JP2010218380A - Guided vehicle system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the efficiency of transfer from deterioration in a guided vehicle system, even when loading or unloading can be performed if a guided vehicle travels to a destination in the shortest distance. <P>SOLUTION: The guided vehicle system 1 includes a plurality of routes, a guided vehicle 3, and a guide vehicle controller 27. The plurality of routes is preliminarily determined. The guided vehicle 3 travels along the plurality of routes to carry an article W. The guided vehicle controller 27 determines whether unloading can be performed in a storing port 13. The guided vehicle controller 27 can select, when it determines that the unloading cannot be performed, a route longer in distance than the route with the shortest distance as the travel path to the storing port 13 and instructs it to the guided vehicle 3. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transport vehicle system, and more particularly to a transport vehicle system having a transport vehicle capable of grasping and unloading.

  2. Description of the Related Art Conventionally, a transport vehicle system having a circular track, a plurality of stations provided on the path of the circular track, and a plurality of transport vehicles that travel in one direction along the circular track to transport articles is known. Yes. Between the station and the transport vehicle, cargo grasping (loading of articles from the station to the transport vehicle) and unloading (loading of articles from the transport vehicle to the station) is performed. In this system, in order to quickly transport an article, when a request for picking up an article occurs from a station, an empty transport vehicle closest to the station is moved to that station to receive the article. Assign a conveyance command.

On the other hand, as an example of the above-described station, a stocker that stores FOUP (Front Opening Unified Pod) in a semiconductor factory is known. In the stocker, for example, at the time of warehousing, the overhead conveyance vehicle carries the FOUP into the warehousing port, and then the stacker crane conveys the FOUP to a predetermined shelf. At the time of delivery, the stacker crane conveys the FOUP from a predetermined shelf to the delivery port, and then the overhead transport vehicle carries the FOUP from the delivery port.
In the conventional transport vehicle system, it is determined whether or not unloading is possible at the warehousing port, and when it is determined that it is not possible, the load is temporarily placed in a buffer (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2007-207078

The stocker generally has a storage port, a crane port disposed on the back side thereof, and a storage conveyor disposed between the two ports. When the overhead transport vehicle places the FOUP at the warehousing port, the warehousing conveyor then conveys the FOUP to the crane port. The crane then transports the FOUP to a predetermined shelf.
However, the stocker storage method using the above-mentioned storage conveyor has the following difficulties.
1) The FOUP needs to be moved from the warehousing port to the crane port by the warehousing conveyor.
2) Since the crane has access to other ports, the FOUP on the crane port may not be immediately moved to the shelf. In this case, the state where the FOUP is placed at both the crane port and the warehousing port continues. And even if a ceiling conveyance vehicle arrives at a warehousing port transfer position, if a previous article is put in a warehousing port, a ceiling conveyance vehicle will decelerate and stop. However, after a certain period of time, the overhead traveling vehicle starts traveling without lowering the FOUP to the warehousing port. As a result, the overhead traveling vehicle travels around the track and returns to the original position. The reason why the overhead transport vehicle does not stop at the warehousing port transfer position is to avoid blocking the track.

As described above, the ceiling guided vehicle continues to travel again with the same warehousing port transfer position as the destination. However, if the warehousing port returns before it becomes empty, the ceiling transport vehicle will travel around again. When the overhead traveling vehicle repeats the round traveling as described above, the traveling amount of the traveling vehicle in the vicinity of the warehousing port increases, which easily disturbs the traveling of the other overhead transportation vehicles and easily causes traffic congestion. As a result, the transfer efficiency of the ceiling guided vehicle system decreases.

  An object of the present invention is to prevent the conveyance efficiency from being lowered even in the case where the conveyance vehicle cannot travel or be unloaded when traveling at the shortest distance to the destination in the conveyance vehicle system.

The transport vehicle system according to the present invention includes a plurality of routes, a transport vehicle, a determination unit, and a travel route selection unit. A plurality of routes are determined in advance. The transport vehicle travels along a plurality of routes and transports articles. The determination means determines whether it is possible to grasp or unload at the destination of the transport vehicle. When the determination means determines that it is not possible to grab or unload, the travel route selection means can select a route that is longer than the shortest distance route as the travel route to the destination.
In this system, when the transport vehicle is traveling along the route, the determination unit determines whether it is possible to grasp or unload at the destination of the transport vehicle. If the determination means determines that it is impossible to grasp or unload, the travel path selection means selects a route with a longer distance than the shortest distance as the travel route to the destination and instructs the transport vehicle. As a result, the transport vehicle travels a route that is longer than the shortest distance route, and in this case, the transport vehicle does not travel the shortest distance route, so when the transport vehicle reaches the destination. The possibility of not being able to grab or unload at the destination is reduced.
As a result, in the transport vehicle system, when the transport vehicle travels to the destination with the shortest distance, the transport efficiency is unlikely to decrease even when the cargo cannot be grasped or unloaded.

