Transport System

The present invention relates to transport systems.

A transport system including a plurality of transport vehicles traveling along a track and a controller configured or programmed to control the traveling of the transport vehicles is known. As technology related to such a transport system, for example, Japanese Patent No. 6935846 describes a system in which transport vehicles are caused to preferentially enter a downstream branch track among a plurality of branch tracks of the track. In this transport system, the transport vehicles deliver a load to and from an unloading port provided along each of the branch tracks.

In the transport system described above, the transport vehicles are caused to preferentially enter the downstream branch track, so if the number of transport vehicles that can enter each of the branch tracks becomes insufficient for some reason, the frequency of the transport vehicles entering an upstream branch track will decrease. In this case, the frequency of delivering the load to and from the unloading port provided along the upstream branch track will decrease. That is, the transportation of the load from a specific delivery port may be delayed, making smooth transportation of the load by the transport vehicles difficult.

Example embodiments of the present invention provide transport systems in each of which transport vehicles can smoothly transport loads.

A transport system according to an example embodiment of the present invention includes a plurality of transport vehicles to travel along a track and transport a load, and a controller configured or programmed to control traveling of the transport vehicles, the track including a first main track and a plurality of branch tracks branching off from the first main track via branch points different from each other, the controller being configured or programmed to execute entry control to cause the transport vehicles to enter each of the branch tracks from the first main track and to cause the transport vehicles to enter the branch tracks in a priority order according to entry information on entry states of the respective transport vehicles to the branch tracks.

This transport system causes the transport vehicles to enter the branch tracks from the first main track in the priority order according to the entry information on the entry states of the respective transport vehicles to the branch tracks. This can, for example, cause the transport vehicles to enter each of the branch tracks so as to prevent a situation in which there is always a shortage of the transport vehicles present on a specific branch track. Consequently, a decrease in the frequency of delivering the load to and from the delivery port provided along the specific branch track (a delay in the transportation of the load from a specific delivery port) can be prevented, and the transport vehicles can smoothly transport the load.

In a transport system according to an example embodiment of the present invention, the entry information may include information indicating the number of the transport vehicles present on each of the branch tracks. The entry control may cause the transport vehicles to preferentially enter a branch track with the fewest number of the transport vehicles present among the branch tracks based on the entry information. In this case, the situation in which there is always a shortage of the transport vehicles present on the specific branch track can be specifically prevented.

In a transport system according to an example embodiment of the present invention, the entry control, when there are a plurality of the branch tracks with the fewest number of the transport vehicles present, may cause the transport vehicles to enter the branch track corresponding to the branch point positioned most downstream of the first main track among the plurality of the branch tracks. This can cause the transport vehicles to enter each of the branch tracks more smoothly than a case in which the transport vehicles are caused to preferentially enter the branch track branching off upstream of the first main track among the plurality of the branch tracks.

In a transport system according to an example embodiment of the present invention, the entry information may include information on an entry branch track a first transport vehicle has entered. The entry control, when another branch point upstream adjacent to the branch point of the entry branch track is present in the first main track, may cause a second transport vehicle immediately following the first transport vehicle to enter the branch track corresponding to the another branch point and, when the another branch point is not present, may cause the second transport vehicle to enter the branch track corresponding to the branch point positioned most downstream of the first main track. In this case, the transport vehicles can be caused to enter each of the branch tracks equally.

In a transport system according to an example embodiment of the present invention, the entry information may include information indicating the number of the transport vehicles present on each of the branch tracks. The entry control may cause the transport vehicles to enter the branch track with the number of the transport vehicles present being less than a set number based on the entry information. The entry control, when the branch track with the number of the transport vehicles present being less than the set number is not present, may cause the transport vehicles to wait on the first main track. In this case, it is possible to avoid a situation in which the transport vehicles enter a specific branch track in a concentrated manner.

In a transport system according to an example embodiment of the present invention, the entry control, when after causing the transport vehicles to wait on the first main track, there arises a plurality of the branch tracks with the number of the transport vehicles present being less than the set number, may cause the transport vehicles that have been caused to wait to enter the branch track corresponding to the branch point positioned most downstream of the first main track among the plurality of the branch tracks. This can cause the transport vehicles to enter the branch track more smoothly than a case in which the transport vehicles are caused to preferentially enter the branch track branching off upstream of the first main track among the plurality of the branch tracks.

In a transport system according to an example embodiment of the present invention, the entry control starts entry of the transport vehicles that have been caused to wait on the first main track to at least any of the branch tracks based on a timing when the number of the transport vehicles present on the branch track corresponding to the branch point positioned most downstream has decreased. This can cause the transport vehicles to enter the branch track more smoothly than a case in which the transport vehicles are caused to preferentially enter the branch track branching off upstream of the first main track among the branch tracks.

In a transport system according to an example embodiment of the present invention, the track may include a second main track. The branch tracks may connect to the second main track via confluence points different from each other. The controller may be configured or programmed to execute departure control that causes the respective transport vehicles stopped at respective stop positions of the branch tracks to depart toward the second main track for each of the branch tracks. The entry control, at a timing when a transport destination of the transport vehicle has been determined, may increase the number of the transport vehicles present on the branch track corresponding to the transport destination by one. The departure control, at a timing when the transport vehicle on the branch track has been caused to depart, may decrease the number of the transport vehicles present on the branch track by one. In this case, the above action in which the transport vehicles can smoothly transport the load can be specifically achieved.

