Article transport facility and article transporting method

• US 8,768,545 B2
• Filed: 04/23/2010
• Issued: 07/01/2014
• Est. Priority Date: 05/11/2009
• Status: Active Grant

• Current Assignee: Daifuku Company Limited
• Original Assignee: Daifuku Company Limited
• Inventors: Ikeya, Masayuki
• Primary Examiner(s): Tarcza, Tomas
• Assistant Examiner(s): EVANS, GARRETT F
• Application Number:
  US13/318,900
• Publication Number:
  US 20120101667A1
• Time in Patent Office: 1,530 Days
• Field of Search: None
• US Class Current: 701/19
• CPC Class Codes: B61B 10/02 with suspended vehicles
• CPC Class Codes: B61B 3/02 with self-propelled vehicles
• CPC Class Codes: B61L 23/005 Automatic control or safety means for points for operator-less railway, e.g. transportation systems
• CPC Class Codes: H01L 21/67727 using a general scheme of a conveying path within a factory
• CPC Class Codes: H01L 21/6773 Conveying cassettes, containers or carriers
• CPC Class Codes: H01L 21/67733 Overhead conveying
• CPC Class Codes: H01Q 1/3225 Cooperation with the rails or the road
• CPC Class Codes: H01Q 21/064 using horn or slot aerials slotted waveguides arrays H01Q21/005

Abstract

An article transport facility in which movable bodies can merge into a merging portion while preventing collisions between the movable bodies. A communication relay device is provided to each of the first merging path, the second merging path, and the post-merging path. Each communication relay device includes an antenna portion, a relay device main body that associates movable body information obtained by communicating with the movable body communication devices using the antenna portion with identification information which indicates which one of the paths the antenna portion that received the movable body information is provided to, and that is capable of communicating the information thus obtained to the managing means. The managing means determines in which path the movable body exists to manage operations of a plurality of movable bodies based on said body information and identification information which are received from said main body.

Claims

1. An article transport facility comprising:

a travel path including at least a first path and a second path, the travel path being defined by a rail;

a plurality of movable bodies which travel along the travel path for transporting articles;

a communication relay device for communicating wirelessly with a movable body communication device provided to each of the plurality of movable bodies;

managing device for issuing operation command information to each of the plurality of movable bodies through wireless communication between the communication relay device and the movable body communication device to manage operations of the plurality of movable bodies at a merging portion at which the first path and the second path merge with each other;

wherein each of the plurality of movable bodies includes a travel controller for controlling travel of the movable body based on the operation command information from the managing device received by the movable body communication device, wherein

the communication relay device is individually provided to each of a first merging path that extends from the first path to the merging portion, a second merging path that extends from the second path to the merging portion, and a post-merging path that includes the merging portion and extends subsequent to merging at the merging portion, wherein

each said communication relay device includes an antenna portion that is provided along the first merging path, the second merging path, or the post-merging path and that is capable of communicating information wirelessly with the movable body communication device, and a relay device main body to which the antenna portion is connected through a connection line and which is capable of communicating information with the managing device through a communication line, wherein

the antenna portion is a sheet-shaped antenna that is formed to be long and to have a sheet-shape and a flat plate shaped cross-section and that forms a communication enabled region over an entire surface of the antenna portion wherein the antenna portion is arranged along a longitudinal direction of the rail such that the antenna portion is supported by the rail, wherein

the relay device main body is configured to associate movable body information obtained using the antenna portion through communication with the movable body communication device with identification information that indicates which one of the first merging path, the second merging path, and the post-merging path the antenna portion that received the movable body information is provided to, and to communicate information thus obtained to the managing device, and wherein

the managing device is configured to determine which one of the first merging path, the second merging path, and the post-merging path the movable body exists in, based on the movable body information and the identification information which are received from the relay device main body to control operations of the plurality of movable bodies.

2. The article transport facility as defined in claim 1, wherein

when the movable body to which the travel controller is provided enters the first merging path or the second merging path, the travel controller causes the movable body communication device to transmit merging travel request information for requesting a merging travel into the merging portion from the first path or the second path to the communication relay device, and wherein

when the managing device receives the merging travel request information, if the managing device determines that no other movable body exists in the path to be traveled during the merging travel and that there is no movable body which was caused to start a merging travel earlier, the managing device is configured to issue a merging travel command for commanding a merging travel as the operation command information to the movable body that transmitted the merging travel request information, and to issue a passage entry prohibition command for prohibiting entry into the path to be traveled to another movable body as the operation command information, wherein if the managing device determines that a movable body exists in the path to be traveled during the merging travel or that there is a movable body which was caused to start a merging travel earlier, the managing device is configured to issue a merging travel prohibition command which prohibits a merging travel to the movable body that transmitted the merging travel request information as the operation command information.

3. The article transport facility as defined in claim 2, wherein

when a movable body exists that is performing a merging travel, if the managing device determines that another movable body exists in the path to be traveled during the merging travel of the movable body, the managing device is configured to issue a travel stop command for stopping travel as the operation command information to the movable body that is performing the merging travel.

4. The article transport facility as defined in claim 2, wherein

when the movable body that started a merging travel earlier has not reached the merging portion, if the managing device receives the merging travel request information from a movable body that has priority to merge over the movable body that started the merging travel, the managing device is configured to issue a travel stop command for stopping travel as the operation command information to the movable body that started the merging travel earlier and to issue a merging travel command as the operation command information to the movable body that has priority to merge.