The travel path selection means may perform travel path selection by selecting a waypoint.
In this system, the travel path selecting means can instruct the travel path to the transport vehicle only by setting a waypoint. Therefore, the processing amount of the travel path selecting means is reduced. In addition, by selecting a via point, it is possible to turn the transport vehicle using a general routine for selecting the shortest route.

The determination unit can grasp the time until the cargo can be grasped or unloaded, and the travel route selection unit may select the travel route according to the time. Specifically, when a long time is required, a long-distance travel route is selected.
In this system, since the travel path is selected according to the time during which it is possible to grasp or unload, it is possible to reduce the traffic congestion and improve the conveyance efficiency.

The destination of the transport vehicle is a port of the automatic warehouse, and the determination means may determine the time until the grasping or unloading becomes possible based on the state of the automatic warehouse.
In this system, it is not necessary to grasp the time itself until the grasping or unloading becomes possible by using the situation of the automatic warehouse as the judging means.

The determination means may receive information on the situation from the automatic warehouse before the transport vehicle arrives at the port.
In this system, since the automatic warehouse itself grasps the operation status up to a certain point, by using the operation status, the determination means can obtain the operation status before the transport vehicle arrives at the port.

  In the transport vehicle system according to the present invention, the transport efficiency does not decrease even when the transport vehicle cannot grasp or unload at the destination.

The partial top view which shows the layout of the carrier system which concerns on one Embodiment of this invention. The block diagram which shows the control system of a conveyance vehicle system. The block diagram which shows the structure of a conveyance vehicle controller. The flowchart which shows the control operation of a conveyance vehicle controller. The flowchart of driving | running | working path selection and instruction | indication operation | movement. A travel layout showing a multiple circuit configuration. The schematic diagram for demonstrating one operation | movement of a conveyance vehicle and a warehousing port. The schematic diagram for demonstrating one operation | movement of a conveyance vehicle and a warehousing port. The schematic diagram for demonstrating one operation | movement of a conveyance vehicle and a warehousing port. The schematic diagram for demonstrating the other operation | movement of a conveyance vehicle and a warehousing port. The schematic diagram for demonstrating the other operation | movement of a conveyance vehicle and a warehousing port. The schematic diagram for demonstrating the other operation | movement of a conveyance vehicle and a warehousing port.

(1) Transport vehicle system The transport vehicle system as one embodiment of the present invention is a system for running a plurality of transport vehicles on a defined transport track. The transport vehicle travels in one direction on the transport track, loads articles from the target location according to the transport command assigned by the host controller, then travels to the transport destination location and loads the articles at the transport destination location. put out.

  More specifically, the transport vehicle system is arranged using, for example, a ceiling space in a clean room, and transports an article such as a FOUP containing a semiconductor wafer between load ports such as a processing apparatus and an inspection apparatus. The transport track is composed of two types, a U-shaped intra bay route in a bay in which processing devices are arranged, and an inter bay route that interconnects the intra bay route.

(2) Layout of transport vehicle system The layout of the transport vehicle system 1 is demonstrated using FIG. FIG. 1 is a partial plan view showing a layout of a transport vehicle system according to an embodiment of the present invention.
The transport vehicle system 1 includes a plurality of circuit travel paths 5 and a main travel path 7 that connects the plurality of circuit travel paths 5. The trunk road 7 forms a single circuit as a whole. A plurality of processing devices 9 are provided along the circumferential traveling path 5, and a plurality of stockers 11 are provided along the backbone traveling path 7. The stocker 11 realizes a buffer function between the processing device 9 groups in the circuit travel path 5.

  The equipment such as the processing device 9 and the stocker 11 is provided with a warehousing port 13 for carrying the article W into the equipment, and a delivery port 15 for picking up the article W from the equipment to the transport vehicle 3. Note that the warehousing port 13 and the warehousing port 15 may be shared.