In a transport system according to an example embodiment of the present invention, the track may include a second main track and a backup branch track. The branch tracks may connect to the second main track via confluence points different from each other. The backup branch track may branch off from the first main track via a backup branch point as another branch point positioned downstream of the branch points and connect to the second main track via a backup confluence point as another confluence point positioned upstream of the confluence points. The entry control, when transfer of the load is impossible in at least any of a plurality of the branch tracks, may cause the transport vehicles scheduled to enter any of the plurality of the branch tracks in which the transfer of the load is impossible to enter the backup branch track instead of the plurality of the branch tracks. This can prevent a reduction in transport capacity by using the backup branch track even when the transfer of the load is impossible in at least any of the branch tracks.

In a transport system according to an example embodiment of the present invention, the track may include an auxiliary branch track. The auxiliary branch track may branch off from the second main track via an auxiliary branch point as a branch point positioned downstream of the confluence points and connect to the first main track via an auxiliary confluence point as a confluence point positioned upstream of the branch points. The controller may be configured or programmed to cause the transport vehicles that has been caused to enter the backup branch track to enter the auxiliary branch track. In this case, for example, even when an interface portion of the transport vehicles or objects to be transported gets into trouble on the branch tracks, and the transfer of the load is impossible, the reduction in the transport capacity of the transport system can be further prevented.

Example embodiments of the present invention can provide transport systems in each of which transport vehicles can smoothly transport loads.

The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings.

Example embodiments will now be described with reference to the attached drawings. In description of the drawings, like or equivalent elements are designated by like reference signs, and duplicate description is omitted. The dimensional proportions in the drawings do not necessarily match those in the description.

1 FIG. 1 1 1 2 1 10 20 10 3 10 10 10 10 1 The following describes a first example embodiment. As illustrated in, this transport systemaccording to the first example embodiment is a system configured to perform transportation between two points in which a transport source and a transport destination are patterned. The transport systemperforms inter-building transportation, which performs delivery of loads between a first building Fand a second building F. The transport systemincludes a plurality of transport vehiclesand a controller. The transport vehiclestravel along a trackto transport loads. The transport vehiclesare configured to be capable of transferring loads. The transport vehiclesare Overhead Hoist Transports. The transport vehiclesare also referred to as, for example, vehicles (transport vehicles), overhead traveling vehicles (overhead transport carts), overhead traveling vehicles (overhead traveling carts), or traveling vehicles (traveling carts). The number of the transport vehiclesincluded in the transport systemis, for example, about 50 and varies depending on the amount of transport demand and a transport distance.

2 FIG. 10 144 145 3 147 146 3 147 148 148 149 4 149 124 146 147 As illustrated in, the transport vehicleincludes a traveling cart, a power supply cartconfigured to receive power supply from the track, a θ drive, and a lateral feederto laterally feed the lower portion thereof with respect to the track. The θ driveturns a lifting and lowering driverin a horizontal plane to control the attitude of a load L. The lifting and lowering driverlifts and lowers a lifting and lowering platform, which grasps the load L, and delivers the load L to and from a delivery port. The lifting and lowering platformgrasps the portion of a flangeas the upper portion of the load L. The lateral feederand the driveare not necessarily required to be provided. The load L is, for example, a container storing a plurality of semiconductor wafers, but it may also be a glass substrate, a general component, or the like.

3 3 141 3 10 3 1 10 3 3 3 10 The trackis laid on, for example, the ceiling or the like. The trackis supported by columns. The trackis a traveling path set in advance to cause the transport vehiclesto travel. The trackis a one-way traveling path. In other words, in the transport system, a traveling direction (a forward direction) of the transport vehicleson the trackis set to one direction, and traveling in the opposite direction is prohibited. The trackhas a closed track layout that is not affected from outside the track. In the following, the terms “upstream” and “downstream” correspond to “upstream” and “downstream,” respectively, in the traveling direction of the transport vehicles.

1 FIG. 3 31 32 33 33 33 33 32 31 34 34 34 34 31 32 31 32 1 2 31 32 1 2 31 32 31 32 33 33 34 34 10 a b c d a b c d a d a d In the example illustrated in, the trackincludes main tracksand, four first branch tracks,,, andbranching off from the main trackand joining the main track, and four second branch tracks,,, andbranching off from the main trackand joining the main track. The main tracksandare tracks connecting between a first building Fand a second building F. The length of the main tracksandis, for example, 200 m. Between the first building Fand the second building F, the main tracksandare enclosed surrounded by a wall portion (not illustrated). The main trackand, the first branch tracksto, and the second branch trackstodefine circling tracks to cause the transport vehiclesto travel in a circling manner.

33 33 1 33 33 33 33 31 32 33 33 31 32 34 34 2 34 34 34 34 31 32 34 34 32 31 a d a d a d a d a d a d a d a d The first branch trackstoare disposed inside the first building F. The first branch trackstoextend in parallel or substantially parallel to each other. The first branch trackstoare provided in a comb-shaped arrangement between the main tracksandextending in parallel or substantially parallel to each other. The first branch trackstoare positioned upstream of the main track(downstream of the main track) in this order. The second branch trackstoare disposed in the second building F. The second branch trackstoextend in parallel or substantially parallel to each other. The second branch trackstoare provided in a comb-shaped arrangement between the main tracksandextending in parallel to each other. The second branch trackstoare positioned upstream of the main track(downstream of the main track) in this order.

1 1 2 The following specifically describes the configuration and control of the transport system. In the following description, the configuration and control of the first building Fwill be described, and descriptions of the configuration and control of the second building Fwill be omitted as appropriate because they are similar.

