conveyed.

  Further, as described above, when the determination unit 151 determines that there is at least one unloading destination C that can be unloaded, the host controller 150 transmits a unloading conveyance command. When it is determined that there is no unloading destination C, the grasping and conveying instruction is not transmitted. The host controller 150 transmits a grab-carrying conveyance command without determining whether there is a loading destination C from which the conveyance vehicle VA can unload the article W among the plurality of loading destinations C. Also good. In this case, even when there is no unloading destination C of the article W at the timing when the request from the controller 110A is received, no unloading destination C is specified and the article W is held toward the predetermined place. A conveyance command for traveling may be transmitted to the controller 110A.

  If the transport command is not an unloading transport command in the process of step S104 (step S104; NO), the transport command receiving unit 111 sends the transport command to the second transport command unit 116. When the second conveyance command unit 116 receives the conveyance command from the conveyance command receiving unit 111, the second conveyance command unit 116 does not assign the second conveyance command, but the first conveyance command unit 112 assigns the first conveyance command to convey the article to the specific position G again. (Step S106), the processing of the operation flow shown in FIG. In the process of step S106, first, the first transport command unit 112 specifies a transport vehicle that is the target of the transport command, as in step S103, and the article to the specific position G with respect to the in-vehicle controller 130 of the transport vehicle VA. 1st conveyance command which conveys is transmitted. The in-vehicle controller 130 assigned again with the first transport command from the controller 110A controls the transport vehicle VA in accordance with the first transport command. The in-vehicle controller 130 performs control so as to travel a predetermined circuit route such as a circular track so that the article is conveyed to the specific position G.

  Next, an operation when the controller 110A receives a status report from the in-vehicle controller 130 will be described with reference to an operation flow shown in FIG. In the description of this operation flow, FIGS. 1 to 3 are referred to. The in-vehicle controller 130 receives, for example, a status report request from the controller 110A at predetermined time intervals, and indicates information that can identify the transport vehicle VA and information on the position of the transport vehicle VA as the status report for the status report request. The position report is transmitted to the controller 110A.

  When the status report receiving unit 113 of the controller 110A receives data from the in-vehicle controller 130, the status report receiving unit 113 determines whether the data is a status report (step S201). In the process of step S201, the status report receiving unit 113 refers to, for example, a header of data received from the in-vehicle controller 130, and determines whether the data is a status report. If the data received from the in-vehicle controller 130 is not a status report (step S201; NO), the process of the operation flow shown in FIG.

  When the data received from the in-vehicle controller 130 is a status report (step S201; YES), the status report receiving unit 113 determines whether the status report is a location report (step S202). In the process of step S202, the status report receiving unit 113 refers to, for example, the status report header and determines whether the status report is a location report. When the status report is a location report (step S202; YES), the status report receiving unit 113 sends the location report to the location specifying unit 114.

  When the position specifying unit 114 receives the position report from the state report receiving unit 113, the position specifying unit 114 is based on information that can specify the transport vehicle VA indicated by the position report and information stored in the transport vehicle information storage unit 118. Then, it is determined whether it is a position report of the transport vehicle VA that has received the first transport command (step S203). In the process of step S203, for example, if the information that can identify the transport vehicle VA indicated by the position report is stored in the transport vehicle information storage unit 118, the position specifying unit 114 receives the first transport command. It is determined that the vehicle VA position is reported. If it is not the position report of the transport vehicle VA that has received the first transport command (step S203; NO), the process of the operation flow shown in FIG.

  When it is the position report of the transport vehicle VA that has received the first transport command (step S203; YES), the position specifying unit 114 specifies the position of the transport vehicle VA on the track TA (step S203). In the process of step S203, the position specifying unit 114, for example, based on the position information of the transport vehicle VA indicated by the position report and the layout information of the track TA in the transport system SA, the position of the transport vehicle VA in the track TA. Is identified. Based on the position of the specified transport vehicle VA, the position specifying unit 114 determines whether the transport vehicle VA has traveled to the predetermined section Z (or is traveling in the predetermined section Z) (step S205). In the process of step S205, the position specifying unit 114 determines that the vehicle is traveling in the predetermined section Z when the position of the specified transport vehicle VA is within the range of the predetermined section Z. When the transport vehicle VA is not traveling in the predetermined zone Z (step S205; NO), the process of the operation flow shown in FIG.

