WO2020049872A1 - 搬送車システム - Google Patents
搬送車システム Download PDFInfo
- Publication number
- WO2020049872A1 WO2020049872A1 PCT/JP2019/027597 JP2019027597W WO2020049872A1 WO 2020049872 A1 WO2020049872 A1 WO 2020049872A1 JP 2019027597 W JP2019027597 W JP 2019027597W WO 2020049872 A1 WO2020049872 A1 WO 2020049872A1
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- WO
- WIPO (PCT)
- Prior art keywords
- area
- controller
- jurisdiction
- command
- carrier
- Prior art date
Links
- 238000012546 transfer Methods 0.000 claims abstract description 44
- 238000011144 upstream manufacturing Methods 0.000 claims description 12
- 239000000969 carrier Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000013508 migration Methods 0.000 abstract 2
- 230000005012 migration Effects 0.000 abstract 2
- 230000032258 transport Effects 0.000 description 121
- GTWMZDSMZWCFBR-UHFFFAOYSA-N chembl3139982 Chemical compound C=12C3=CC=4OCOC=4C=C3CC[N+]2=CC2=C(OC)C(OC)=CC=C2C=1CCCC(C=1C=CC=CC=1)C1=CC=CC=C1 GTWMZDSMZWCFBR-UHFFFAOYSA-N 0.000 description 19
- 238000012545 processing Methods 0.000 description 11
- 239000000872 buffer Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000001459 lithography Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/30—Trackside multiple control systems, e.g. switch-over between different systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67276—Production flow monitoring, e.g. for increasing throughput
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67727—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations using a general scheme of a conveying path within a factory
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31454—Keep track of vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45031—Manufacturing semiconductor wafers
Definitions
- One aspect of the present invention relates to a carrier system.
- a transport trolley system including a host controller (production management controller) for transmitting data is known (for example, see Patent Document 1).
- an area boundary exists between one jurisdiction area and another jurisdiction area different from the one jurisdiction area.
- an object of one aspect of the present invention is to provide a transport vehicle system that can efficiently process a transport command even when a transport command originating from a placement unit belonging to a special section is generated. To provide.
- a transport vehicle system includes a track provided across a plurality of areas, a plurality of transport vehicles traveling in one direction along the track, and a plurality of transport vehicles arranged along the track, and A plurality of receivers between which the transfer of articles is performed, and a transport command instructing to transport the articles placed on the receiver from the upper controller, and each of the plurality of areas as a jurisdiction area, A plurality of area controllers for causing the vehicles in the relevant jurisdiction area to execute various commands, and a special section that is a section that cannot enter without passing through another jurisdiction area different from one jurisdiction area in one jurisdiction area
- the area controller issues a transfer command to one special placement unit belonging to its own When sending the transfer command to the area controller that controls the vehicles in the other jurisdiction area to move the empty carrier toward the own jurisdiction area, The generated empty transport vehicle is caused to execute a transport command.
- the area controller may not be able to immediately move the transport vehicle to the special placement unit and grasp the load. For this reason, the upper-level controller has transmitted a transfer command to another area controller that has jurisdiction over another area, and the other area controller has caused an empty carrier in the other jurisdiction area to execute the transfer command.
- the other area controller that has received the transport instruction, It is not possible to control vehicles in the area under its jurisdiction that is outside its jurisdiction.
- the empty transport vehicle refers to a transport vehicle in a state in which the article is not grasped and the article can be grasped (can be transported).
- the upper controller transfers the transport command to an area controller in another area to which the special placement section does not belong.
- a transport command is transmitted to an area controller that controls the area to which the special placement unit belongs.
- the area controller that has received the transfer command transmits a move command for moving the empty carrier to the area under its control to the other area controllers.
- the area controller that has jurisdiction over the area to which the special placing section belongs can leave room for executing a transfer command to a carrier in the own jurisdiction area.
- the transfer command can be assigned to any of the incoming carrier (a carrier in another jurisdiction area) and an empty carrier generated in the own jurisdiction area.
