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WO2021241046A1 - Système de chariots et procédé destiné à commander un chariot - Google Patents

Système de chariots et procédé destiné à commander un chariot Download PDF

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Publication number
WO2021241046A1
WO2021241046A1 PCT/JP2021/015430 JP2021015430W WO2021241046A1 WO 2021241046 A1 WO2021241046 A1 WO 2021241046A1 JP 2021015430 W JP2021015430 W JP 2021015430W WO 2021241046 A1 WO2021241046 A1 WO 2021241046A1
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WO
WIPO (PCT)
Prior art keywords
trolley
controller
travel
information
course
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/015430
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English (en)
Japanese (ja)
Inventor
一見 原崎
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Murata Machinery Ltd
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Murata Machinery Ltd
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Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of WO2021241046A1 publication Critical patent/WO2021241046A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a bogie system and a bogie control method.
  • Patent Document 1 in a transport trolley system that blocks a point at which each trolley tries to travel and cancels blocking at a point that has passed, entry is permitted within a predetermined time after the trolley makes a blocking request to the controller. Disclosed is a technique for changing a blocking request to a point in another direction if is not given.
  • the present invention provides a bogie system capable of improving transport efficiency and a bogie control method.
  • the trolley system is a trolley system including a traveling path including a branch portion, a plurality of trolleys traveling on the traveling path, and a controller, and a specific trolley among the plurality of trolleys is a specific trolley. If the second track in one direction is set as the path from the branch of the first track and the second track cannot be entered, the track is changed from the branch of the first track to the third track in the other direction. , The route change information indicating the route change from the second route to the third route is transmitted to the controller, and when the controller receives the route change information, the second route cannot enter or the route is not accessible. The trolley information indicating the lane corresponding to the change information is transmitted to another trolley different from the specific trolley.
  • the trolley control method is a trolley control method in a trolley system including a traveling path including a branch portion, a plurality of trolleys traveling on the traveling path, and a controller, and is among a plurality of trolleys.
  • a specific dolly uses the second lane in one direction from the branch of the first lane and cannot enter the second lane, the third trolley in the other direction from the divergence of the first lane.
  • the second route enters when the route is changed to and the route change information indicating the route change from the second route to the third route is transmitted to the controller and the controller receives the route change information. It includes the fact that it is impossible or that the trolley information indicating the lane corresponding to the lane change information is transmitted to another trolley different from the specific trolley.
  • the controller that has received the course change information from a specific bogie can use other bogies to provide the track information indicating the track that cannot be entered or the track corresponding to the track change information. Since it is transmitted to, the transport efficiency can be improved.
  • the route is set to the third travel route. May be changed.
  • it is necessary to change the course to the third runway because the other bogie changes the course to the third runway by recognizing in advance that the entry permission to the second runway cannot be obtained. You can save time.
  • the trolley system of the above aspect if a specific trolley cannot obtain a permit within a predetermined time even if a permission request for entering the second lane is transmitted to the controller, the trolley is permitted to enter the third lane. The request may be transmitted to the controller, and the vehicle may enter the third road when the permission to enter the third road is obtained.
  • the specific trolley since the specific trolley changes the course when the permission cannot be obtained within a predetermined time after sending the permission request to enter the second driving path to the controller, the route is changed to the second driving path. It is possible to suppress waiting for entry permission.
  • the course change information may be transmitted to the controller.
  • the specific trolley since the specific trolley transmits the course change information at the stage when it becomes possible to enter the changed course, the course change information can be transmitted at an appropriate timing.
  • the controller may transmit the travel path information to another bogie by broadcasting.
  • the controller since the controller transmits the travel path information to each trolley, the processing time and the processing load required for selecting the trolley to be transmitted can be reduced. Further, in the bogie system of the above aspect, the controller may transmit the travel path information to some bogies among other bogies by unicast or multicast. According to this aspect, since the controller selects the trolley for transmitting the travel path information, the communication load can be reduced. Further, in the bogie system of the above aspect, the controller may transmit the travel path information to the bogie existing in the predetermined area under its jurisdiction among other bogies. According to this aspect, since the controller does not transmit the travel path information to all the trolleys existing in the travel path, it is possible to suppress the transmission to the trolleys that do not require the travel path information.
  • the controller when the controller receives a permission request to enter the second travel path from the bogie that has entered the predetermined area after the second travel path becomes accessible, the second travel path is second. You may allow the dolly to enter the track. According to this aspect, since the traveling path where the bogie is accessible is recognized, suitable bogie control can be realized.
  • each direction eg, X direction
  • the direction of the arrow may be referred to as a + side (eg, + X side)
  • the side opposite to the direction of the arrow may be referred to as a-side (eg, -X side). ..
  • FIG. 1 is a diagram showing an example of a bogie system according to an embodiment.
  • the bogie system SYS has a travel path R including a branch portion Br, a plurality of bogies 100 traveling on the travel path R, and a controller 200.
  • the trolley system SYS is, for example, a transport system installed in a semiconductor device manufacturing factory or the like, and is a processing member such as a FOUP (Front-Opening Unified Pod) or a reticle containing a semiconductor wafer used for manufacturing a semiconductor device. Transport the container such as the reticle pod that contains the container.
  • FOUP Front-Opening Unified Pod
  • the dolly 100 is, for example, a ceiling traveling vehicle.
  • the travel path R is, for example, a travel rail provided on the ceiling of a clean ream or the like.
  • the travel path R includes a branch portion Br indicating a branch of the travel path. That is, in the travel path R, one travel rail branches from the branch portion Br into a plurality of (eg, two) travel rails.