  When the transport vehicle VA is traveling in the predetermined section Z (step S205; YES), the position specifying unit 114 sends information on the article W being transported by the transport vehicle VA to the unloading destination request unit 115. Alternatively, the position specifying unit 114 sends the information on the article W being transported by the transport vehicle VA and the information on the destination C to which the article W has been held to the unloading destination request unit 115. When receiving the information from the position specifying unit 114, the unloading destination request unit 115 requests the host controller 150 to determine the unloading destination C of the article W indicated by the information (step S206). The process of the operation flow shown is finished. In the process of step S <b> 206, the unloading destination request unit 115 transmits the information received from the position specifying unit 114 to the host controller 150. The unloading destination determination unit 152 of the host controller 150 determines the unloading destination C of the article W in response to a request from the unloading destination request unit 115.

  When the transport vehicle VA finishes unloading the article W, the in-vehicle controller 130 transmits a transport completion report indicating that the unloading is completed to the controller 110A as a status report. In the process of step S202, when the status report is a conveyance completion report (step S202; NO), the status report receiving unit 113 sends the conveyance completion report to the conveyance completion reporting unit 117. When the conveyance completion report unit 117 receives the conveyance completion report from the status report reception unit 113, the conveyance completion report unit 117 transmits a conveyance completion report indicating the completion of conveyance of the article W to the host controller 150 (step S207).

  FIG. 6 shows a transport method according to the embodiment, and is a diagram illustrating an example of an operation sequence related to processing performed by the controller 110 </ b> A, the in-vehicle controller 130, and the host controller 150. 7 to 12 show an example of the operation of the transport vehicle by the transport method shown in FIG. In the description of this operation sequence, reference is made to FIGS. In FIG. 7 and subsequent drawings, the explanation is given by taking one transport vehicle VA as an example, but the same applies even if there are two or more transport vehicles VA in the transport system SA.

  FIG. 7 shows the state of the transport system SA at a certain timing. As shown in FIG. 7, articles W1 and W2 are placed on the cargo holding points P1 and P2, respectively. An article W3 is placed on the unloading destination C2. The article W is not placed on the unloading destinations C1 and C3. Therefore, in the state shown in FIG. 7, the determination unit 151 of the host controller 150 determines that the article W can be unloaded to the unloading destinations C1 and C3 among the plurality of unloading destinations C. When the article W1 at the cargo holding point P1 is transported to one of the unloading destinations C, as shown in FIG. 7, the host controller 150 holds the article W1 at the cargo holding destination P1 and the specific position G A grab carrier conveyance command instructing to convey the article W1 is transmitted to the controller 110A (step S301).

  As shown in FIG. 8, the controller 110 </ b> A instructs to grasp the article W <b> 1 at the grasping destination P <b> 1 and convey the article W <b> 1 to the specific position G in response to receiving the article grasping conveyance command. The first transport command is assigned to the transport vehicle VA (step S302). As shown in FIG. 9, the vehicle-mounted controller 130 of the transport vehicle VA to which the first transport command is assigned travels to and stops at the load gripping destination P1 instructed by the first transport command, and at the load gripping destination P1. The transport vehicle VA is controlled so as to grab the article W1 (step S303). The in-vehicle controller 130 controls the transport vehicle VA so as to travel to the specific position G while holding the article W after grasping the article W1 (step S304).

  FIG. 10 shows a state in which the transport vehicle VA that has received the first transport command is traveling in a predetermined zone Z on the upstream side of the specific position G. As shown in FIG. 10, the in-vehicle controller 130 transmits a location report to the controller 110A, for example, at predetermined time intervals (step S305). When the controller 110A specifies that the transport vehicle VA is traveling in the predetermined zone Z based on the position report (step S306), the host controller 150 determines the unloading destination C of the article W1 in the transport vehicle VA. (Step S307). In response to this request, the host controller 150 determines the unloading destination of the article W1 as an unloading destination C1 that can be unloaded (step S308), and issues an unloading conveyance command that instructs the unloading destination C1 of the article W1. The data is transmitted to the controller 110A (step S309).

  As shown in FIG. 11, in response to receiving the unloading conveyance command, controller 110A assigns a second conveyance command for unloading destination C1 to the unloading destination of article W1 to conveyance vehicle VA (step S310). ). As shown in FIG. 12, the in-vehicle controller 130 of the transport vehicle VA to which the second transport command is assigned travels to the unloading destination C1 specified by the second transport command (step S311), and the unloading destination C The transport vehicle VA is controlled so as to unload the article W (step S312). When the transport vehicle VA finishes unloading the article W, the in-vehicle controller 130 transmits a transport completion report to the controller 110A (step S313). When the controller 110A receives the conveyance completion report, the controller 110A transmits the conveyance completion report to the host controller 150 (step S314).