- an empty carrier in the own jurisdiction area detected by the area controller after transmitting the movement command is an empty carrier that enters the own jurisdiction area from another jurisdiction area, or An empty carrier generated by placing articles on the special placing section belonging to the jurisdiction area may be used.
- the area controller when the area controller causes a vacant carrier generated in the area under its jurisdiction to execute the transfer command, the area controller may delete the move command transmitted to another area controller.
- the area controller when a vacant transport vehicle is generated in the own jurisdiction area, the movement of the empty transport vehicle toward the own jurisdiction area can be canceled, so that the influence on the transport capacity in other areas is minimized. be able to.
- the area controller may search for an empty carrier in the area under its control before transmitting a movement command to another area controller.
- the area controller before transmitting the movement command to the other area controller, has an empty carrier in the area under its jurisdiction and upstream of the one special placing section. Whether or not to do so may be searched. With this configuration, the range of checking the necessity of transmitting a movement command to another area controller can be minimized, so that the processing speed can be improved.
- the transfer command can be efficiently processed.
- FIG. 1 is a schematic plan view showing a carrier system according to one embodiment.
- FIG. 2 is a schematic side view showing a carrier, a delivery port, and a buffer of the carrier system of FIG. 1.
- FIG. 3 is a plan view illustrating a special section and a non-special section in the area of the carrier system in FIG. 1.
- FIG. 4 is a sequence diagram of the carrier system according to the embodiment.
- FIG. 5 is a sequence diagram of the carrier system according to the embodiment.
- FIG. 6 is a sequence diagram of the carrier system according to the embodiment.
- FIG. 7 is a sequence diagram of the carrier system according to the embodiment.
- the upstream and downstream in the present embodiment mean upstream and downstream in the traveling direction of the overhead carrier (carrier) 6 that moves along the one-way (one-way) track 4.
- the transport vehicle system 1 is a system for transporting an article 10 between the placement units 8 using a ceiling transport vehicle 6 movable along a track.
- the article 10 includes, for example, containers such as a FOUP for storing a plurality of semiconductor wafers and a reticle pod for storing glass substrates, general parts, and the like.
- a transport vehicle system 1 in which a ceiling transport vehicle 6 (hereinafter simply referred to as “transport vehicle 6”) travels along a one-way track 4 laid on the ceiling of the factory or the like. Will be described as an example.
- the carrier system 1 includes a track 4, a plurality of carriers 6, a plurality of receivers 8, and a plurality of area controllers 50A, 50B, and 50C.
- the track 4 is provided over a plurality of areas A1, A2, A3.
- the track 4 is laid, for example, near a ceiling, which is a space above a worker.
- the track 4 is suspended from, for example, a ceiling.
- the track 4 is a predetermined traveling path for running the carrier 6.
- the track 4 is supported by columns 40,40.
- the transport vehicle 6 travels along the track 4 and transports the article 10.
- the transport vehicle 6 is configured so that the articles 10 can be transferred.
- the transport vehicle 6 is an overhead traveling unmanned transport vehicle.
- the number of the transport vehicles 6 included in the transport vehicle system 1 is not particularly limited, and is plural.
- the transport vehicle 6 includes a traveling unit 18 that causes the transport vehicle 6 to travel along the track 4 and, for example, a power receiving communication unit 20 that receives power from the track 4 by non-contact power feeding.
- the carrier 6 communicates with any of the area controllers 50A, 50B, 50C by using a communication line (feeder line) of the track 4 or the like.
- the transport vehicle 6 may communicate with any of the area controllers 50A, 50B, and 50C via a power supply line provided along the track 4.
- the transport vehicle 6 includes a main body frame 22, a lateral feed unit 24, a ⁇ drive 26, an elevation drive unit 28, an elevation platform 30, and a fall prevention cover 33.
- the lateral feed unit 24 collectively feeds the ⁇ drive 26, the lift drive unit 28, and the lift 30 in a direction perpendicular to the traveling direction of the track 4.
- drive 26 rotates at least one of the elevation drive unit 28 and the elevation platform 30 within a predetermined angle range in a horizontal plane.
- the elevating drive unit 28 elevates the elevating table 30 by winding or feeding a hanging material such as a wire, a rope, and a belt.