  • the travel path R is, for example, a first travel path Ra, a second travel path Rb in one direction from the branch portion Br of the first travel path Ra, and a third travel in the other direction from the branch portion Br of the first travel path Ra.
  • the first travel path Ra is a travel path on the upstream side with respect to the branch portion Br.
  • the second travel path Rb and the third travel path Rc are travel paths on the downstream side with respect to the branch portion Br.
  • the travel path R is provided adjacent to a processing device (not shown), a stocker (automated warehouse) (not shown), and the like.
  • the processing apparatus is, for example, an exposure apparatus, a coater developer, a film forming apparatus, an etching apparatus, or the like, and various processes are applied to the semiconductor wafer in the container conveyed by the carriage 100a.
  • the stocker stores the container carried by the trolley 100a.
  • the bogie 100a may be a tracked bogie or the like traveling on the ground.
  • the track R is provided on the floor or the like in the case of a tracked carriage that travels on the ground.
  • the dolly 100a transmits its own state information to the controller 200 in response to a request from the controller 200.
  • the controller 200 generates a travel command based on the state information received from the carriage 100a.
  • the dolly 100a travels on the travel path R in response to a travel command from the controller 200.
  • the travel command includes information on a travel route on which the carriage 100a carrying an article (eg, a container) is scheduled to travel.
  • the travel route information is information that specifies at least a part of the travel route from the departure point to the destination of the dolly 100a.
  • a blocking area BA including the branch portion Br is set.
  • the entry (passage) of the dolly 100a is restricted.
  • the blocking area BA can only be entered by one dolly 100a.
  • the controller 200 controls permission for the carriage 100a scheduled to travel (scheduled to pass) on the branch portion Br to enter the blocking area BA.
  • the trolley 100a transmits a passage request of the blocking area BA to the controller 200.
  • the dolly 100a can transmit a passage request at a position of an upstream traveling path R away from the blocking area BA by a certain distance or more. Then, the carriage 100a enters the blocking area BA when the passage permission is received from the controller 200.
  • the trolley 100a travels while decelerating toward the point AP in front of the blocking area BA, or stops in the vicinity of the point AP and enters the blocking area BA. do not.
  • the trolley 100a may travel to the vicinity of the point AP in front of the blocking area BA and stop in the vicinity of the point AP without obtaining permission to pass through the blocking area BA.
  • the point AP can be a permission waiting point for the trolley 100a for which the passage permission of the blocking area BA has not been obtained.
  • the trolley 100a 2 (specific trolley) among the plurality of trolleys 100a has the second lane Rb in one direction from the branch portion Br of the first lane Ra as the course, and the second lane Rb.
  • the route is changed from the branch portion Br of the first travel route Ra to the third travel route Rc in the other direction, and the route change information indicating the route change from the second travel route Rb to the third travel route Rc.
  • the dolly 100a 2 sends a passage request for the blocking area BA to the controller 200 with the second travel path Rb as the path.
  • the controller 200 recognizes that a plurality of trolleys 100a 1 are retained in the second travel path Rb, and grants permission to pass the blocking area BA to the trolleys 100a 2 having the second travel path Rb as the path. No. Therefore, when the predetermined time elapses at the point AP (when the vehicle stops for a predetermined time), the dolly 100a 2 changes its course to the third running path Rc and passes through the blocking area BA with the third running path Rc as the course. Send the request to controller 200. Since the controller 200 is in a situation where the passage permission is given to the third travel path Rc, the controller 200 grants the passage permission of the blocking area BA to the trolley 100a 2 having the third travel path Rc as the path.
  • the trolley 100a 2 When the trolley 100a 2 obtains the passage permission of the blocking area BA, the trolley 100a 2 transmits the course change information indicating the course change from the second runway Rb to the third runway Rc to the controller 200.
  • the passage request sent when the course is changed to the third travel path Rc may be treated as the course change information.
  • the controller 200 When the controller 200 receives the course change information, the second trolley Rb is inaccessible, or the trolley information indicating the lane corresponding to the lane change information is different from that of the specific trolley 100a. Send to 100a. Specifically, when the controller 200 receives the route change information from the bogie 100a 2 , the second travel route Rb cannot enter, or the travel route corresponding to the route change information (eg, the second travel path). The travel path information indicating (change from Rb to the third travel path Rc) is transmitted to another bogie 100a (for example, bogie 100a 3 , bogie 100a 4, etc.).
  • another bogie 100a for example, bogie 100a 3 , bogie 100a 4, etc.
  • the dolly 100a 3 and the dolly 100a 4 recognize that they cannot enter even if the second lane Rb is the lane (the situation where the passage permit cannot be obtained), and other trolleys that do not include the second lane Rb as the lane. Can be changed to.
  • the bogie system SYS transmits to a plurality of bogies 100a that there is an inaccessible travel path R when there is a bogie 100a whose course is changed on the travel path R downstream of the branch portion Br.
  • the transport efficiency of 100a can be improved.
  • the bogie system SYS can prevent the bogie 100a from using the inaccessible runway R as the course by notifying the plurality of bogies 100a of the existence of the inaccessible runway R, so that the transport efficiency of the bogie 100a can be suppressed. Can be improved.
  • FIG. 2 is a diagram showing an example of a dolly according to an embodiment.
  • the bogie 100a travels in the + X direction along the travel path R suspended from the ceiling 10 or the like of the building, and travels below, below, and laterally (including the Y direction) of the travel path R. ),
  • the article W is grabbed at the grabber destination.
  • the trolley 100a unloads the article W at the unloading destination arranged below, below, and on the side of the traveling path R.
  • the dolly 100a includes an in-vehicle device 110.
  • the in-vehicle device 110 controls the bogie 100a according to a travel command transmitted from the controller 200.