3 FIG. 33 33 31 35 35 35 35 33 33 31 35 35 35 35 3 35 35 31 31 33 33 35 35 35 35 3 35 31 33 33 33 31 35 35 35 35 31 a d a b c d a d a b c d a d a d a b c d a a a d a d a d As illustrated in, points at which the first branch trackstojoin the main trackare confluence points,,, and. Each of the first branch trackstoconnects to the main trackvia each of the confluence points,,, and. That is, the trackincludes the confluence pointsto, which are a plurality of confluence points spaced apart from each other on the main track. The main trackis joined from each of the first branch trackstovia the confluence points,,, anddifferent from each other. For example, it is regarded that the portion of the trackdownstream of the confluence pointis the main track, which is joined from the first branch trackupstream thereof. The first branch trackstoeach connect to the main trackvia the confluence pointstodifferent from each other. The confluence pointstoare separated from each other by a certain distance on the main track.

33 33 32 36 36 36 36 33 33 32 36 36 36 36 3 36 36 32 32 33 33 36 36 36 36 3 36 32 33 33 33 32 36 36 36 36 32 a d a b c d a d a b c d a d a d a b c d a a a d a d a d Points at which the first branch trackstobranch off from the main trackare branch points,,, and. Each of the first branch trackstoconnects to the main trackvia each of the branch points,,, and. In other words, the trackincludes the branch pointsto, which are a plurality of branch points disposed spaced apart from each other on the main track. The main trackbranches off to each of the first branch trackstovia the branch points,,, anddifferent from each other. For example, it is regarded that the portion of the trackupstream of the branch pointis the main track, which branches off to the first branch trackdownstream thereof. The first branch trackstoeach connect to the main trackvia the branch pointstodifferent from each other. The branch pointstoare separated from each other by a certain distance on the main track.

3 FIG. 31 32 33 33 a d The “confluence point” is a point at which a branch track connects to a main track. The “confluence point” is a point at which the branch track leads to the main track. The “confluence point” is a connecting point of the branch track and the main track for allowing entry to the main track from the branch track. The “branch point” is a point at which the main track connects to the branch track. The “branch point” is a point at which the main track leads to the branch track. The “branch point” is a connecting point of the main track and the branch track for allowing entry to the branch track from the main track. In the example illustrated in, the main trackcorresponds to a second main track, the main trackcorresponds to a first main track, and the first branch trackstocorrespond to branch tracks.

33 33 4 10 4 33 33 4 4 41 42 a d a d Each of the first branch trackstohas a stop position corresponding to the delivery portfor the transport vehicleto deliver the load L. The delivery portis disposed along each of the first branch tracksto. The delivery portis provided, for example, on a conveyor (not illustrated) transporting the load L. The delivery portincludes an unloading portand a loading port.

41 10 41 10 41 42 42 41 42 10 42 10 41 42 The unloading portis a port for unloading the load L from the transport vehicle. At the unloading port, after the load L is placed, the load L is removed before the subsequent transport vehiclearrives. The unloading portis disposed upstream of the loading portwith a certain gap. In other words, the loading portis disposed downstream of the unloading portwith a certain gap. The loading portis a port for loading the load L onto the transport vehicle. The loading portcan bring in the load L into the port in a span of consecutive arrivals of the transport vehicles. As the unloading portand the loading port, there are no particular limitations, and various known ports can be used or included.

3 FIG. 20 20 20 20 10 10 As illustrated in, the controllermay be an electronic control unit including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like. The controllercan be configured as software in which, for example, a program stored in the ROM is loaded onto the RAM and is executed by the CPU. The controllermay be configured as hardware including electronic circuitry or the like. The controlleris configured or programmed to communicate with the transport vehiclesand control the traveling of the transport vehicles.

20 10 4 33 33 42 31 33 33 42 31 32 a d a d The controlleris configured or programmed to execute departure control to cause the transport vehiclesstopped at stop positions corresponding to the respective delivery portsof the first branch tracksto(in this case, stop positions corresponding to the loading ports) to depart toward the main trackfor each of the first branch tracksto. In the following, the stop position corresponding to the loading portmay also be referred to simply as the “stop position”. The upstream and downstream of the departure control correspond to the upstream and downstream of the main track, and the upstream and downstream of entry control correspond to the upstream and downstream of the main track.

10 33 33 33 10 33 10 33 10 33 10 33 10 33 10 33 10 33 a d d c c b b a The departure control causes the transport vehiclestopped on the downstream first branch trackamong the first branch trackstoto depart at the same time as or earlier than the transport vehiclestopped on the upstream first branch track. Specifically, the departure control causes the transport vehiclestopped on the first branch trackto depart at the same time as or earlier than the transport vehiclestopped on the first branch track. The departure control causes the transport vehiclestopped on the first branch trackto depart at the same time as or earlier than the transport vehiclestopped on the first branch track. The departure control causes the transport vehiclestopped on the first branch trackto depart at the same time as or earlier than the transport vehiclestopped on the first branch track.

10 33 33 33 33 10 33 33 10 33 a d a d a d More specifically, the departure control causes each of the stopped transport vehiclesto depart (forcedly depart) regardless of whether the load L is loaded at a timing repeated at a fixed cycle for each of the first branch tracksto. For example, the departure control starts counting down from a standard pitch time by a pitch timer in each of the first branch tracksto. When the count of the pitch timer reaches 0, the transport vehiclestopped at the stop position is caused to depart, and the count of the pitch timer is reset to the standard pitch time. The counting down is then continued by the pitch timer. The standard pitch time may be a fixed value set in advance or a variable value. In the present example embodiment, the time axes of the pitch timers for the respective first branch trackstoare shifted so that the transport vehiclestopped on the downstream first branch trackdeparts first.