- the lifting table 30 is provided with a chuck so that the article 10 can be freely held or released.
- the fall prevention covers 33 are provided, for example, in pairs before and after in the traveling direction of the transport vehicle 6. The fall prevention cover 33 prevents the article 10 from dropping during transportation by making a not-shown claw or the like protrude and retract.
- the mounting section 8 for transferring the articles 10 to and from the transport vehicle 6 includes a buffer 8A and a transfer port 8B.
- the buffer 8A is a mounting portion on which the article 10 is temporarily mounted.
- the buffer 8A is provided, for example, when the article 10 being transported by the transport vehicle 6 cannot be transferred to the delivery port 8B because another article 10 is placed on the intended delivery port 8B.
- the article 10 is temporarily placed.
- the delivery port 8B is a mounting part for delivering the article 10 to a semiconductor processing device 12 including, for example, a cleaning device, a film forming device, a lithography device, an etching device, a heat treatment device, and a flattening device. .
- the processing device 12 is not particularly limited, and may be various devices or stockers.
- the mounting section 8 is arranged along the track 4 and is provided at a position where the article 10 can be transferred to and from the carrier 6.
- the buffer 8A is arranged on the side of the track 4 (see FIG. 2).
- the transport vehicle 6 transfers the article 10 to and from the buffer 8A by slightly feeding the lifting drive unit 28 and the like by the horizontal feeding unit 24 and slightly raising and lowering the lifting table 30.
- the buffer 8A may be disposed directly below the track 4.
- the delivery port 8B is disposed immediately below the track 4 (see FIG. 2). In this case, the transport vehicle 6 transfers the article 10 to and from the delivery port 8B by moving the elevator 30 up and down.
- the delivery port 8B may be arranged on the side and below the track 4.
- the area controllers 50A, 50B, and 50C are electronic control units including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
- the area controllers 50A, 50B, and 50C can be configured as software executed by a CPU by loading a program stored in a ROM onto a RAM, for example.
- the area controllers 50A, 50B, and 50C may be configured as hardware such as an electronic circuit.
- the area controllers 50A, 50B, and 50C are provided in the areas A1, A2, and A3, respectively.
- Each of the area controllers 50A, 50B, and 50C is provided so as to correspond to each of the areas A1, A2, and A3.
- each of the area controllers 50A, 50B, and 50C sets each of the areas A1, A2, and A3 as a jurisdiction area that is an area for which the area controller is responsible for its own control.
- one area controller takes one area as a jurisdiction area, and such area controllers are provided by the number of areas. That is, one area controller sets any one of the plurality of areas as a jurisdiction area.
- the area controller 50A communicates with a plurality of transport vehicles 6 in an area A1 under the jurisdiction of the area controller 50A (hereinafter, also referred to as “own area A1”), and communicates with a plurality of vehicles 6 in the area A1 under its own area.
- the transport vehicle 6 is controlled. That is, the area controller 50A causes the plurality of transport vehicles 6 in the jurisdiction area A1 to execute various commands.
- the area controller 50B communicates with a plurality of carriers 6 in its own area A2, and controls the plurality of vehicles 6 in its area A2, similarly to the area controller 50A.
- the area controller 50C communicates with the plurality of carriers 6 in its own area A3, and controls the plurality of vehicles 6 in its own area A3, like the area controller 50A.
- the area controllers 50A, 50B, and 50C communicate with the host controller 60 by wire or wirelessly.
- the host controller 60 is an electronic control unit including a CPU, a ROM, a RAM, and the like.
- the host controller 60 can be configured as software executed by a CPU by loading a program stored in a ROM onto a RAM, for example.
- the host controller 60 may be configured as hardware such as an electronic circuit.
- the upper-level controller 60 performs wired or wireless communication with any of the area controllers 50A, 50B, and 50C, and transmits a transport command for causing the transport vehicle 6 to transport the article 10 to any of the area controllers 50A, 50B, and 50C. I do.
- the upper-level controller 60 instructs the article 10 placed on the placement section 8 to be transported to another predetermined placement section 8 (with the placement section 8 as a source). Is output to any of the area controllers 50A, 50B, and 50C.