  • the dolly 100a is controlled by the in-vehicle device 110 and performs various operations.
  • the dolly 100a includes a traveling unit 13 and a main body unit 14.
  • the traveling unit 13 includes wheels 15 and travels along the traveling path R by a driving device 150 described later.
  • the main body portion 14 is provided in a state of being suspended below the traveling portion 13.
  • the main body 14 includes a transfer device 17.
  • the article holding portion 18 for holding the article W, the elevating drive unit 20 for raising and lowering the article holding portion 18, and the elevating drive unit 20 are moved sideways (+ Y direction or ⁇ Y direction) of the traveling path R. It is provided with a side-out mechanism 21 for moving to.
  • the article holding portion 18 is a chuck having a movable claw portion 18a, and the claw portion 18a is made to enter below the flange portion Wa of the article W to suspend and hold the article W.
  • the article holding portion 18 is connected to a hanging member 18b such as a wire or a belt.
  • the elevating drive unit 20 is, for example, a hoist, and the article holding unit 18 is moved up and down by feeding out or winding the hanging member 18b.
  • the side-out mechanism 21 slides a plurality of movable plates to move the article holding portion 18 and the elevating drive portion 20 from the position stored in the main body portion 14 to the side of the traveling path R.
  • the dolly 100a uses the article holding portion 18 to grab and unload the article W.
  • the carriage 100a uses the elevating drive unit 20 and the side-out mechanism 21 to grab and unload the article W.
  • the in-vehicle device 110 controls the article holding unit 18, the elevating drive unit 20, and the side-out mechanism 21.
  • the in-vehicle device 110 When the in-vehicle device 110 grips the article W at the load gripping destination P, the in-vehicle device 110 stops the trolley 100a in accordance with the position of the load gripping destination P, and causes the elevating drive unit 20 (elevation drive unit 20 and sideways out mechanism 21). By operating the article holding portion 18 to move the article holding portion 18 to a predetermined position, the load grasping destination P is instructed to grip the article W.
  • the load gripping destination P is, for example, a load port of a processing device or a stocker, an overhead buffer provided with a shelf on which an article W can be placed suspended from a ceiling 10 or the like of a building.
  • the in-vehicle device 110 stops the trolley 100a in accordance with the position of the unloading destination C, and causes the elevating drive unit 20 (elevation drive unit 20 and side-out mechanism 21).
  • the unloading destination C is instructed to unload the article W.
  • the unloading destination C is, for example, a load port of a processing device or a stocker, an overhead buffer provided with a shelf on which an article W can be placed suspended from a ceiling 10 or the like of a building.
  • FIG. 3 is a block diagram showing a configuration example of a dolly and a controller according to an embodiment.
  • the dolly 100a has an in-vehicle device 110, a position sensor 120, a load sensor 130, a front sensor 140, and a drive device 150.
  • the drive device 150 supplies a driving force for driving the carriage 100a. Further, the drive device 150 supplies a driving force used for cargo handling such as loading and unloading of a load (article W).
  • the position sensor 120 detects the current position of the dolly 100a.
  • the position sensor 120 is wirelessly or wiredly connected to the vehicle-mounted device 110, and supplies the detected current position of the trolley 100a to the vehicle-mounted device 110.
  • the position sensor 120 detects the current position of the trolley 100a in the map information of the travel path R by detecting the position marker at the point provided on the travel path R (eg, point AP, etc.).
  • the point is a position providing point provided on the traveling path R and capable of providing position information to the carriage 100a.
  • the current position of the trolley 100a is obtained by the mileage based on the speed and the traveling time of the trolley 100a and the moving distance using the encoder, in addition to the detection of the position marker.
  • the cargo sensor 130 detects the presence or absence of a cargo (article W).
  • the load sensor 130 is wirelessly or wiredly connected to the vehicle-mounted device 110, and supplies the detection result to the vehicle-mounted device 110.
  • the front sensor 140 monitors the front of the bogie 100a in the traveling direction (traveling direction) and detects the presence of another bogie 100a in the front.
  • the front sensor 140 is communicably connected to the vehicle-mounted device 110 by wire or wirelessly, and supplies the detection result to the vehicle-mounted device 110.
  • Each trolley 100a can control the traveling speed by detecting the presence of another trolley 100a in front by the front sensor 140, and can prevent the trolley 100a from colliding with the other trolley 100a in front.
  • the bogie 100a may not be equipped with one or both of the position sensor 120 and the front sensor 140.
  • the position sensor 120 and the front sensor 140 may be arranged on the travel path R or the like.
  • the carriage 100a may or may not include at least one of the position sensor 120, the load sensor 130, and the front sensor 140, or may include other sensors.
  • the in-vehicle device 110 is mounted on the trolley 100a, receives a travel command from the controller 200, and controls each part of the trolley 100a.
  • the in-vehicle device 110 includes a travel control unit 111, a communication unit 112, and a storage unit 113.
  • the communication unit 112 is communicably connected to the communication unit 230 of the controller 200, which will be described later, by a wireless LAN (Local Area Network) or the like.
  • the communication unit 112 receives a travel command from the communication unit 230 of the controller 200, and stores the received travel command in the storage unit 113.
  • the travel control unit 111 controls each unit of the trolley 100a based on the travel command stored in the storage unit 113. For example, the travel control unit 111 controls the drive device 150 based on the travel route defined by the travel command, and causes the dolly 100a to travel according to the travel route.
  • the travel control unit 111 causes various sensors (eg, position sensor 120, etc.) mounted on the trolley 100a to perform detection, and stores the detection result in the storage unit 113.
  • the travel control unit 111 generates the state information of the trolley 100a by using the information stored in the storage unit 113.