20 10 32 33 33 32 10 33 10 33 10 33 10 33 10 a d a b c d The controlleris configured or programmed to execute the entry control that causes each of the transport vehiclestraveling on the main trackto successively enter each of the first branch trackstofrom the main trackin the order from downstream to upstream. Specifically, in the entry control, the transport vehicleis caused to enter the first branch track, the next transport vehicleis caused to enter the first branch track, the next transport vehicleis caused to enter the first branch track, the next transport vehicleis caused to enter the first branch track, and then such entry of the transport vehicleis repeated.

In the Entry Control, Transport Destination

10 36 36 32 36 36 36 36 4 41 33 33 a d a d a d a d determination control to determine (guide) a transport destination is performed for the transport vehicletraveling through a specific section R upstream of the branch pointstoin the main track. The specific section R is a straight section close to the branch pointsto. The specific section R is not limited to a straight section, but may be a section including a curve, and may be various sections. The specific section R is not limited to a particular section so long as it is upstream of the branch pointsto. The transport destination determination control determines the delivery portas the transport determination (in this case, the unloading portof any of the first branch tracksto).

20 10 33 33 20 10 33 33 10 33 33 20 10 33 33 a d a d a d a d The controllergrasps the number (the entry number) of the transport vehiclespresent on each of the first branch tracksto. Specifically, in the entry control, at a timing when the transport destination is determined by the transport destination determination control described above, the controllerincreases (increments) the number of the transport vehiclespresent on any of the first branch trackstocorresponding to the transport destination by one. When causing the transport vehiclestopped at the stop position of any of the first branch trackstoto depart in the departure control, the controllerreduces (decrements) the number of the transport vehiclespresent on any of the first branch trackstoby one at a timing of the departure.

1 FIG. 20 10 33 33 20 10 31 32 33 33 34 34 20 10 33 34 10 33 34 10 33 34 10 33 34 20 10 34 33 10 34 33 10 34 33 10 34 33 a d a d a d d a c b b c a d d a c b b c a d. Referring back to, the controlleris configured or programmed to execute virtual coupling control to perform the departure control and the entry control described above for each group of transport vehicles including a plurality of (four in this case) transport vehiclescorresponding to the number of the first branch tracksto. The controllercauses the transport vehiclesto travel along the circling tracks (the main tracksand, the first branch tracksto, and the second branch tracksto) such that their circling distances or circling times are the same. For example, in the entry control, the controllercauses the transport vehiclethat has been caused to enter the first branch trackto enter the second branch track, causes the transport vehiclethat has been caused to enter the first branch trackto enter the second branch track, causes the transport vehiclethat has been caused to enter the first branch trackto enter the second branch track, and causes the transport vehiclethat has been caused to enter the first branch trackto enter the second branch track. In the entry control, the controllercauses the transport vehiclethat has been caused to enter the second branch trackto enter the first branch track, causes the transport vehiclethat has been caused to enter the second branch trackto enter the first branch track, causes the transport vehiclethat has been caused to enter the second branch trackto enter the first branch track, and causes the transport vehiclethat has been caused to enter the second branch trackto enter the first branch track

20 Next, the following describes the entry control by the controllerin detail.

10 33 33 32 33 33 4 10 10 33 33 4 a d a d a d The entry control causes the transport vehiclesto enter the first branch trackstofrom the main trackin a priority order according to entry information on entry states of the respective transport vehicles to the first branch tracksto. Specifically, the transport destination determination control included in the entry control determines the delivery portto and from which the transport vehiclesdeliver the load in the priority order according to the entry states. The entry control causes the transport vehiclesto enter any of the first branch trackstocorresponding to the delivery portdetermined in the transport destination determination control.

10 33 33 4 33 10 33 33 10 10 33 10 33 10 33 33 33 10 4 33 36 32 33 10 10 33 33 10 10 33 36 32 33 33 33 a d a d a d a d. As an example, the entry control acquires the entry information including information indicating the number of the transport vehiclespresent on each of the first branch tracksto. The transport destination determination control, based on the acquired entry information, determines the delivery portof the first branch trackwith the fewest number of the transport vehiclespresent among the first branch trackstoto be a transport destination of the transport vehicles. The entry control causes the transport vehiclesto enter the first branch trackcorresponding to the determined transport destination. In other words, the entry control causes the transport vehiclesto enter the first branch trackwith the fewest number of the transport vehiclespresent among the first branch tracksto. The entry control, when there are a plurality of the first branch trackswith the fewest number of the transport vehiclespresent, determines the delivery portof the first branch trackcorresponding to the branch pointpositioned most downstream of the main trackamong the plurality of the first branch tracksto be the transport destination of the transport vehicles. The entry control causes the transport vehiclesto enter the first branch trackcorresponding to the determined transport destination. In other words, the entry control, when there are the plurality of the first branch trackswith the fewest number of the transport vehiclespresent, causes the transport vehiclesto enter the first branch trackcorresponding to the branch pointpositioned most downstream of the main trackamong the plurality of the first branch tracksamong the first branch tracksto

33 10 4 10 33 32 10 32 33 10 33 36 10 32 10 33 36 a a a a The transport destination determination control, when the first branch trackwith the number of the transport vehiclespresent being less than a set number is not present, does not determine the delivery portas the transport destination. In this case, the entry control does not cause the transport vehiclesto enter the first branch tracksbut causes them to wait on the main track. The entry control starts entry of the transport vehiclesthat have been caused to wait on the main trackto at least any of the first branch tracksbased on a timing when the number of the transport vehiclespresent on the first branch trackcorresponding to the branch point, which is positioned most downstream, has decreased (a timing when the count of the pitch timer has become 0). The entry control in this example starts the transport destination determination control for the transport vehiclesthat have been caused to wait on the main trackwith the decrement of the transport vehiclespresent on the first branch trackcorresponding to the branch point, which is positioned most downstream, as a trigger.