  13 to 15 show another example of the operation of the transport vehicle. In the description of this operation, reference is made to FIGS. In FIG. 13 and subsequent figures, the description is given by taking one transport vehicle VA as an example, but the same applies even if there are two or more transport vehicles VA in the transport system SA. FIG. 13 shows the state of the transport system SA at the timing when the transport vehicle VA that has received the first transport command travels to the predetermined zone Z upstream of the specific position G. As shown in FIG. 13, articles W4, W3, and W5 are placed on the unloading destinations C1, C2, and C3, respectively. Therefore, in the state shown in FIG. 13, it is not possible to unload any of the plurality of unloading destinations C.

  Thus, when it is determined that there is no unloading destination C that can be unloaded when the transport vehicle VA to which the first transport command is assigned by the determination unit 151 reaches the specific position G, the host controller 150 A command indicating that is transmitted to the controller 110A. When the controller 110A receives a command indicating that there is no unloading destination C that can be unloaded, the controller 110A does not allocate the second transport command by the second transport command unit 116, and reaches the specific position G with respect to the transport vehicle VA. A first transport command for transporting the article to the specific position G again through the circular trajectory TC or the like that is the return circuit route is assigned. The circular trajectory TC, for example, branches from a branching portion F that is past a plurality of unloading destinations C (on the downstream side of the plurality of unloading destinations C) on the track TA, and is upstream of the predetermined section Z. At the junction E, it joins the track TA.

  As shown in FIG. 15, the vehicle-mounted controller 130 of the transport vehicle VA to which the first transport command is assigned again controls the transport vehicle VA so as to travel from the branch portion F of the track TA to the circular track TC. After passing through a plurality of unloading destinations C, the transport vehicle VA enters the traveling track TC from the branch portion F and travels. Further, the transport vehicle VA travels from the circular track TC back to the track TA by the junction E, and the vehicle-mounted controller 130 of the transport vehicle VA transmits a position report to the controller 110A at the timing when traveling in the predetermined section Z. The above-described processing from step S305 to S307 is executed again. At this time, if there is a destination C where the article W1 can be placed, steps S308 to S314 described above are executed. Note that the route back to the specific position G is not limited to the circular trajectory TC, and may be set to pass through a route different from the cyclic trajectory TC, for example.

  FIG. 16 is a diagram illustrating another example of the transport system. The transport system SA1 shown in FIG. 16 has a plurality of unloading destinations C11 to C13, C21 to C23, and C31 to C33 (hereinafter referred to as unloading destination C) for delivering the article W1 to the transport system SB1 which is another system. There is a system that transports to any one of them. The plurality of unloading destinations C11 to C13 are first unloading destinations. The plurality of unloading destinations C21 to C23 are second unloading destinations. The plurality of unloading destinations C31 to C33 are third unloading destinations. Other configurations in the transport system SA1 are the same as those in the transport system SA described above. In FIG. 16, the controller 110A and the host controller 150 are not shown.

  As shown in FIG. 16, the trajectory TA of the transport system SA1 branches into a trajectory (first path) TA1 at the branching section F1, and the trajectory (second path) TA2 and the trajectory at a branching section F2 downstream of the branching section F1. (Third path) Branch to TA3. The unloading destinations C11 to C13 are arranged along the track TA1 and the track TB1 that are the first paths. The unloading destinations C21 to C23 are arranged along the trajectory TA2 and the trajectory TB2 which are the second paths. The unloading destinations C31 to C33 are arranged along the track TA3 and the track TB3, which are the second paths. The specific position G1 is set on the upstream side of the track TA with respect to any of the branch portions F1 and F2. The track TA1, the track TA2, and the track TA3 are provided laterally and above the unloading destinations C11 to C13, C21 to C23, and C31 to C33, respectively. Accordingly, the transport vehicle VA traveling on the track TA1, the track TA2, or the track TA3 moves the article holding unit 6 up and down the drive unit 7 in a state in which the lift drive unit 7 is set to the side of the track TA1 and the like by the side feed mechanism 8. It is possible to receive the article W placed on the unloading destination C or the article W placed on the unloading destination C by lowering. Further, the trajectory TB1, the trajectory TB2, and the trajectory TB3 in the transport system SB1 are provided immediately above the unloading destinations C11 to C13, C21 to C23, and C31 to C33, respectively. Accordingly, the transport vehicle VB traveling on the track TB1, the track TB2, or the track TB3 has an article holding unit (corresponding to the article holding unit 6 shown in FIG. 2) as an up-and-down driving unit (up-and-down driving unit 7 shown in FIG. 2). The article W can be placed on the unloading destination C by being lowered or the article W placed on the unloading destination C can be received. Instead of the form shown in FIG. 16, the track TA1, the track TA2, and the track TA3 are provided immediately above the unloading destinations C11 to C13, C21 to C23, and C31 to C33, respectively, and the track TB1 and the track TB2 , And the track TB3 may be provided laterally and above the unloading destinations C11 to C13, C21 to C23, and C31 to C33, respectively. In this case, the transport vehicle VA traveling on the track TA1, the track TA2, or the track TA3 places the article W on the unloading destination C by lowering the article holding unit 6 by the lifting drive unit 7, or the unloading destination. The article W placed on C can be received. Further, the transport vehicle VB traveling on the track TB1, the track TB2, or the track TB3 causes the lifting drive unit to be laterally moved to the side of the track TB1 and the like by a lateral mechanism (corresponding to the lateral mechanism 8 shown in FIG. 2). In this state, the article holding unit is lowered by the elevating drive unit so that the article W can be placed on the unloading destination C or the article W placed on the unloading destination C can be received.