  • the state information includes information on the current position, the destination, the traveling state, the state of the luggage, the state ahead, the passing request, the cancellation request, and the course change, as well as the identification information for identifying the trolley 100a.
  • the current position is information indicating the current position of the dolly 100a detected by the position sensor 120. As described above, the current position may be updated by adding the mileage to the current position of the carriage 100a detected by the position sensor 120.
  • the destination is information that is defined in the travel command or the like stored in the storage unit 113 and indicates the destination of the trolley 100a.
  • the running state is information indicating the current speed of the dolly 100a.
  • the traveling state indicates that the dolly 100a is running when the speed is higher than "0" (eg, the flag "1"), and the dolly 100a is stopped when the speed is "0". It may represent something (eg, flag "0").
  • the status of the parcel includes information indicating the presence or absence of the parcel (article W) detected by the cargo sensor 130 (eg, yes "1", no "0") and information indicating the type of the parcel being transported (identifying the parcel). Identification information).
  • the front state is information indicating whether or not another bogie 100a exists in front of itself within the detection range of the front sensor 140 (eg, "1" that exists, "0” that does not exist).
  • the passage request is identification information indicating the blocking area BA for which the dolly 100a requests passage.
  • the passage request information includes information (or empty information, NULL value, etc.) indicating that the passage request has not been issued when the carriage 100a has not issued the passage request.
  • the passage request includes information (information indicating the traveling direction) regarding the course (traveling direction) from the branch portion Br.
  • the information regarding the course is information indicating that the direction of the second course Rb is included in the course, and information indicating that the direction of the third course Rc is included in the course.
  • the release request is identification information indicating the blocking area BA through which the trolley 100a has passed. Further, the release request may include information indicating that the carriage 100a has passed through the blocking area BA.
  • the release request information includes information (or empty information, NULL value, etc.) indicating that the release request has not been issued when the carriage 100a has not issued the release request. Further, the release request may not be used when the controller 200 is realized only by the form of recognizing that the controller 200 has passed the blocking area BA from the current position of the carriage 100a.
  • the information regarding the course change is information indicating that the bogie 100a has changed the course of the travel path R.
  • the information regarding the course change may be a flag of "1" when the course is changed and "0" when the course is not changed.
  • the trolley 100a uses the course change as a flag, the trolley 100a transmits information including the course before the change and the course after the change in response to a request for the course change information from the controller 200 that has received the information regarding the course change as a flag. do it.
  • the information regarding the course change may include the course before the change and the course after the change when the information regarding the course change as a flag is not sent to the controller 200. It should be noted that each of the above-mentioned information may be sent individually without being included in the state information.
  • the travel control unit 111 sets a travel route based on the travel command (eg, the departure point and the destination of the dolly 100a) received from the controller 200 and the map information of the travel path R stored in advance in the storage unit 113. do.
  • the storage unit 113 is, for example, a non-volatile memory or the like, and stores various information such as map information and state information.
  • the travel control unit 111 appropriately generates state information, and updates the state information stored in the storage unit 113 to the latest state information.
  • the communication unit 112 transmits the state information stored in the storage unit 113 to the controller 200 in response to the transmission request for the state information from the controller 200 (see FIG. 4). When the travel route information from the controller 200 is received, the travel control unit 111 can set a travel route that does not include the travel route R that cannot enter (cannot obtain a passage permit).
  • the controller 200 has a command generation unit 210, a branch control unit 220, a communication unit 230, and a storage unit 240.
  • the controller 200 is, for example, a computer device including a CPU (Central Processing Unit), a main memory, a storage device, a communication device, and the like, and processes various information.
  • the configuration of the computer device is arbitrary, and may be configured by, for example, one device or a plurality of devices.
  • the communication unit 230 can communicate with each trolley 100a by a wireless LAN or the like, and receives status information from each trolley 100a.
  • the storage unit 240 is, for example, a non-volatile memory or the like, and stores state information or the like received by the communication unit 230. For example, the storage unit 240 stores the state information of each trolley 100a in association with the identification information of each trolley 100a.
  • FIG. 4 is a diagram showing an example of state information stored by the controller according to the embodiment.
  • the storage unit 240 associates the storage unit 240 with the trolley ID, which is identification information for identifying each trolley 100a, as state information, such as a current position, a destination, a traveling state, a luggage state, and a front state. Stores information on passage requests, cancellation requests, and course changes.
  • the command generation unit 210 travels according to the task based on the destination information determined by a task given in advance (eg, transportation of luggage such as an article W) and the state information stored in the storage unit 240.
  • the dolly 100a to be in charge of the command is determined.
  • the destination is, for example, a load port, a buffer, a warehousing / delivery port, etc., which can transfer luggage to the processing device side or the stocker side.
  • the command generation unit 210 determines the travel route of the trolley 100a based on the destination determined according to the task and the current position of the trolley 100a in charge of the task, and generates a travel command designating the determined travel route. ..
  • the branch control unit 220 determines whether to give the carriage 100a a passage permission based on the passage request included in the state information stored in the storage unit 240. Further, the branch control unit 220 releases the blocking of the blocking area BA based on the release request included in the state information stored in the storage unit 240. Further, the branch control unit 220 instructs the communication unit 230 to transmit the route change information to the carriage 100a based on the route change (flag) included in the state information stored in the storage unit 240. Then, when the branch control unit 220 receives the route change information from the trolley 100a, the branch control unit 220 instructs the communication unit 230 to transmit the travel route information to the plurality of trolleys 100a.
  • the travel route information indicates, for example, information indicating a travel route R that cannot be entered, or a route before the change (travel route) and a route after the change (travel route) when a certain dolly 100a changes the route. Information.
  • the branch control unit 220 generates (updates) blocking information when granting passage permission or canceling blocking.