An example of the transport vehicle system for describing an embodiment of the present invention will be described with reference to FIG. FIG. 6 is a travel layout showing a multiple circuit configuration.
The transport vehicle 3 travels along the peripheral circuit 61. The peripheral circuit 61 includes a plurality of peripheral circuits (71 to 73) therein. The first peripheral circuit 71 is the shortest peripheral circuit, and the stocker 11 is disposed on the side thereof. The second circuit 72 includes most of the first circuit 71 and extends further. The third circuit 73 includes most of the second circuit 72 and further extends.

In the first circuit 71, a first via point 74 is set at a portion that does not overlap the second circuit 72 and the third circuit 73. In the second circuit 72, a second via point 75 is set in a portion that does not overlap the first circuit 71 and the third circuit 73. In the third circuit 73, a third via point 76 is set in a portion that does not overlap the first circuit 71 and the second circuit 72. In the above description, each via point is set at a position that does not overlap with other peripheral circuits, but the via point may be installed at a position that overlaps with other peripheral circuits.
In addition, the 2nd circuit 72 and the 3rd circuit 73 are the conditions that the warehousing port 13 as a destination is not included on the way.

  In FIG. 6, the stocker 11 has a warehouse port 13, a crane port 83, and a warehouse conveyor 84. The article W placed in the warehousing port 13 is conveyed to the crane port 83 by the warehousing conveyor 84 and further conveyed to the shelf 85 by a crane (not shown).

(3) Control system of conveyance vehicle system The control system 20 of the conveyance vehicle system 1 is demonstrated using FIG. FIG. 2 is a block diagram showing the control system 20 of the transport vehicle system 1.

  The control system 20 includes a manufacturing controller 21, a physical distribution controller 23, a stocker controller 25, and a transport vehicle controller 27.

  The logistics controller 23 is a higher-order controller of the stocker controller 25 and the transport vehicle controller 27. The transport vehicle controller 27 has a function of managing a plurality of transport vehicles 3 and assigning a transport command to them. The “conveyance command” includes a command related to traveling and a command related to the load holding position and the unloading position.

  The production controller 21 can communicate with the processing device 9. The processing device 9 transmits a transport request (load grasp request / unload request) for the article W that has been processed to the manufacturing controller 21.

  The manufacturing controller 21 transmits a transport request from the processing device 9 to the physical distribution controller 23, and the physical distribution controller 23 transmits a report to the manufacturing controller 21.

  When the distribution controller 23 receives a transport request from the manufacturing controller 21, when the stocker 11 is accompanied or unloaded, the logistics controller 23 transmits a store or unload command to the stocker controller 25 at a predetermined timing. Then, the stocker controller 25 transmits an incoming / outgoing command to the stocker 11 accordingly. Further, when the distribution controller 23 receives a conveyance request from the manufacturing controller 21, it converts it into a conveyance command, and performs an operation for assigning the conveyance command to the conveyance vehicle 3.

  The transport vehicle controller 27 continuously communicates with each transport vehicle 3 to create a transport command, and obtains position information based on the position data transmitted from each transport vehicle 3. Examples of acquiring position information include the following methods. A plurality of points are set on the transport path, and a transport signal is transmitted to the transport vehicle controller 27 when the transport vehicle 3 passes the points. Then, the transport vehicle controller 27 stores the point at which the transport vehicle 3 has passed most recently and the time at which the point has passed. And the position of the conveyance vehicle 3 is calculated and calculated | required based on the regulation speed and time of the point area. Alternatively, for example, an encoder is provided in the transport vehicle 3, and the travel distance after passing the point is transmitted as position data from the transport vehicle 3 to the transport vehicle controller 27. Know the location.

  The carrier controller 27 will be described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the transport vehicle controller 27.

The transport vehicle control unit 47 communicates with the transport vehicle 3 and also with the physical distribution controller 23.
The transport vehicle controller 27 includes a transport vehicle control unit 47 and a memory 48.
The transport vehicle controller 47 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program.

  The memory 48 stores a route map. The route map is a map that describes the arrangement of the travel route, the position of the origin, the reference position based on the origin, and the coordinates of the transfer position. The coordinates are obtained by converting the travel distance from the origin into the number of output pulses of the encoder of the transport vehicle 3. The route map also includes information on the first route point 74, the second route point 75, and the third route point 76 described above. The transport vehicle controller 47 can read the route map from the memory 48.

  The transport vehicle 3 also has a route map, and continues traveling while comparing the coordinates described in the route map with the internal coordinates of the own machine (coordinates obtained by the encoder).