10 33 10 33 10 32 33 a The set number is any number set by a user and is only required to be lower than or equal to the upper limit of the number of the transport vehiclesthat can be present on each of the first branch tracks. For example, the set number may be one or two or more. The number of the transport vehiclespresent on the first branch trackmay not decrease at the timing when the count of the pitch timer has become 0. In this case too, the entry control may start entry of the transport vehiclethat have been caused to wait on the main trackto at least any of the first branch tracks.

4 FIG. 5 FIG. 4 FIG. 4 FIG. 1 10 10 10 10 42 33 33 10 33 33 10 33 a c d f a c a c d is a schematic plan view illustrating an example of the entry control in the transport system.is a schematic plan view illustrating a continuation of. In the example illustrated in, transport vehiclestoare traveling so as to approach a specific section R. Transport vehiclestoare positioned at the loading portsof the first branch tracksto, respectively. That is, the number of the transport vehiclespresent on the first branch trackstois one each, and the number of the transport vehiclespresent on the first branch trackis zero.

4 FIG. 10 4 33 10 10 10 20 10 33 10 33 a d a d a d. In this situation illustrated in, for example, the following entry control is executed. First, when the transport vehicleis positioned in the specific section R, the transport destination determination control determines the delivery portof the first branch track, which has the fewest number of the transport vehiclespresent, that is, zero transport vehicle, to be the transport destination of the transport vehicle. At this timing, the controllerincrements the number of the transport vehiclespresent on the first branch track. The entry control causes the transport vehicleto enter the first branch track

10 4 33 36 32 33 33 10 10 20 10 33 10 33 b a a a d b a b a. Subsequently, when the transport vehicleis positioned in the specific section R, the transport destination determination control determines the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the first branch tracksto, which have the number of the transport vehiclespresent being one, to be the transport destination of the transport vehicle. At this timing, the controllerincrements the number of the transport vehiclespresent on the first branch track. £ The entry control causes the transport vehicleto enter the first branch track

10 4 33 36 32 33 33 10 10 10 20 10 33 10 33 10 33 10 33 10 33 c b b b d c b c b a d b a c b. 5 FIG. Finally, when the transport vehicleis positioned in the specific section R, the transport destination determination control determines the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the first branch tracksto, which have the fewest number of the transport vehiclespresent, that is, one transport vehicle, to be the transport destination of the transport vehicle. At this timing, the controllerincrements the number of the transport vehiclespresent on the first branch track. The entry control causes the transport vehicleto enter the first branch track. Consequently, as illustrated in, the transport vehicleis caused to enter the first branch track, the transport vehicleis caused to enter the first branch track, and the transport vehicleis caused to enter the first branch track

6 FIG. 7 FIG. 6 FIG. 6 FIG. 10 10 36 10 41 42 33 33 10 33 33 a c a d a d is another schematic plan view for illustrating an example of the entry control.is a schematic plan view illustrating a continuation of. In the example illustrated in, the transport vehiclestoare traveling within the specific section R so as to approach a plurality of branch points. A plurality of transport vehiclesare positioned at all the respective unloading portsand loading portsof the first branch tracksto. In other words, the number of the transport vehiclespresent on the first branch trackstois two each, for example.

6 FIG. 10 33 33 10 10 10 10 32 a d a a a a In this situation illustrated in, for example, when the set number is two, the following entry control is executed. First, each number of the transport vehiclespresent on each of the first branch trackstois the same number as the set number, and the transport destination determination control does not determine the transport destination of the transport vehicle. The entry control, for example, when the transport vehicleapproaches the end of the specific section R, decelerates the transport vehicleand causes the transport vehicleto wait on the main track.

7 FIG. 10 33 33 10 10 33 36 4 33 36 32 33 33 10 10 20 10 33 10 33 a d a a a a a a d a a a a. Then, as illustrated in, by the departure control, the transport vehiclespresent on each of the first branch trackstodepart one by one in sequence. The entry control determines the transport destination for the transport vehicleby the transport destination determination control at a timing when the number of the transport vehiclespresent on the first branch trackcorresponding to the branch point, which is positioned most downstream, has decreased. Consequently, the transport destination determination control determines the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the first branch tracksto, which have the fewest number, which is one, of the transport vehiclespresent, to be the transport destination of the transport vehicle. At this timing, the controllerincrements the number of the transport vehiclespresent on the first branch track. The entry control causes the transport vehicleto enter the first branch track

10 10 4 33 10 33 10 10 4 33 10 33 b a b b b c b c c c. The transport destination determination control determines the transport destination of the transport vehiclefollowing the transport vehicleto be the delivery portof the first branch track. The entry control causes the transport vehicleto enter the first branch track. The transport destination determination control determines the transport destination of the transport vehiclefollowing the transport vehicleto be the delivery portof the first branch track. The entry control causes the transport vehicleto enter the first branch track

1 10 33 10 33 10 33 10 33 4 33 4 10 As described above, the transport systemcauses the transport vehiclesto enter the first branch tracksin the priority order according to the entry information on the entry states of the respective transport vehiclesto the first branch tracks. This can, for example, cause the transport vehiclesto enter each of the first branch tracksso as to prevent a situation in which there is always a shortage of the transport vehiclespresent on a specific first branch track. Consequently, a decrease in the frequency of delivering the load to and from the delivery portprovided along the specific first branch track(a delay in the transportation of the load from the specific delivery port) can be prevented, and the transport vehiclescan smoothly transport the load.

1 10 33 10 33 10 33 10 33 In the transport system, the entry information includes the information indicating the number of the transport vehiclespresent on each of the first branch tracks. The entry control causes the transport vehiclesto enter the first branch trackwith the fewest number of the transport vehiclespresent among the first branch tracksbased on the entry information. In this case, the situation in which there is always a shortage of the transport vehiclespresent on the specific first branch trackcan be specifically prevented.