5. The article transport facility as defined in claim 1, wherein

at least one of the first merging path, the second merging path, and the said post-merging paths is divided into a plurality of divided path portions, wherein

the communication relay device is individually provided to each of the plurality of divided path portions, wherein

the relay device main body is configured to associate movable body information obtained using the antenna portion through communication with the movable body communication device with division identification information that indicates which one of the divided path portions the antenna portion that received the movable body information is provided to, and to communicate information thus obtained to the managing device, and wherein

the managing device is configured to determine which one of the divided path portions the movable body exists in, based on the movable body information and the division identification information which are received from the relay device main body to control operations of the plurality of movable bodies.

6. The article transport facility as defined in claim 5, wherein

the managing device is configured to issue an entry prohibition command for prohibiting entry into the divided path portion in which the movable body exists as the operation command information to each of the plurality of movable bodies.

7. The article transport facility as defined in claim 1, wherein

the rail is supported by a ceiling, wherein

the movable body includes a travel drive portion configured to travel along the rail, and an article support portion supported by the travel drive portion such that the article support portion is located below the rail, wherein

the antenna portion is located on a surface that faces the article support portion of the rail, and wherein

a vehicle side antenna portion which communicates with the antenna portion is provided to the article support portion.

8. An article transporting method for an article transport facility that includes:

a travel path including at least a first path, a second path, and a merging portion at which the first path and the second path merge with each other, the travel path being defined by a rail;

a plurality of movable bodies which are configured to travel along the travel path to transport articles, and each of which includes a vehicle communication device and a travel controller;

managing device for managing operation of each of the plurality of movable bodies in order to manage operations of the plurality of movable bodies at least at the merging portion;

a communication relay device individually provided to each of a first merging path that extends from the first path to the merging portion, a second merging path that extends from the second path to the merging portion, and a post-merging path that includes the merging portion and extends subsequent to merging at the merging portion;

wherein each said communication relay device includes an antenna portion that is provided along the first merging path, the second merging path, or the post-merging path and that is capable of communicating information wirelessly with the movable body communication device, and a relay device main body to which the antenna portion is connected through a connection line and which is capable of communicating information with the managing device through a communication line, wherein the antenna portion is a sheet-shaped antenna that is formed to be long and to have a sheet-shape and a flat plate shaped cross-section and that forms a communication enabled region over an entire surface of the antenna portion wherein the antenna portion is arranged along a longitudinal direction of the rail such that the antenna portion is supported by the rail,

the article transporting method comprising the steps of;

causing the relay device main body to associate movable body information obtained using the antenna portion through communication with the movable body communication device with identification information that indicates which one of the first merging path, the second merging path, and the post-merging path the antenna portion that received the movable body information is provided to, and to communicate information thus obtained to the managing device;

causing the managing device to determine which one of the first merging path, the second merging path, and the post-merging path the movable body exists in, based on the movable body information and the identification information which are received from the relay device main body, to generate operation command information, and to issue operation command information to at least one of the plurality of movable bodies through wireless communication between the said communication relay device and the said movable body communication device; and

causing the travel controller to control travel of at least one of the movable bodies based on the operation command information from the managing device received by the movable body communication device.

9. The article transporting method as defined in claim 8 further comprising the step of:

causing the travel controller to generate merging travel request information for requesting a merging travel from the first path or the second path to the merging portion when the movable body to which the travel controller is provided enters the first merging path or the second merging path, and to transmit the merging travel request information to the communication relay device by the movable body communication device, wherein

the step of causing the managing device to issue operation command information includes;

when the managing device receives the merging travel request information, if the managing device determines that no other movable body exists in the path to be traveled during the merging travel and that there is no movable body which was caused to start a merging travel earlier, causing the managing device to issue a merging travel command for commanding a merging travel as the operation command information to the movable body that transmitted the merging travel request information, and to issue a passage entry prohibition command for prohibiting entry into the path to be traveled to other movable bodies as said operation command information, and if the managing device determines that a movable body exists in the path to be traveled during the merging travel or that there is a movable body which was caused to start a merging travel earlier, causing the managing device to issue a merging travel prohibition command which prohibits a merging travel to the movable body that transmitted the merging travel request information as the operation command information.

10. The article transporting method as defined in claim 9, wherein

the step of causing the managing device to issue operation command information includes:

when a movable body exists that is performing a merging travel, if the managing device determines that another movable body exists in the path to be traveled during the merging travel of the movable body, causing the managing device to issue a travel stop command for stopping travel as the operation command information to the movable body that is performing the merging travel.

11. The article transporting method as defined in claim 9, wherein

the step of causing the managing device to issue operation command information includes:

when the movable body that started a merging travel earlier has not reached the merging portion, if the managing device receives the merging travel request information from a movable body that has priority to merge over the movable body that started the merging travel, causing the managing device to issue a travel stop command for stopping travel as the operation command information to the movable body that started the merging travel earlier and to issue a merging travel command as the operation command information to the movable body that has priority to merge.

12. The article transporting method as defined in claim 8, wherein

at least one of the first merging path, the second merging path, and the said post-merging paths is divided into a plurality of divided path portions, wherein

the communication relay device is individually provided to each of the plurality of divided path portions, wherein

the step of causing the relay device main body to transmit to the managing device includes:

causing the relay device main body to associate movable body information obtained using the antenna portion through communication with the movable body communication device with division identification information that indicates which one of the divided path portions the antenna portion that received the movable body information is provided to, and to communicate information thus obtained to the managing device, and wherein

the step of causing the managing device to issue operation command information includes;

causing the managing device to determine which one of the divided path portions the movable body exists in, based on the movable body information and the division identification information which are received from the relay device main body, and to generate the operation control information based on this determination.

13. The article transporting method as defined in claim 12, wherein the step of causing the managing device to issue operation command information includes:

causing the managing device to issue an entry prohibition command for prohibiting entry into the divided path portion in which the movable body exists as the operation command information to each of the plurality of movable bodies.