  • the storage unit 240 stores blocking information.
  • the blocking information includes information about the blocking area BA.
  • the blocking information transmits the identification information for identifying the blocking area BA, the information indicating whether or not the blocking area BA is blocked, the identification information for identifying the trolley 100a for transmitting the passage request to the blocking area BA, and the passage request. It includes information on the course of the dolly 100a (information indicating the traveling direction).
  • the information indicating the presence or absence of blocking is information indicating a state in which the blocking area BA is blocked or a state in which the blocking area BA is not blocked.
  • the controller 200 can recognize the front-back relationship of each trolley 100a based on the current position of each trolley 100a, so that the preceding trolley 100a on the travel path R can be recognized. Passing permission can be given in order from.
  • the controller 200 may determine the order of the passing requests to be processed based on the transmission order of the passing requests (eg, the order of the transmission date and time, the order of the reception date and time).
  • the branch control unit 220 updates the blocking information stored in the storage unit 240 to the latest blocking information as the state information stored in the storage unit 240 is updated.
  • the branch control unit 220 decides to grant the passage permission to the corresponding trolley 100a in response to the passage request included in the blocking information.
  • the controller 200 can recognize that a plurality of bogies are staying in the traveling path R (second traveling path Rb, third traveling path Rc) on the downstream side of the branch portion Br.
  • the controller 200 recognizes that a plurality of trolleys are stagnant (retained position) by the information of the current position included in the state information sent from the trolley 100a and the notification from another controller 200. do.
  • the branch control unit 220 determines the presence / absence of another trolley 100a in the blocking area BA and the presence / absence of blocking in the blocking area BA in response to a passage request from the trolley 100a whose course is the second travel path Rb. In addition to one or both, it is determined to grant a passage permit to the trolley 100a corresponding to the identification information from the retention status of the other trolley 100a on the second travel path Rb. Further, the branch control unit 220 responds to a passage request from the trolley 100a having the third travel path Rc as a path, one of the presence / absence of another trolley 100a in the blocking area BA and the presence / absence of blocking in the blocking area BA.
  • the branch control unit 220 determines to grant a passage permit to the trolley 100a corresponding to the identification information based on the retention status of the other trolley 100a on the third travel path Rc.
  • the branch control unit 220 updates the blocking area BA to the blocked information, and identifies the trolley 100a that has transmitted the passage request. Is removed from the blocking information.
  • the branch control unit 220 confirms the release request included in the state information stored in the storage unit 240, and updates the blocking information of the blocking area BA.
  • the update of the blocking information refers to updating the information indicating the presence or absence of blocking to the information that is not blocked, and deleting the identification information that identifies the trolley 100a that sent the cancellation request. Further, the branch control unit 220 may update the blocking information after confirming the current position of the carriage 100a that has transmitted the release request.
  • FIG. 5 is a flowchart showing an example of the processing flow in the trolley entering the second traveling path or the third traveling path according to the embodiment.
  • a case where a plurality of bogies 100a are stagnant on the second travel path Rb will be taken as an example.
  • FIGS. 6 to 8 are appropriately used. 6 to 8 are views showing an example of a bogie that changes its course from the second runway to the third runway and enters the blocking area according to the embodiment.
  • the communication unit 112 transmits a permission request for entering the second travel path Rb to the controller 200 (step S101). Specifically, the travel control unit 111 of the dolly 100a 2 generates a passage request (state information) of the blocking area BA including information that the direction of the second travel path Rb from the branch portion Br is the course (travel direction). do. Then, the communication unit 112 of the dolly 100a 2 transmits the state information generated by the travel control unit 111 to the controller 200 (see FIG. 6). The carriage 100a 2 transmits a passage request at the position of the first travel path Ra upstream of the blocking area BA by a certain distance or more.
  • the travel control unit 111 determines whether or not the permission to enter the second travel path Rb has been received (step S102). Specifically, the travel control unit 111 of the dolly 100a 2 determines whether the passage permission of the blocking area BA has been received from the controller 200 in the communication unit 112. At this time, when the travel control unit 111 receives permission to enter the second travel path Rb (step S102: YES), the travel control unit 111 enters the second travel path Rb (step S103). Specifically, when the travel control unit 111 of the dolly 100a 2 receives the passage permission of the blocking area BA from the controller 200 in the communication unit 112, the travel control unit 111 sets the route in the direction of the second travel route Rb. Enter the blocking area BA according to the traveling route including). It should be noted that the plurality of carriages 100a 1 shown in FIGS. 6 to 8 do not stay in the second travel path Rb when the carriage 100a 2 is given permission to enter the second travel path Rb.
  • the travel control unit 111 determines whether the predetermined time has elapsed at the permission waiting point AP (step S104). Specifically, when the travel control unit 111 of the trolley 100a 2 acquires the position information from the point AP without receiving the passage permission of the blocking area BA from the controller 200 in the communication unit 112, the predetermined time is set at the point AP. It is determined whether or not it has passed (see FIG. 7). For example, the dolly 100a 2 travels toward the point AP and stops in the vicinity of the point AP without obtaining the passage permission of the blocking area BA. Then, the dolly 100a 2 determines whether the predetermined time has elapsed at the point AP. The predetermined time may be the time elapsed since the transmission of the blocking area BA passage request.
  • step S104 determines that the predetermined time has not elapsed at the permission waiting point AP (step S104: NO)
  • the travel control unit 111 re-executes the process in step S101. That is, the travel control unit 111 of the trolley 100a 2 transmits a passage request (state information) of the blocking area BA to the controller 200 while the passage permission has not been received and the predetermined time has not elapsed.