1 33 10 10 33 36 32 33 10 10 33 32 33 a a In the transport system, the entry control, when there are the plurality of the first branch trackswith the fewest number of the transport vehiclespresent, causes the transport vehiclesto enter the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the plurality of the first branch tracks. This can cause the transport vehiclesto enter each of the branch tracks more smoothly than a case in which the transport vehiclesare caused to preferentially enter the first branch trackbranching off upstream of the main trackamong the plurality of the first branch tracks.

10 33 36 32 33 10 10 10 33 10 10 10 33 32 10 36 10 10 10 33 33 32 10 33 32 10 36 10 10 10 33 33 10 33 32 4 FIG. 5 FIG. b b b d b b c b a c b a b a c b c b d Specifically, compared to a case in which the transport vehiclesare caused to enter the first branch trackcorresponding to the branch pointpositioned upstream of the main trackamong the first branch tracks, the transport vehicleis prevented from hindering the traveling of another transport vehiclefollowing the transport vehicle, and the occurrence of congestion is prevented. In the example illustrated in, trouble or the like may occur on the first branch trackwhich the transport vehicleenters, and the transport vehiclemay not be able to enter. In this case, for example, when the transport vehicleis caused to enter the first branch track, which branches off upstream of the main track, if the transport vehiclestops upstream of the branch point, the transport vehiclehinders the transport vehicleimmediately following the transport vehiclefrom entering the first branch tracksto, and congestion may occur on the main track. In contrast, in the present example embodiment, as illustrated in, the transport vehicleis caused to enter the first branch track, which branches off most downstream of the main track. This enables the transport vehicleto wait near the branch point, which is positioned most downstream, thus preventing the traveling of the transport vehicleimmediately following the transport vehiclefrom being hindered. Consequently, the transport vehiclecan smoothly enter the first branch tracksto. From the above, the transport vehiclescan be caused to enter the first branch trackmore smoothly, and besides the occurrence of congestion on the main trackcan be prevented.

1 10 32 33 10 33 36 10 33 10 33 32 33 In the transport system, the entry control starts entry of the transport vehiclesthat have been caused to wait on the main trackto at least any of the first branch tracksbased on the timing when the number of the transport vehiclespresent on the first branch trackcorresponding to the branch pointpositioned most downstream has decreased. This can cause the transport vehiclesto enter the first branch trackmore smoothly than a case in which the transport vehiclesare caused to preferentially enter the first branch trackbranching off upstream of the main trackamong the first branch tracks.

1 3 31 33 31 35 20 10 33 31 33 10 10 33 10 33 10 33 10 In the transport system, the trackincludes the main track. The first branch tracksconnect to the main trackvia the confluence pointsdifferent from each other. The controlleris configured or programmed to execute the departure control that causes the respective transport vehiclesstopped at the respective stop positions of the first branch tracksto depart toward the main trackfor each of the first branch tracks. The entry control, at the timing when the transport destination of the transport vehiclehas been determined, increases the number of the transport vehiclespresent on the first branch trackcorresponding to the transport destination by one. The departure control, at the timing when the transport vehicleon the branch trackhas been caused to depart, decreases the number of the transport vehiclespresent on the first branch trackby one. In this case, the above action in which the transport vehiclescan smoothly transport the load can be specifically achieved.

10 33 10 33 33 4 33 33 32 10 10 33 a d a d Next, the following describes a second example embodiment. In the first example embodiment above, the entry control causes the transport vehiclesto enter the first branch trackwith the fewest number of the transport vehiclespresent among the first branch tracksto, but this is not limiting. In the entry control according to the second example embodiment, the respective delivery portsof the first branch trackstomay be determined in order from downstream to upstream of the main track(cyclically) to be the transport destination of the transport vehicles, and the transport vehiclesmay be caused to sequentially enter the first branch trackof the determined transport destination.

33 10 36 36 33 10 32 4 33 36 10 10 10 33 36 36 33 10 32 10 33 36 More specifically, the entry control according to the second example embodiment may acquire entry information including information on the first branch track(an entry branch track) the transport vehicle(a first transport vehicle) enters. The transport destination determination control, based on the acquired entry information, when another branch pointupstream adjacent to the branch pointof the first branch trackthat the transport vehiclehas entered is present in the main track, may determine the delivery portof the first branch trackcorresponding to the another branch pointas the transport destination of another transport vehicle(a second transport vehicle) immediately following the transport vehicle. The entry control may cause the other transport vehicleto enter the first branch trackof the determined transport destination. In other words, the entry control, when the another branch pointupstream adjacent to the branch pointof the first branch trackthat the transport vehiclehas entered is present in the main track, may cause the other transport vehicleto enter the first branch trackcorresponding to the another branch point.

36 4 33 36 32 10 10 33 36 10 33 36 32 a a a a In addition, the transport destination determination control of the entry control according to the second example embodiment, when the another branch pointis not present, may determine the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, to be the transport destination of the other transport vehicle. The entry control may cause the other transport vehicleto enter the first branch trackof the determined transport destination. In other words, the entry control, when the another branch pointis not present, may cause the other transport vehicleto enter the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track.