(4) Control Operation The control operation of the transport vehicle controller 47 will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing the control operation of the transport vehicle controller.
Here, the case where the conveyance vehicle 3 loaded with the articles W lowers the articles to the warehousing port 13 of the stocker 11 will be described.

  In step S <b> 1, the transport vehicle control unit 47 waits for the transport vehicle 3 to approach the warehousing port 13. When the transport vehicle 3 approaches the warehousing port 13, the process proceeds to step S2.

  In step S <b> 2, the transport vehicle controller 47 makes an inquiry to the physical distribution controller 23 regarding the status of the warehousing port 13 of the stocker 11.

  In step S <b> 3, the transport vehicle controller 47 waits for the status of the warehousing port 13 of the stocker 11 to be transmitted from the physical distribution controller 23. When the situation is transmitted, the process proceeds to step S4.

  In step S <b> 4, the transport vehicle controller 47 determines whether or not the article W can be lowered at the warehousing port 13. If the article W can be lowered, the process proceeds to step S5. If the article W cannot be lowered, the process proceeds to step S6.

  In step S5, the transport vehicle controller 47 informs the transport vehicle 3 that it can be unloaded. As a result, the transport vehicle 3 stops at the warehousing port 13 and executes the unloading operation.

In step S <b> 6, the transport vehicle controller 47 executes a travel path selection / instruction operation.
After execution of step S5 or step S6, the process returns to step S1.

  The travel route selection / instruction operation will be described with reference to FIG. FIG. 5 is a flowchart of the travel route selection / instruction operation.

  The transport vehicle control unit 47 calculates the time until the unloading at the warehousing port 13 becomes possible based on the status of the stocker 11 from the physical distribution controller 23. This is because the stocker 11 has grasped the operation status up to a certain point. For example, when the article W cannot be unloaded while the article W is placed in the warehousing port 13, the transport vehicle control unit 47 can predict the time until the warehousing port 13 becomes free according to the status of the stocker 11. The status of the stocker 11 includes whether or not a transfer command is assigned to the article W on the warehousing port 13, whether or not the crane port 83 is vacant, and the like.

  There are three types of predicted opening times: time 1, time 2, and time 3, with time 1 being the shortest and time 3 being the longest. If it is time 1, the process proceeds to step S12. If time 2, the process proceeds to step S13. If it is time 3, the process proceeds to step S14.

  In step S <b> 12, the transport vehicle control unit 47 instructs the transport vehicle 3 to the first via point 74. In step S <b> 13, the transport vehicle controller 47 instructs the transport vehicle 3 to the second via point 75. In step S14, the third via point 76 is instructed to the transport vehicle 3. As a result, the transport vehicle 3 travels through any one of the first circumferential circuit 71, the second circumferential circuit 72, and the third circumferential circuit 73. In such a case, when the transport vehicle 3 returns to the warehousing port 13, there is a high possibility that the warehousing port 13 is empty and can be unloaded.

In this system, the transport vehicle controller 27 can grasp the time until the unloading becomes possible, and selects a travel path according to the time. Since the travel path is selected according to the time when the unloading becomes possible, it is possible to prevent the transport vehicles from concentrating on the same route. As a result, it is possible to further reduce the traffic jam and improve the conveyance efficiency.
Moreover, the conveyance vehicle controller 27 can instruct | indicate a driving path to the conveyance vehicle 3 only by setting a via point. Accordingly, the processing amount of the transport vehicle controller 27 is reduced.
Further, since the stocker 11 has grasped the operation status up to a certain point, the transport vehicle controller 27 can obtain the operation status before the transport vehicle 3 arrives at the warehousing port 13 by using the operation status. .

As a result of the above control operation, the following effects occur.
The transport vehicle 3 does not perform a deceleration / stop operation at the warehousing port 13 that cannot be unloaded.
In the vicinity of the warehousing port 13, the transport vehicle 3 that cannot be unloaded does not enter.
As a result, there is no traffic jam near the warehousing port 13 and the conveyance efficiency is improved.

  Next, the operation | movement at the time of the one conveyance vehicle 3 approaching and passing the warehousing port 13 is demonstrated using FIGS. 7 to 9 are schematic diagrams for explaining one operation of the transport vehicle 3 and the warehousing port 13.

  In FIG. 7, the transport vehicle 3 loaded with the articles W <b> 1 is approaching the warehousing port 13. However, the article W2 is placed in the warehousing port 13, and the article W3 is placed in the crane port 83.