  In the transport system SA1 shown in FIG. 16 as well, the transport vehicle VA grips the article W1 at the load gripping destination P1 according to the first transport command, and is upstream of the track TA from the specific position G1. When the vehicle is traveling in the predetermined zone Z, the second conveyance command is received, and the article W1 is unloaded to the designated unloading destination C. Since the specific position G1 is set upstream of the branch portions F1 and F2, the unloading destination C can be selected and assigned from many unloading destinations C in the second transport command, and the article W The conveyance efficiency can be improved. For example, priorities may be set in advance for a plurality of unloading destinations C. In this case, among the unloading destinations C that are vacant when the transport vehicle VA enters the predetermined section Z, the priorities are high. May be designated as the unloading destination C sequentially.

  In the transport system SA1, the specific position G1 is not limited to being set on the upstream side of the track TA with respect to the branch portions F1 and F2. For example, the specific positions G1A, G1B, and G1C may be set on the upstream side of the unloading destination C in the tracks TA1, TA2, and TA3 on the downstream side of the branch portions F1 and F2, respectively. In the case of this configuration, a predetermined section is set for each specific position G1A, G1B, G1C (not shown). The host controller 150 acquires the track TA1, TA2, TA3 on which the transport vehicle VA is traveling based on a position report or the like, and while the transport vehicle VA travels in any predetermined section, the traveling track The unloading destination C of the article W1 is determined from the unloading destination C accessible by TA1 (TA2, TA3) or the like.

  As described above, according to the transport systems SA and SA1 and the transport method according to the present embodiment, the transport vehicle VA approaches the specific positions G and G1 on the upstream side of the plurality of cargo holding destinations P according to the first transport command. Thus, since the unloading destination C is instructed by the second transfer command, it is possible to cause the transport vehicle VA to quickly grasp the article W and to optimize the timing when approaching the unloading destination C. By determining the unloading destination C, the conveyance efficiency of the article W can be improved. Further, when the plurality of unloading destinations C are relay units between the transport systems SA and SA1, for example, the unloading of the article W in the transport system SA and the grasping of the article W in the transport system SA1 are efficiently performed. By doing so, the rotation of the article W at the unloading destination C can be accelerated. Conventionally, the unloading destination C is designated from the time when the article W is unloaded, and from this point on, this unloading destination C is not used as the unloading destination in other transport commands, but is free. It was in an occupied state. For this reason, while the conveyance vehicle VA travels toward the unloading destination C after the article W is grasped, the unloading destination C is not used even though it is empty. In the present invention, as described above, since the unloading destination C is not specified in the first transport command, the unloading destination C is not occupied until the second transport command is assigned by approaching the unloading destination C. If so, the occupied unloading destination C can be used for delivery of other articles W. In other words, the present invention has an effect of shortening the time during which the unloading destination C is occupied by the transport command. This effect is particularly effective when the distance from the load holding point P to the unloading point C is relatively long. In addition, when the number of relay units (unloading destination C) is small due to restrictions such as installation space, etc., when the required transport amount (the number of articles W delivered via the relay unit) is large, the relay unit This is also effective when it is required to speed up the rotation of the article W.