- FIG. 1 shows the layout of the track 4 in the present embodiment.
- the track 4 is provided with an intrabay running path 42, 43 disposed in each of the areas A2, A3, and one intercommunicating path between the two intrabay running paths 42, 43 so as to be able to move back and forth.
- a bay running path 41 disposed in each of the areas A2, A3, and one intercommunicating path between the two intrabay running paths 42, 43 so as to be able to move back and forth.
- a bay running path 41 a bay running path 41.
- the intrabay travel paths 42 and 43 and the interbay travel path 41 are set such that the transport vehicle 6 passes in one direction clockwise (in the direction of the arrow shown in FIGS. 1 and 3).
- a track portion sandwiched by any of the branching portion B, the merging portion C, and the boundary portion D is defined as a “section”.
- each of the area controllers 50A, 50B, and 50C controls various operations of the carrier 6 existing in the plurality of areas A1, A2, and A3, one area is different from one area.
- sections that cannot be entered without passing through another area are defined as a special section.
- a section that cannot enter without passing through another area A1 different from the area A2 from the boundary portion D to the junction C in the traveling direction of the carrier 6.
- a section in the area A3 that cannot be entered without passing through another area A1 different from the area A3 (a section from the boundary D to the junction C in the traveling direction of the carrier 6).
- a special section see FIG. 3).
- Sections L2, L3, and L4 are configured to allow entry from another section in the same area.
- the section L2 can enter from both the section L1 and the section L3 of the same area A2.
- the section L3 and the section L4 can enter from the section L2 of the same area A2.
- the sections L2, L3, L4 are defined as non-special sections.
- a section L1 (hereinafter, referred to as a special section L1) which is a special section of the areas A2 and A3, there is a mounting portion 8 arranged along the section. As shown in FIG. 1, in the present embodiment, there are three mounting portions 8, 8, 8.
- the placing sections 8 belonging to such a special section L1 are referred to as special placing sections 80A, 80B, and 80C from the upstream side in the traveling direction of the carrier 6 set in advance.
- the area controller 50 ⁇ / b> B (50 ⁇ / b> C) transports the article 10 placed on one special placing section (for example, 80 ⁇ / b> C) in the own jurisdiction area A ⁇ b> 2 (A ⁇ b> 3), which is its own jurisdiction area, to the predetermined placing section 8.
- a transfer command from the upper controller 60 (with the special placement unit 80C as a transfer source)
- another area controller that controls the transfer vehicle 6 in the area A1 adjacent to the special section L1 where the special placement unit 80C is located.
- a move command to move the empty carrier 6 toward the own area A2 (A3) is transmitted to 50A.
- the empty transport vehicle 6 (hereinafter, referred to as “empty transport vehicle 6”) refers to a transport vehicle that is not holding (holding) the article 10 but is capable of gripping the article 10. .
- the area controller 50B (50C) of the present embodiment Before transmitting the movement command to the other area controller 50A, the area controller 50B (50C) of the present embodiment has an empty transport vehicle in the area under its own jurisdiction A2 (A3) and upstream of one special placing section 80C. 6 is searched for. Then, the area controller 50B (50C) issues the above-mentioned movement command to the area controller 50A only when the empty carrier 6 does not exist in the area A2 (A3) under its own jurisdiction and on the upstream side of the one special placing section 80C. Send. The area controller 50B (50C) issues a transfer command to the empty carrier 6 if the empty carrier 6 exists in the area A2 (A3) under its own jurisdiction and upstream of one special placing portion 80C. Let it.
- the area controller 50B (50C) detects that an empty carrier 6 has been generated in the own area A2 (A3) after transmitting the movement command, the area controller 50B (50C) transmits the empty carrier 6 in the own area A2 (A3). Execute the transfer command. It should be noted that, after transmission here, the concept of almost simultaneous transmission is included. In such a situation, the area controller 50B (50C) detects from the other jurisdiction area A1 as a candidate for the empty transport vehicle 6 in the own jurisdiction area A2 (A3) detected after the transmission of the movement command. And an empty transport vehicle 6 that is generated when the article 10 is placed (completes the transport command) on the loading section 8 belonging to the own area A2 (A3).