  As shown in FIG. 7, when the transport vehicle controller 27 recognizes that the transport vehicle 3 has come before the warehousing port 13 (step S1), the transport vehicle controller 27 transmits an “incoming conveyor empty port information inquiry” to the physical distribution controller 23 ( Step S2).

  As shown in FIG. 8, the physical distribution controller 23 reports the number of empty warehousing ports in the target warehousing conveyor 84 to “0” to the transport vehicle controller 27 (step S3).

As shown in FIG. 9, the transport vehicle controller 27 does not give the unloading permission to the transport vehicle 3, but instead instructs one of the first route point 74, the second route point 75, and the third route point 76. To do. As a result, the transport vehicle 3 travels through any one of the first circumferential circuit 71, the second circumferential circuit 72, and the third circumferential circuit 73.
In summary, the transport vehicle 3 continues traveling without decelerating and stopping at the warehousing port 13, and unloading at the warehousing port 13 is surely performed when returning again.

  Next, with reference to FIGS. 10 to 12, the first transport vehicle 3 </ b> A and the second transport vehicle 3 </ b> B continuously approach the warehousing port 13, the first vehicle unloads, and the second vehicle passes through the operation. explain. 10 to 12 are schematic diagrams for explaining other operations of the transport vehicle 3 and the warehousing port 13.

  In FIG. 10, the first transport vehicle 3 </ b> A loaded with the article W <b> 4 is approaching the warehousing port 13. The article is not placed in the warehousing port 13, but the article W6 is placed in the crane port 83.

  As shown in FIG. 10, when the transport vehicle controller 27 recognizes that the first transport vehicle 3A has come before the warehousing port 13 (step S1), it transmits an “incoming conveyor vacant port information inquiry” to the logistics controller 23. (Step S2).

  In FIG. 11, the second transport vehicle 3B loaded with the articles W5 is approaching the warehousing port 13 following the first transport vehicle 3A.

  As shown in FIG. 11, the physical distribution controller 23 reports the number of empty warehousing ports in the target warehousing conveyor 84 to “1” to the transport vehicle controller 27 (step S3).

  As shown in FIG. 11, the transport vehicle controller 27 issues an unloading permission to the first transport vehicle 3A. On the other hand, the transport vehicle controller 27 performs the same operation on the second transport vehicle 3B as that performed on the first transport vehicle 3A. As a result, the second transport vehicle 3B is not permitted to unload.

  As a result, as shown in FIG. 12, the first transport vehicle 3 </ b> A lowers the article W <b> 4 to the warehousing port 13. On the other hand, the second transport vehicle 3 </ b> B travels through any one of the first peripheral circuit 71, the second peripheral circuit 72, and the third peripheral circuit 73. That is, the second transport vehicle 3B continues to travel without being decelerated and stopped at the warehousing port 13, and when unloading again, the unloading port 13 reliably executes unloading.

(5) Features The transport vehicle system 1 includes a plurality of routes, the transport vehicle 3, and the transport vehicle controller 27. A plurality of routes are determined in advance. The transport vehicle 3 travels along the route and transports the article W. The transport vehicle controller 27 determines whether or not unloading is possible at the warehousing port 13. If it is determined that the unloading is not possible, the transport vehicle controller 27 can select and instruct the transport vehicle 3 by selecting a route longer than the shortest route as the travel route to the warehousing port 13.
In this system, when the transport vehicle 3 is traveling along the route, the transport vehicle controller 27 determines whether or not unloading is possible at the warehousing port 13. If it is determined that unloading is impossible, the transport vehicle controller 27 can select a route longer than the shortest route as the travel route to the warehousing port 13 and instruct the transport vehicle 3. As a result, the transport vehicle 3 travels a route longer than the shortest distance route. In this case, since the transport vehicle 3 does not travel the shortest distance route, the transport vehicle 3 enters the warehousing port 13. When reaching, the possibility of unloading at the warehousing port 13 is reduced.
As a result, in the transport vehicle system 1, even when the transport vehicle 3 travels to the warehousing port 13 at the shortest distance, the transport efficiency is unlikely to decrease.

The transport vehicle controller 27 selects the travel route by instructing the transport vehicle 3 to one of the first route point 74, the second route point 75, and the third route point 76.
In this system, the transport vehicle controller 27 can instruct the travel path to the transport vehicle 3 only by setting a waypoint. Accordingly, the processing amount of the transport vehicle controller 27 is reduced. In addition, by selecting a via point, it is possible to turn the transport vehicle using a general routine for selecting the shortest route.