4 FIG. 10 33 32 36 36 33 10 4 33 36 10 10 10 33 f c d c c f d d a f a d. In this case, for example, if the situation illustrated inis immediately after the transport vehiclehas entered the first branch track, the following entry control according to the second example embodiment is executed. First, in the main track, another branch pointis upstream adjacent to the branch pointof the first branch trackthe transport vehiclehas entered, and thus the transport destination determination control determines the delivery portof the first branch trackcorresponding to the another branch pointto be the transport destination of the transport vehicleimmediately following the transport vehicle. The entry control causes the transport vehicleto enter the first branch track

32 36 36 33 10 4 33 36 32 10 10 33 d d a a a b b a. Next, in the main track, the branch pointis not present upstream of the branch pointof the first branch trackthe transport vehiclehas entered, and thus the transport destination determination control determines the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, to be the transport destination of the transport vehicle. The entry control causes the transport vehicleto enter the first branch track

32 36 36 33 10 4 33 36 10 10 10 33 b a a b b b c b c b. Finally, in the main track, another branch pointis upstream adjacent to the branch pointof the first branch trackthe transport vehiclehas entered, and thus the transport destination determination control determines the delivery portof the first branch trackcorresponding to the another branch pointto be the transport destination of the transport vehicleimmediately following the transport vehicle. The entry control causes the transport vehicleto enter the first branch track

10 33 33 10 33 10 33 10 33 10 33 10 33 a d a d a d b a c b. Thus, when the entry control described above is executed, the transport vehiclesenter the first branch tracktoin this order, and the transport vehicleenters the first branch trackimmediately after the transport vehiclehas entered the first branch track. As a result of the above, the transport vehicleis caused to enter the first branch track, the transport vehicleis caused to enter the first branch track, and the transport vehicleis caused to enter the first branch track

1 10 33 10 33 33 10 34 34 10 4 34 34 a d a d a d The transport systemexecuting the entry control according to the second example embodiment can cause a plurality of transport vehiclesto enter each of the first branch tracksequally. This prevents the number of the transport vehiclesdeparting from the first branch trackstofrom being reduced, thus preventing the number of the transport vehicleson the second branch trackstofrom becoming insufficient. Consequently, a decrease in the frequency of delivering the load by the transport vehiclesto and from the delivery portsprovided along the second branch trackstois prevented, and thus a reduction in transport capacity can be prevented.

10 33 10 4 33 10 10 10 33 Subsequently, the following describes a third example embodiment. The entry control according to the third example embodiment may cause the transport vehiclesto enter the first branch trackwith the number of the transport vehiclespresent being less than a set number based on the acquired entry information. More specifically, the transport destination determination control may determine the delivery portof the first branch trackwith the number of the transport vehiclespresent being less than the set number to be the transport destination of the transport vehiclesbased on the acquired entry information. The entry control may cause the transport vehiclesto enter the first branch trackof the determined transport destination.

4 FIG. 4 33 10 10 10 33 4 33 33 10 10 10 33 d a a d a d a a In this case, for example, in the situation illustrated in, the following entry control according to the third example embodiment is executed. First, when the set number is one, the transport destination determination control determines the delivery portof the first branch track, which has the number of the transport vehiclespresent being zero, to be the transport destination of the transport vehicle. The entry control causes the transport vehicleto enter the first branch track. When the set number is two, the transport destination determination control determines any of the delivery portsof the first branch trackstowith the number of the transport vehiclespresent being one or less to be the transport destination of the transport vehicle. The entry control causes the transport vehicleto enter the first branch trackof the determined transport destination.

10 32 33 10 4 33 36 32 33 10 10 10 32 33 10 10 33 36 32 33 For example, the transport destination determination control of the entry control according to the third example embodiment, when after causing the transport vehiclesto wait on the main track, there arises a plurality of the first branch trackswith the number of the transport vehiclespresent being less than the set number, may determine the delivery portof the first branch trackcorresponding to the branch pointpositioned most downstream of the main trackamong the plurality of the first branch tracksto be the transport destination of the transport vehiclesthat have been caused to wait. The entry control may cause the transport vehiclesto enter the determined transport destination. In other words, the entry control, when after causing the transport vehiclesto wait on the main track, there arises the first branch trackswith the number of the transport vehiclespresent being less than the set number, may cause the transport vehiclesto enter the first branch trackcorresponding to the branch pointpositioned most downstream of the main trackamong the plurality of the first branch tracks.

7 FIG. 4 33 36 32 33 33 10 32 10 a a a d a a In this case, for example, in the situation illustrated in, the following entry control according to the third example embodiment is executed. First, the transport destination determination control determines the delivery portof the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the first branch trackstoto be the transport destination of the transport vehiclethat have been caused to wait on the main track. The entry control causes the transport vehicleto enter the determined transport destination.

10 33 10 33 10 10 32 10 33 10 33 33 In the entry control according to the third example embodiment, based on the entry information, the transport vehiclesare caused to enter the first branch trackwith the number of the transport vehiclespresent being less than the set number. The entry control, when the first branch trackwith the number of the transport vehiclespresent being less than the set number is not present, causes the transport vehiclesto wait on the main track. This can avoid a situation in which the transport vehiclesenter a specific first branch trackin a concentrated manner. In other words, the transport vehiclesthat can enter or more are prevented from entering each of the first branch tracks, and thus the occurrence of congestion on the first branch trackcan be prevented. Consequently, a reduction in a transport amount in the transport system can be prevented.

10 32 33 10 10 33 36 32 33 10 33 10 33 32 33 a a The entry control according to the third example embodiment, when after causing the transport vehiclesto wait on the main track, there arises the plurality of first branch trackswith the number of the transport vehiclespresent being less than the set number, causes the transport vehiclesthat have been caused to wait to enter the first branch trackcorresponding to the branch point, which is positioned most downstream of the main track, among the plurality of the first branch tracks. This can cause the transport vehiclesto enter the first branch trackmore smoothly than a case in which the transport vehiclesare caused to preferentially enter the first branch trackbranching off upstream of the main trackamong the plurality of the first branch tracks.