  In the above-described embodiment, the other systems are described by taking the transport systems SB and SB1 as an example, but the other system may be a stocker. 17 to 18 are diagrams illustrating other examples of the transport system. The transport system SA2 shown in FIGS. 17 to 18 shows an example in which the other system is the stocker ST. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted or simplified.

  As shown in FIG. 17, the stocker ST includes a plurality of (two in the figure) conveyors K1 and K2 (hereinafter sometimes referred to as conveyors K) for carrying in or carrying out the articles W, and the articles W carried in. And a transfer shelf 12 for transferring the articles W from the conveyors K1 and K2 to the storage shelf 11. 17 to 18 show a state where the article W6 is placed on the storage shelf 11. As the conveyor K, for example, a belt conveyor or a roller conveyor is used. The stocker ST is controlled by, for example, a stocker control unit (not shown), and acquires the operating status of the conveyors K1 and K2. The stocker control unit appropriately transmits the conveyor operation information, which is the operation status of the conveyors K1 and K2, to the host controller 150.

  The conveyors K1 and K2 may be used to carry the article W out of the stocker ST. Further, the transfer device 12 may be used to transfer the article W to another position on the storage shelf 11. The transport vehicle VA of the transport system SA2 cannot place the article W directly on the storage shelf 11 of the stocker ST. Further, the transfer device 12 of the stocker ST cannot directly transfer the article W in the transport system SA2. Accordingly, the transport system SA2 and the stocker ST deliver the article W via the conveyors K1 and K2. That is, the conveyors K1 and K2 are a plurality of unloading destinations in the article W in the transport system SA2. A specific position G2 is set on the upstream side of the track TA with respect to the plurality of conveyors K.

  In FIG. 17, the articles W2 and W3 are already placed on the conveyor K1, and are waiting to be sequentially loaded into the stocker ST and transferred to the storage shelf 11 by the transfer device 12. The article W cannot be placed on the. On the other hand, the article W can be placed on the conveyor K2. In the transport system SA2, in the same manner as in the above-described embodiment, the controller 110A grabs the article W1 at the grasping destination P1 and grasps the article W1 up to the specific position G2 according to the cargo grasp conveyance command transmitted from the host controller 150. Is assigned to the transport vehicle VA.

  As illustrated in FIG. 17, when the controller 110A specifies that the transport vehicle VA is traveling in the predetermined zone Z based on the position report received from the transport vehicle VA (see step S306 described above), the transport vehicle VA. The host controller 150 is requested to determine the conveyor K that is the unloading destination of the article W1. In response to this request, the host controller 150 determines, based on the conveyor operation information sent from the stocker ST, as a conveyor K2 on which the article W1 can be placed as a destination for unloading the article W1, as shown in FIG. Then, a conveyance command for instructing to convey the article W1 to the conveyor K2 is transmitted to the controller 110A. The controller 110A assigns to the transport vehicle VA a second transport command that uses the conveyor K2 as a destination for unloading the article W1.

  As shown in FIG. 19, the in-vehicle controller 130 of the transport vehicle VA assigned with the second transport command controls the transport vehicle VA so that it travels to the conveyor K2 and unloads the article W by the conveyor K2. Thus, since conveyance system SA2 unloads article W1 to conveyor K2 which can unload article W among a plurality of conveyors K, article W can be efficiently delivered to stocker ST.

  In the above-described embodiment, the transport command receiving unit 111, the first transport command unit 112, the status report receiving unit 113, the position specifying unit 114, the unloading destination request unit 115, the second transport command unit 116, and the transport completion of the controller 110A. The reporting unit 117, the determining unit 151 of the host controller 150, and the unloading destination determining unit 152 may be realized as specific means in which software and hardware resources cooperate with each other by reading a program into a computer. .

  As mentioned above, although embodiment of this invention was described, the technical scope of this invention is not limited to above-described embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above-described embodiments. Moreover, the form which added such a change or improvement is also contained in the technical scope of this invention. Further, the execution order of the processes shown in the present embodiment can be realized in any order as long as the output of the previous process is not used in the subsequent process. Further, even though the operations in the above-described embodiments are described using “first”, “next”, “follow”, and the like for convenience, it is not essential to perform in this order.

  In the above-described embodiment, the controller (area controller) 110A and the host controller 150 are described separately, but the present invention is not limited to this form. For example, one controller has a conveyance command receiving unit 111, a first conveyance command unit 112, a status report receiving unit 113, a position specifying unit 114, a load destination request corresponding to the functions of both the controller 110A and the host controller 150 described above. The form which has the part 115, the 2nd conveyance command part 116, the conveyance completion report part 117, the determination part 151, the unloading destination determination part 152 grade | etc., May be sufficient. Further, the determination unit 151 and the unloading destination determination unit 152 may be provided in the controller 110 </ b> A instead of being provided in the host controller 150.