  • step S104 determines that the predetermined time has elapsed at the permission waiting point AP (step S104: YES)
  • the travel control unit 111 transmits a permission request for entering the third travel path Rc to the controller 200 (step S105).
  • the traveling control unit 111 of the bogie 100a 2 stops in the vicinity of the point AP, the information that the direction from the branch portion Br to the third traveling path Rc is the course (traveling direction). And the information about the course change (flag) indicating that the course has been changed, the passage request (state information) of the blocking area BA is generated. Then, the communication unit 112 transmits the state information generated by the travel control unit 111 to the controller 200 (see FIG. 7).
  • the information regarding the course change (flag) is the information in which the course change flag is set to "1".
  • the bogie 100a 2 transmits, for example, the change of course from the second runway Rb to the third runway Rc (course change information) to the controller 200 when the permission to enter the third runway Rc is received.
  • the dolly 100a 2 may transmit the course change information to the controller 200 in response to a request for transmission of the course change information from the controller 200.
  • the travel control unit 111 determines whether or not the permission to enter the third travel path Rc has been received (step S106). Specifically, the travel control unit 111 of the dolly 100a 2 determines whether the passage permission of the blocking area BA has been received from the controller 200 in the communication unit 112. At this time, if the travel control unit 111 has not received permission to enter the third travel path Rc (step S106: NO), the travel control unit 111 re-executes the process in step S105. That is, the travel control unit 111 of the carriage 100a 2 transmits a passage request until the passage permission of the blocking area BA is received.
  • the travel control unit 111 transmits the route change information to the controller 200 and enters the third travel path Rc (step). S107). Specifically, when the travel control unit 111 of the trolley 100a 2 receives the passage permission of the blocking area BA from the controller 200 in the communication unit 112, the travel control unit 111 changes the course from the second travel path Rb to the third travel path Rc. The communication unit 112 is instructed to transmit the indicated course change information to the controller 200. The communication unit 112 of the dolly 100a 2 transmits the course change information to the controller 200. Further, the carriage 100a 2 enters the blocking area BA according to the set travel path (travel route including the direction of the third travel path Rc in the route) (see FIG. 8). The course change information may be transmitted after entering the blocking area BA.
  • FIG. 9 is a sequence diagram showing an example of a processing flow by a controller and a trolley for transmitting and receiving route change information and travel route information according to an embodiment.
  • the controller 200 requests the carriages 100a 2 , 100a 3 , and 100a 4 to transmit the state information (step S201).
  • the transmission request of the state information is sent from the controller 200 to each carriage 100a at regular intervals.
  • each carriage 100a receives the state information request, it transmits the latest state information (stored in the storage unit 113) to the controller 200 at the time of receiving the request (step S202).
  • the state information transmitted by the carriage 100a 2 includes information regarding a course change in which the flag is set to "1".
  • the controller 200 When the controller 200 receives the state information in which the route change flag is "1", the controller 200 requests the carriage 100a 2 to transmit the route change information (step S203).
  • the transmission request for the course change information is made to the trolley 100a 2 that has transmitted the state information including the information related to the course change with the flag set to "1".
  • the dolly 100a 2 transmits the course change information including the information of the course before the change and the course after the change to the controller 200 in response to the transmission request of the course change information (step S204).
  • the controller 200 transmits the travel path information to the trolley 100a 2 , the trolley 100a 3 , and the trolley 100a 4 based on the received route change information (step S205).
  • the controller 200 transmits the travel route information to the plurality of carriages 100a, for example, by broadcasting.
  • the controller 200 may transmit the track information to the other trolley 100a by, for example, unicast or multicast, or a trolley of a part of the other trolley 100a (for example, the trolley). It may be transmitted to 100a 3 , trolley 100a 4).
  • the controller 200 transmits the travel path information to the trolley 100a existing in the predetermined area under its jurisdiction.
  • the predetermined area is an area including the first travel path Ra, the second travel path Rb, and the third travel path Rc in which the carriages 100a 1 to 100a 4 shown in FIG. 8 and the like are present.
  • the controller 200 may transmit the travel route information by unicast or multicast to the carriage 100a 3 and the carriage 100a 4 existing at positions upstream of the carriage 100a 2 that has transmitted the route change information. Further, when the bogie 100a 1 and the bogie 100a 2 receive the travel route information, the bogie 100a 1 and the bogie 100a 2 do not need to change the course, and therefore do not execute the process related to the change of the course.
  • FIG. 10 is a flowchart showing an example of a processing flow in a trolley that has received travel path information according to an embodiment.
  • FIG. 11 is appropriately used.
  • FIG. 11 is a diagram showing an example of a trolley that has received the travel path information according to the embodiment. Further, FIG. 11 is a continuation of the situation described with reference to FIG. That is, the dolly 100a 2 has entered the blocking area BA by transmitting the course change information to the controller 200.
  • the trolley 100a 3 is a trolley whose course is the second travel path Rb
  • the trolley 100a 4 is a trolley whose path is the third travel path Rc.
  • the travel control unit 111 determines whether the travel route information is received from the controller 200 in the communication unit 112 (step S301). At this time, the travel control unit 111 re-executes the process in step S301 when the travel route information is not received from the controller 200 in the communication unit 112 (step S301: NO). That is, the bogie 100a is in a state of waiting for reception of travel path information. On the other hand, the travel control unit 111 determines whether or not a travel command is assigned when the travel route information is received from the controller 200 in the communication unit 112 (step S301: YES) (step S302).
  • the travel control unit 111 of the trolleys 100a 1 to 100a 4 determines whether or not a travel command is assigned when the travel route information is received from the controller 200 in the communication unit 112.