3 31 32 33 34 3 101 101 103 3 103 31 32 33 34 133 133 32 136 36 36 133 31 135 35 35 32 133 136 103 136 32 133 8 FIG. 8 FIG. 3 FIG. a d a d Subsequently, the following describes a fourth example embodiment. In the first example embodiment to the third example embodiment, the trackincludes the main tracksand, the first branch tracks, and the second branch tracks, but the configuration of the trackis not limited to a particular configuration.is a schematic plan view illustrating a transport systemaccording to the fourth example embodiment. As illustrated in, the transport systemaccording to the fourth example embodiment has a trackinstead of the track(refer to). The trackincludes the main tracksand, the first branch tracks, the second branch tracks, and a backup branch track. The backup branch trackconnects to the main trackvia a backup branch pointas another branch point positioned downstream of the branch pointsto. The backup branch trackconnects to the main trackvia a backup confluence pointas another confluence point positioned upstream of the confluence pointsto. The main trackbranches off to the backup branch trackvia the backup branch point. For example, it is regarded that the portion of the trackupstream of the backup branch pointis the main track, which branches off to the backup branch trackdownstream thereof.

101 33 10 33 133 33 133 33 10 10 135 35 136 36 a a In the transport systemaccording to the fourth example embodiment, the entry control, when the transfer of the load is impossible in at least any of the plurality of the first branch tracks, causes the transport vehiclesscheduled to enter any of the plurality of the first branch tracksin which the transfer of the load is impossible to enter the backup branch trackinstead of the plurality of the first branch tracks. This can prevent a reduction in transport capacity by using the backup branch trackeven when the transfer of the load is impossible in at least any of the first branch tracks. Specifically, the occurrence of congestion due to the transport vehiclesscheduled to enter hindering the traveling of another following transport vehiclecan be prevented. The backup confluence pointis separate from the confluence pointby a certain distance. The backup branch pointis separate from the branch pointby a certain distance.

101 4 133 133 1 In the transport systemaccording to the fourth example embodiment, the delivery portis disposed along the backup branch track. This enables the transfer of the load on the backup branch track, which can further prevent the reduction in transport capacity in the transport system.

9 FIG. 9 FIG. 3 FIG. 201 201 203 3 203 31 32 33 34 133 237 237 31 236 35 31 237 236 237 32 235 36 Subsequently, the following describes a fifth example embodiment.is a schematic plan view illustrating a transport systemaccording to the fifth example embodiment. As illustrated in, the transport systemaccording to the fifth example embodiment includes a trackinstead of the track(refer to). The trackincludes the main tracksand, the first branch tracks, the second branch tracks, the backup branch track, and an auxiliary branch track. The auxiliary branch trackconnects to the main trackvia an auxiliary branch pointas a branch point positioned downstream of the confluence points. That is, the main trackbranches off to the auxiliary branch trackvia the auxiliary branch point. The auxiliary branch trackconnects to the main trackvia an auxiliary confluence pointas a confluence point positioned upstream of the branch points.

201 10 133 237 10 33 31 32 10 31 32 10 237 133 237 2 In the transport systemaccording to the fifth example embodiment, the entry control may cause the transport vehiclesthat has been caused to enter the backup branch trackto enter the auxiliary branch track. In this case, for example, even if the interface portion of the transport vehiclesor objects to be transported gets into trouble on the first branch tracks, and the transfer of the load is impossible, the reduction in transport capacity can be further prevented. If there is a bias between the main trackand the main trackin the number of the transport vehiclespresent on each of the main tracksand, the bias can be eliminated by causing the transport vehiclesthat are not transporting the load L to enter the auxiliary branch track. The backup branch trackand the auxiliary branch trackdescribed above may also be provided in the second building F.

Although example embodiments have been described above, the present invention is not limited to the above-described example embodiments, and various modifications or combinations can be made within the scope not departing from the gist of the invention.

3 33 33 3 34 34 a d a d In the above example embodiments, the trackincludes four first branch tracksto, but the number of the first branch tracks may be two, three, or five or more. Similarly, the trackincludes four second branch tracksto, but the number of the second branch tracks may be two, three, or five or more.

10 10 10 4 10 In the above example embodiments, the departure control causes the transport vehicleto forcedly depart at a fixed cycle regardless of whether the load L is loaded but may cause the transport vehicleto depart on the condition that the load L is loaded. In the above example embodiments, the transport destination determination control to determine the transport destination of the transport vehiclestraveling in the specific section R is executed, but the transport destination determination control is not necessarily required to be executed, and the delivery portas the transport destination may be determined at any timing. In the above example embodiments, the virtual coupling control to perform control for each group of transport vehicles including a plurality of transport vehiclesis performed, but the virtual coupling control is not necessarily required to be executed.

10 33 33 10 33 33 10 33 36 36 33 36 33 36 32 10 32 In the above example embodiments, in the entry control, when the transport vehiclesare caused to enter the first branch trackcorresponding to the transport destination, trouble may occur on the first branch track, and the transport vehiclescannot enter the first branch track(the first branch trackmay be down). In this case, the entry control may cause the transport vehiclesto enter the first branch trackcorresponding to another branch pointupstream adjacent to the branch pointof the first branch track. When the branch pointof the first branch trackin which the trouble has occurred is the branch pointpositioned most upstream of the main track, the transport vehiclesmay be caused to wait on the main track.

Various shapes can be used for each component in the above-described example embodiments, not limited to the shapes described above. Each component in each example embodiment can be freely used for each component in other example embodiments. Some of the components in the above example embodiments can be omitted as appropriate to the extent not departing from the gist of example embodiments of the present invention.

While example embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.