- the area controller 50B (50C) When the area controller 50B (50C) causes the empty conveyance vehicle 6 generated in the area A2 (A3) under its control to execute the conveyance command, the area controller 50B (50C) issues a command to delete the movement command transmitted to the other area controller 50A to another area controller 50A. Send to 50A.
- the upper controller 60 transmits a command for grasping the cargo in the special placing section 80C in the area A2 as a transfer command to the area controller 50B that controls the area A2 (step S1).
- the area controller 50B receives the load grasp command from the upper controller 60
- the area controller 50B transmits a signal indicating that the load grasp command has been received to the upper controller 60 (step S2).
- the area controller 50B searches for an empty carrier 6 that can move toward the special placement unit 80C in the area A2 under its control (step S3).
- step S3 a description will be given assuming that it is determined that such an empty carrier 6 does not exist in the own jurisdiction area A2.
- the area controller 50B transmits a command to move to the area A2 to the area controller 50A that controls an area A1 different from the area A2 under its control (step S4).
- the area controller 50A transmits a signal notifying that the movement command has been received to the area controller 50B (step S5).
- the area controller 50A determines whether or not there is an empty carrier 6 in the area A1 under its control (step S6).
- Each area controller 50A constantly communicates at a predetermined interval (for example, several times a second) with all the transport vehicles 6 existing in the area A1 of its own jurisdiction, and receives a status report from each transport vehicle 6. . Since each area controller 50A always knows the state of all the transport vehicles 6 based on such a status report, the area controller 50A can determine whether or not there is an empty transport vehicle 6 in its own area A1.
- step S7 a description will be given of a case where the area controller 50A determines that there is an empty carrier 6 in the area A1 under its control (step S7).
- step S7 a description will be given of a case where the area controller 50A determines that the empty carrier 6 does not exist.
- the area controller 50A determines that there is an empty carrier 6 in the area A1 under its control, the area controller 50A transmits a movement command to move the empty carrier 6 toward the area A2 (step S8).
- the carrier 6 transmits a signal notifying that the movement command has been received to the area controller 50A (step S9), and starts moving to the area A2 (step S11).
- the area controller 50A deletes the movement command stored in a memory (not shown) of the area controller 50A (step S10).
- the transport vehicle 6 enters the area A2 by executing the movement command transmitted in step S8 (step S12).
- the transfer vehicle 6 to which the movement command has been assigned transmits a request to enter the area A2 to the area controller 50A.
- the area controller 50A communicates with the area controller 50B and transmits an entry permission to the carrier 6.
- the carrier 6 enters the area A2 and transmits an entry report to the area controller 50B (step S13), and the area controller 50B confirms (obtains) that the carrier 6 has entered (step S14).
- the report of entry into the area A2 is also transmitted to the area controller 50A via the area controller 50B.
- the area controller 50B When the area controller 50B confirms that the empty carrier 6 has entered the area A2 under its jurisdiction, the area controller 50B transmits a command to grasp the article 10 placed on the special placing portion 80C to the carrier 6 entering the area A2. (Step S15).
- the transport vehicle 6 When receiving the load grasp command from the area controller 50B, the transport vehicle 6 transmits a signal notifying that the load grasp command has been received to the area controller 50B (step S16), and continues to move toward the special placing section 80C.
- the transport vehicle 6 arriving at the special placing portion 80C grasps the article 10 placed on the special placing portion 80C and transports the article 10 to a designated place (Step S20).
- the transport command including the load grabbing command includes information on the transport destination of the article 10.
- the area controller 50B confirms that the load grasp command has been allocated to the carrier 6 by receiving a signal indicating that the load grasp command has been received from the carrier 6 (step S17). Subsequently, the area controller 50B transmits an allocation report to the host controller 60 (step S18), and cancels the movement command transmitted to the area controller 50A (step S19). In the present embodiment, since the movement command stored in the memory of the area controller 50A has already been deleted at the stage of step S10, no processing is executed by the movement command in step S19. Thus, a series of processing when a transfer instruction to transfer the article 10 placed on the special placement unit 80C in the area A2 to the predetermined placement unit 8 is completed.