110A ... Controller 112 ... 1st conveyance command part 116 ... 2nd conveyance command part 130 ... Car-mounted controller 150 ... Host controller 151 ... Determination part G, G1, G2 ... Specific Positions P1, P2 ... Grabbing destinations C1, C2, C3 ... Unloading destinations SA, SA1, SA2 ... Conveyance systems SB, SB1 ... Conveyance systems (other systems)
ST ... Stocker (other systems)
TA ... orbit (predetermined route)
TA1 ... orbit (first route)
TA2 ... orbit (second route)
TA3 ... orbit (3rd path)
TB ... orbit (other route)
TC ... patrol orbit (circulation route)
VA, VA1, VA2 ... transport vehicle VB ... transport vehicle (other transport vehicles)
W1, W2, W3, W4, W5, W6 ... Article Z ... Predetermined section

Claims (8)

A transport vehicle that travels along a predetermined route;
A controller that causes the transport vehicle to transport an article at a load holding destination to any of a plurality of unloading destinations;
A transport system comprising:
The controller is
A first conveyance command for causing the conveyance vehicle to grasp the article to be grasped and conveying the article to a predetermined position set upstream in advance of the plurality of unloading destinations in the predetermined route; A first conveyance command section to be assigned;
The transporting vehicle that is assigned the first transport command and travels while holding the grasped article has reached the specific position, or has entered a predetermined section upstream of the specific position on the predetermined route. Sometimes, the second transport assigns a second transport command for designating one of the plurality of unloading destinations to the transporting vehicle, transporting the article to the unloading destination, and unloading the article. And a command unit.   The first transport command unit assigns the first transport command without determining whether or not there is a load destination where the transport vehicle can unload an article among the plurality of load destinations; The transport system according to claim 1. The controller includes a determination unit that determines an unloading destination at which the transport vehicle can unload an article among the unloading destinations.
The first transfer command unit assigns the first transfer command when the determination unit determines that there is at least one unloading destination that can be unloaded, but the load that can be unloaded by the determination unit. The transport system according to claim 1, wherein when it is determined that there is no grated destination, the first transport command is not assigned.   The second transport command unit assigns the second transport command that designates the most downstream load unloading destination among a plurality of unloading destinations at which the transport vehicle can unload an article. 4. The conveyance system according to any one of items 3. The predetermined route includes a circuit route until the transport vehicle that has passed through the specific position returns to the specific position again,
The controller includes a determination unit that determines an unloading destination at which the transport vehicle can unload an article among the unloading destinations.
When the transport vehicle to which the first transport command is assigned reaches the specific position, or enters a predetermined section upstream of the specific position on the predetermined route, it can be unloaded by the determination unit. When it is determined that there is no unloading destination, the second transport command unit does not assign the second transport command to the transport vehicle, and the first transport command unit again returns the first transport command to the transport vehicle. The transport system according to claim 2, wherein one transport command is assigned. The path includes a branch portion,
The first unloading destination is disposed along a first path branched in one direction at the branching portion;
A second unloading destination different from the first unloading destination is disposed along a second path branched in the other direction in the branching portion;
The transport system according to any one of claims 1 to 5, wherein the specific position is set on the upstream side of the branch portion in the route. Other routes where the transport vehicle is not allowed to enter,
And another transport vehicle that travels along the other route,
The other route is not allowed to enter the predetermined route,
The plurality of unloading destinations according to any one of claims 1 to 6, wherein the plurality of unloading destinations are arranged at positions where the other transport vehicles can grab the articles placed on the plurality of unloading destinations. The transport system described. A transport method for transporting an article at a gripping destination to one of a plurality of unloading destinations on a transport vehicle that travels along a predetermined route,
A first conveyance command for causing the conveyance vehicle to grasp the article at the cargo holding destination and conveying the article to a specific position set in advance on the upstream side of the plurality of loading destinations in the predetermined route. Assigning
The transporting vehicle that is assigned the first transport command and travels while holding the grasped article has reached the specific position, or has entered a predetermined section upstream of the specific position on the predetermined route. Sometimes assigning to the transport vehicle a second transport command for designating any of the plurality of unloading destinations to transport the article to the unloading destination and unloading the article; Containing method.

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