  • the travel path information is sent to the bogies 100a 3 and the bogies 100a 4 existing at positions upstream of the bogies 100a 2 when implemented by unicast or multicast (see FIG. 11).
  • the travel control unit 111 of the carriage 100a 3 and the carriage 100a 4 determines whether or not the travel command is assigned. Further, the travel command is not assigned unless it is received from the controller 200.
  • the traveling command is not assigned to the dolly 100a, the destination or the like is not set, so that the dolly 100a may be stopped in a situation where the luggage (article W) is not loaded. That is, since the trolley 100a does not change the course unless the travel command is assigned, the trolley 100a makes a determination regarding the allocation of the travel command for confirmation.
  • step S302 When the travel command is not assigned (step S302: NO), the travel control unit 111 ends the process because it is not necessary to change the course.
  • step S302: YES travel commands are assigned.
  • step S303 the travel control unit 111 determines whether or not the second travel path Rb is the course (step S303). Specifically, when the traveling command is assigned, the traveling control unit 111 of the trolleys 100a 1 to 100a 4 is based on the set traveling route, and thereafter (from the current position first) to the second traveling path. It is determined whether Rb is the course.
  • the bogie 100a 1 , the bogie 100a 2 , and the bogie 100a 4 do not have the second travel path Rb as a course.
  • the bogie 100a 3 has a second travel path Rb as a path.
  • the travel control unit 111 ends the process because it is not necessary to change the route. Specifically, the travel control unit 111 of the bogie 100a 4 ends the process because it does not use the second travel path Rb as a course and can travel even when the second travel path Rb cannot enter.
  • the travel control unit 111 uses the second travel route Rb as the route (step S303: YES)
  • the travel control unit 111 changes the route from the second travel path Rb to the third travel path Rc (step S304).
  • the travel control unit 111 of the bogie 100a 3 has the second travel path Rb as the path, and the second travel path Rb cannot enter.
  • the second travel path Rb to the third travel path Rc Change course to. That is, if the travel control unit 111 of the bogie 100a 3 does not change its course to the third travel path Rc, it will stop at the point AP in the same manner as the bogie 100a 2, so that the travel control unit 111 changes its course to the third travel path Rc in advance. Execute the process to be performed.
  • the trolleys 100a 3 and the trolleys 100a 4 send a passage request of the blocking area BA having the third travel path Rc as a course to the controller 200, and enter the blocking area BA when the passage permission is obtained.
  • the bogies 100a 3 and the bogies 100a 4 continuously travel on the first travel path Ra. Therefore, the controller 200 continuously accepts the passage request of the blocking area BA having the third travel path Rc as the path from the trolleys 100a 3 and the trolleys 100a 4.
  • the controller 200 continuously accepts the request for passing through the blocking area BA having the same direction as the path, the controller 200 with respect to the following trolley 100a 4 even if the preceding trolley 100a 3 does not pass through the blocking area BA. You may give a passage permit.
  • the transport efficiency of the bogie 100a can be improved.
  • FIG. 12 shows a plurality of bogies on the second travel path Rb when the bogie 100a 2 transmits the course change information to the controller 200, enters the blocking area BA, and then passes through the blocking area BA.
  • FIG. 12 shows a plurality of bogies on the second travel path Rb when the bogie 100a 2 transmits the course change information to the controller 200, enters the blocking area BA, and then passes through the blocking area BA.
  • the situation where the retention of 100a 1 is eliminated is shown. Further, it is assumed that the bogie 100a 3 has changed its course from the second runway Rb to the third runway Rc.
  • the controller 200 recognizes that the stagnation of the plurality of carriages 100a 1 has been eliminated. For example, the controller 200 recognizes that the stagnation has been eliminated when the number of trolleys 100a 1 existing in the area Ar1 is less than a predetermined number due to the current position of each trolley 100a. In the area Ar1, if a plurality of bogies 100a 1 are stagnant, it will be difficult to travel even if the bogie 100a whose course is the second travel path Rb is given permission to pass through the blocking area BA. The corresponding area. Therefore, the controller 200 controls the number of the trolleys 100a 1 existing in the area Ar1 so as not to give the trolley 100a having the second traveling path Rb the passage permission of the blocking area BA. Or, the controller 200 recognizes when the last bogie 100a 1 in the area Ar2 of carriage 100a 1 was located is the retention is no longer present, the residence is eliminated and.
  • the controller 200 transmits the stagnation elimination information indicating that the second travel path Rb is accessible to the trolleys 100a 3 and the trolleys 100a 4.
  • the bogie 100a 3 receives the retention cancellation information from the controller 200
  • the bogie 100a 3 changes its course from the third travel path Rc to the second travel path Rb. That is, since the bogie 100a 3 initially has the second travel path Rb as the path, when it becomes possible to enter the second travel path Rb, the carriage returns to the second travel path. Further, when the bogie 100a 4 receives the retention cancellation information from the controller 200, the bogie 100a 4 does not change the course because the third traveling path Rc is set as the course from the beginning.
  • the trolley 100a 3 sends a passage request of the blocking area BA having the second travel path Rb as a path to the controller 200, and when the passage permission is obtained, the carriage 100a 3 enters the second travel path Rb and enters the blocking area. Pass through BA. Further, the dolly 100a 4 sends a passage request of the blocking area BA having the third travel path Rc as a path to the controller 200, and when the passage permission is obtained, the carriage 100a 4 enters the third travel path Rc (see FIG. 14).
  • the controller 200 may transmit the travel path information only to the dolly 100a existing in the predetermined area under its jurisdiction.
  • the trolley 100a eg, the trolley 100a 5
  • the travel path information is not transmitted to the trolley 100a 5. This is because there is a possibility that the stagnation has disappeared by the time the carriage 100a 5 enters the predetermined area and the passage request is transmitted, so that the necessity of transmission is small.