- step S6 a case where the area controller 50A determines that there is no empty carrier 6 in step S6 will be described with reference to FIGS. Note that the flow up to step S6 is as described above, and a description thereof will not be repeated.
- the area controller 50A determines that there is no empty carrier 6 in the area A1 under its control (step S30)
- the area controller 50A cannot issue a movement command to the carrier 6. Therefore, monitoring of the area A1 under its jurisdiction is continued while the movement command is stored in the memory of the area controller 50A.
- step S31 when the unloading of the article 10 by the transport vehicle 6 is completed (step S31), the empty transport vehicle 6 is moved to the area A2. A newly generated empty carrier 6 exists.
- the area controller 50B monitoring the area A2 determines that there is an empty carrier 6 that can move toward the special placement unit 80C in the area A2 under its control (step S32).
- the area controller 50B transmits a command for grasping the special placement unit 80C to the empty carrier 6 newly generated in the area A2 (step S33).
- the transport vehicle 6 transmits a signal notifying that the load grasp command has been received to the area controller 50B (step S34), and starts moving toward the special placing section 80C.
- the transport vehicle 6 arriving at the special placement unit 80C grasps the article 10 placed on the special placement unit 80C and transports the article 10 to a designated place (Step S39).
- the transport command including the load grabbing command includes information on the transport destination of the article 10.
- the area controller 50B When the area controller 50B receives the signal indicating that the load grasping command has been received from the carrier 6, the area controller 50B confirms that the load grasping command has been assigned to the carrier 6 (step S35). Subsequently, the area controller 50B transmits an allocation report to the host controller 60 (step S36), and causes the area controller 50A to cancel the movement command (step S37). That is, the movement command stored in the memory of the area controller 50A is deleted (step S38). Thus, a series of processing when a transfer instruction to transfer the article 10 placed on the special placement unit 80C in the area A2 to the predetermined placement unit 8 is completed.
- the area controller 50C has the same operation flow as the area controller 50B.
- the host controller 60 determines that the other areas to which the special placement unit 80C does not belong. Instead of transmitting a transport command to the controller 50A, first, a transport command is transmitted to the area controller 50B (50C) that controls the area A2 (A3) to which the special placement unit 80C belongs.
- the area controller 50B (50C) that has received the transfer command transmits a move command to move the empty carrier 6 toward the area A2 to the other area controller 50A.
- the transfer command can be assigned to any of the transport vehicles 6 that enter the vehicle (the transport vehicles 6 in the other jurisdiction area A2 (A3)) and the empty transport vehicles 6 that occur in the area A2 (A3). become.
- the above-described waste of the transport efficiency can be omitted, so that even if a transport command originating from the mounting section belonging to the special section L1 occurs, the transport instruction is efficiently processed. can do.
- the area controller 50B (50C) when the area controller 50B (50C) causes the empty transport vehicle 6 generated in the own area A2 (A3) to execute the transport command, the area controller 50B (50C) transmits the movement command transmitted to the area controller 50A. I am erasing. Thereby, when the empty transport vehicle 6 is generated in the area A1, the movement of the empty transport vehicle 6 toward the own area A2 can be canceled, so that the influence on the transport capacity in the other area A1 is minimized. Can be kept.
- the area controller 50B determines whether or not there is an empty carrier 6 in the area A2 (A3) under its control before transmitting the movement command to the area controller 50A. Searching. Therefore, it is possible to confirm the necessity before transmitting the movement command to the other area controller 50A, and it is possible to minimize the influence on the transport capacity in the other area A1.
- the area controller 50B (50C) is located within the area A2 (A3) under its jurisdiction and one of the special placement units 80C before transmitting the movement command to the other area controller 50A.
- a search is made to determine whether an empty carrier 6 exists upstream. Thereby, the confirmation range of the necessity of transmitting the movement command to the other area controller 50A can be minimized, so that the processing speed can be improved.
- control performed in the layout of the track 4 as shown in FIG. 1 has been described as an example, but the present invention is not limited to this.
- One aspect of the present invention can be applied to any layout of the track 4 having the special section L1.