The transport vehicle controller 27 can grasp the time until the unloading becomes possible, and selects the traveling path according to the time. Specifically, when a long time is required, a long-distance travel route is selected. More specifically, the transport vehicle controller 27 makes a determination based on the status of the stocker 11. By using the status of the stocker 11 in this way, it is not necessary to grasp the time itself until the transport vehicle controller 27 can be unloaded.
In this system, since the travel path is selected according to the time when unloading becomes possible, it is possible to reduce the traffic congestion and improve the conveyance efficiency.

The transport vehicle controller 27 receives information on the situation from the stocker 11 before the transport vehicle 3 arrives at the warehousing port 13.
In this system, since the stocker 11 has grasped the operation status up to a certain point, by using the operation status, the transport vehicle controller 27 obtains the operation status before the transport vehicle 3 arrives at the warehousing port 13. Can do.

(6) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention.

In the embodiment, the transport vehicle controller 27 performs the control operation shown in FIGS. 4 and 5 when the transport vehicle 3 approaches the warehousing port 13. However, the control operation is not limited to this timing.
For example, when the transport vehicle 3 loads articles W at the exit port 15 of the processing device 9 and departs from the entrance port 13 of the stocker 11, the transport vehicle controller 27 performs the control operations shown in FIGS. You may go. In this case, the transport vehicle controller 27 compares the time until the transport vehicle 3 arrives at the warehousing port 13 with the time until the warehousing port 13 becomes empty. When the former is shorter than the latter, the transport vehicle controller 27 gives an unloading permission to the transport vehicle 3, and when the latter is shorter than the former, the transport vehicle controller 27 performs a travel path selection / instruction operation without giving an unloading permission to the transport vehicle 3. In this case, the transport vehicle controller 27 selects a travel path that is not the shortest travel path for which the time has been calculated first, but that is adapted to the time required for the warehousing port 13 to become vacant from a plurality of travel paths that take longer than that. .

  The layout and control system of the transport vehicle system are not limited to the above embodiment. Further, the type of equipment to which the transport vehicle system is applied is not limited to the above embodiment.

  In the above-described embodiment, the transport vehicle controller acquires the warehousing conveyor empty port information from the physical distribution controller, but may also acquire it from the stocker controller.

  The type of the transport vehicle may be an overhead traveling vehicle, an unmanned transport vehicle that travels without a track, or a tracked cart.

In the above embodiment, the unloading operation at the storage port of the stocker has been described. However, the present invention can also be applied to the operation of grasping from the storage port of the stocker.
Since the controller is provided not only in the control device on the ground side but also in the transport vehicle, the controller of the transport vehicle may determine the transit point.
The controller may select the route itself instead of the transit point.

  The present invention can be widely applied to a transport vehicle system having a transport vehicle capable of grasping and unloading.

DESCRIPTION OF SYMBOLS 1 Conveyance vehicle system 3 Conveyance vehicle 3A 1st conveyance vehicle 3B 2nd conveyance vehicle 5 Circulation travel path 7 Core travel path 9 Processing apparatus 11 Stocker (automatic warehouse)
13 Incoming port 15 Outlet port 20 Control system 21 Manufacturing controller 23 Logistics controller 25 Stocker controller 27 Car carrier controller 47 Car carrier controller (traveling means, travel path selecting means)
48 memory 61 peripheral circuit 71 first peripheral circuit 72 second peripheral circuit 73 third peripheral circuit 74 first route point 75 second route point 76 third route point 83 crane port 84 storage conveyor 85 shelf W article

Claims (5)

Multiple predefined routes,
A transport vehicle that travels along the plurality of routes and transports articles;
Determining means for determining whether it is possible to grasp or unload at the destination of the transport vehicle;
If the determination means determines that it is not possible to grab or unload, a travel route selection means capable of selecting a route with a longer distance than the shortest route as the travel route to the destination;
Car carrier system equipped with.   The transport vehicle system according to claim 1, wherein the travel path selection unit performs the travel path selection by selecting a via point. The determination means can grasp the time until the grasping or unloading becomes possible,
The transport vehicle system according to claim 1, wherein the travel path selection unit selects a travel path according to the time. The destination of the transport vehicle is an automatic warehouse port,
The transport vehicle system according to claim 3, wherein the determination unit determines the time based on a state of the automatic warehouse.   The transport vehicle system according to claim 4, wherein the determination unit receives information on a situation from the automatic warehouse before the transport vehicle arrives at the port.

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