  • the bogie 100a 5 can travel on the first travel path Ra without receiving the retention elimination information.
  • the trolley 100a 5 is a trolley that has entered a predetermined area under the jurisdiction of the controller 200 after the second travel path Rb is accessible.
  • the bogie 100a 5 has a second travel path Rb as a path.
  • the dolly 100a 5 sends a pass request of the blocking area BA to the controller 200 with the second travel path Rb as the path.
  • the controller 200 confirms whether or not the blocking area BA is blocked, and transmits the passage permission of the blocking area BA to the carriage 100a 5.
  • the controller 200 which transmits the change information to the controller 200 and receives the course change information, provides the other bogie 100 with the travel path information indicating that the second travel path Rb is inaccessible or the travel path corresponding to the route change information. Since it is transmitted to, the transport efficiency can be improved.
  • the bogie 100 that has received the travel route information is assigned a travel command and the second travel route Rb is the route, the route is changed to the third travel route Rc.
  • the bogie 100 scheduled to travel on the travel path Rb can preferably change the course.
  • the dolly system SYS if the dolly 100 cannot obtain the permission within a predetermined time even if the dolly 100 sends the permission request to enter the second driving path Rb to the controller 200, the dolly system determines the permission request to enter the third driving path Rc. When the vehicle is transmitted to 200 and the permission to enter the third driving path Rc is obtained, the vehicle enters the third driving path. Can be suppressed.
  • the route change information is transmitted to the controller 200, so that the approach to the third travel path Rc is confirmed at an appropriate timing. You can send course change information.
  • the controller 200 since the controller 200 transmits the travel path information to the bogie 100 by broadcasting, the processing time and the processing load for selecting the bogie 100 can be reduced.
  • the controller 200 transmits the track information to the trolley 100, which is a part of the other trolleys, by unicast or multicast, so that the communication load can be reduced.
  • the trolley system SYS since the trolley information is transmitted to the trolley 100 existing in the predetermined area under the jurisdiction of the controller 200, it is possible to suppress the transmission of the trolley information to the trolley 100 that does not require the trolley information.
  • the controller when the controller receives a permission request to enter the second travel path from the bogie 100 that has entered the predetermined area after the second travel path Rb becomes accessible, the second travel path Since the trolley 100 is allowed to enter the Rb, suitable trolley control can be realized.
  • the controller 200 includes, for example, a computer system.
  • the controller 200 reads out the control program stored in the storage unit 240, and executes various processes according to the read control program. For example, when the control program receives the course change information indicating the course change from the second runway to the third runway, the second runway cannot enter or the runway corresponding to the course change information.
  • the travel route information indicating the above is transmitted to another trolley different from the specific trolley to which the route change information is transmitted.
  • the control program may be stored and provided in a computer-readable storage medium.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention aborde le problème consistant à améliorer l'efficacité de transport. La solution selon l'invention consiste en ce qu'un système (SYS) de chariots comprend un itinéraire de déplacement (R) incluant une partie de branche (Br), une pluralité de chariots (100) qui se déplacent sur l'itinéraire de déplacement (R), et un contrôleur (200). Lorsqu'un chariot (100a2) spécifique de la pluralité de chariots (100) est supposé se déplacer sur un deuxième itinéraire de déplacement (Rb) s'étendant dans une direction depuis la partie de branche (Br) d'un premier itinéraire de déplacement (Ra), mais ne peut pas entrer sur le deuxième itinéraire de déplacement (Rb), le chariot spécifique modifie son trajet vers un troisième itinéraire de déplacement (Rc) s'étendant dans une autre direction depuis la partie de branche (Br) du premier itinéraire de déplacement (Ra), et transmet, au contrôleur (200), des informations de changement de trajet du deuxième itinéraire de déplacement (Rb) vers le troisième itinéraire de déplacement (Rc). En réponse à la réception des informations de changement de trajet, le contrôleur (200) transmet, à d'autres chariots (100a3, 100a4) différents du chariot (100a2) spécifique, des informations d'itinéraire de déplacement indiquant que l'entrée dans le deuxième itinéraire de déplacement (Rb) n'est pas possible ou un itinéraire de déplacement correspondant aux informations de changement de trajet.
PCT/JP2021/015430 2020-05-27 2021-04-14 Système de chariots et procédé destiné à commander un chariot Ceased WO2021241046A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003208222A (ja) * 2002-01-10 2003-07-25 Asyst Shinko Inc 無人搬送台車システム
WO2013108501A1 (fr) * 2012-01-17 2013-07-25 村田機械株式会社 Système de véhicule de déplacement
JP2017142668A (ja) * 2016-02-10 2017-08-17 株式会社ダイフク 物品搬送設備
US20180203455A1 (en) * 2015-07-30 2018-07-19 Samsung Electronics Co., Ltd. Autonomous vehicle and method of controlling the same
JP2019012500A (ja) * 2017-07-03 2019-01-24 村田機械株式会社 走行車システム、及び走行車システムの制御方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003208222A (ja) * 2002-01-10 2003-07-25 Asyst Shinko Inc 無人搬送台車システム
WO2013108501A1 (fr) * 2012-01-17 2013-07-25 村田機械株式会社 Système de véhicule de déplacement
US20180203455A1 (en) * 2015-07-30 2018-07-19 Samsung Electronics Co., Ltd. Autonomous vehicle and method of controlling the same
JP2017142668A (ja) * 2016-02-10 2017-08-17 株式会社ダイフク 物品搬送設備
JP2019012500A (ja) * 2017-07-03 2019-01-24 村田機械株式会社 走行車システム、及び走行車システムの制御方法

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