- the area controller 50B (50C) when the area controller 50B (50C) receives a transfer command to the special placement unit 80C in one area A2 (A3) under its jurisdiction from the upper controller 60, the area controller 50B (50C) issues a movement command to another area controller 50A.
- the movement command may be transmitted to a plurality of other area controllers. In this case, for example, it is effective in a layout or the like in which a junction is arranged on the starting side of the special section L1. Note that, even in a layout in which a merging portion is arranged on the starting point side of the special section L1, a movement command may be transmitted to another predetermined area controller.
- the area controller 50B (50C) may transmit the movement command not only to the adjacent area but also to the area controller that controls the area further adjacent to the adjacent area. This is effective when the number of empty carriers is small.
- the area controller 50B (50C) sends the area controller 50A to the area controller 50A only when the empty carrier 6 does not exist in the area A2 (A3) under its jurisdiction and upstream of one special placing portion 80C.
- the area controller 50B (50C) can check the other area controller 50A without confirming that the empty carrier 6 exists in the area A2 (A3) under its own jurisdiction and on the upstream side of one special placing section 80C. May be transmitted. Even in this case, as soon as an empty carrier 6 is found in the area A2 (A3) under its jurisdiction, the movement command is deleted, so that the influence on the other area A1 can be minimized.
- the carrier 6 is described as an example of the traveling vehicle.
- the traveling vehicle include an unmanned vehicle traveling on a track disposed on the ground or a gantry. This includes traveling vehicles and stacker cranes.
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Abstract
Description
Claims (5)
- 複数のエリアに跨って設けられた軌道と、
前記軌道に沿って一方向に走行する複数の搬送車と、
前記軌道に沿って配置され、前記搬送車との間で物品の受け渡しが行われる複数の載置部と、
前記載置部に載置された前記物品を搬送するように指示する搬送指令を上位コントローラから受信し、複数の前記エリアのそれぞれを管轄エリアとして、当該管轄エリア内の前記搬送車に各種指令を実行させる複数のエリアコントローラと、を備え、
一の管轄エリアにおいて、前記一の管轄エリアとは異なる他の管轄エリアを経由しないと進入できない区間である特殊区間に属する前記載置部を特殊載置部としたとき、
前記エリアコントローラは、自身の管轄エリアである自管轄エリアに属する一の前記特殊載置部に対する前記搬送指令を前記上位コントローラから受け付けると、前記他の管轄エリア内の前記搬送車を制御する他のエリアコントローラに対し前記自管轄エリアに向かって空き搬送車を移動させる移動指令を送信すると共に、前記移動指令の送信後に前記自管轄エリア内に発生した空き搬送車に前記搬送指令を実行させる、搬送車システム。 - 前記エリアコントローラが前記移動指令の送信後に検知する前記自管轄エリア内の空き搬送車は、前記他の管轄エリアから前記自管轄エリアに進入する空き搬送車、又は、前記自管轄エリアに属する前記特殊載置部に前記物品を載置することによって発生する空き搬送車である、請求項1記載の搬送車システム。
- 前記エリアコントローラは、前記自管轄エリア内に発生した空き搬送車に前記搬送指令を実行させると、前記他のエリアコントローラに送信した前記移動指令を消去する、請求項1又は2記載の搬送車システム。
- 前記エリアコントローラは、前記他のエリアコントローラに前記移動指令を送信する前に、前記自管轄エリア内に空き搬送車が存在するか否かを検索する、請求項1~3の何れか一項記載の搬送車システム。
- 前記エリアコントローラは、前記他のエリアコントローラに前記移動指令を送信する前に、前記自管轄エリア内かつ一の前記特殊載置部よりも上流側に空き搬送車が存在するか否かを検索する、請求項4記載の搬送車システム。
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EP19858620.8A EP3848769B1 (en) | 2018-09-04 | 2019-07-11 | Conveyance vehicle system |
JP2020541045A JP7136214B2 (ja) | 2018-09-04 | 2019-07-11 | 搬送車システム |
US17/271,633 US11952026B2 (en) | 2018-09-04 | 2019-07-11 | Conveyance vehicle system |
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