JP2004227058A - Guided vehicle system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a guided vehicle system provided with a plurality of areas, a plurality of stations arranged in each area, a guided vehicle which carries articles within each area or between the areas and an area controller which is arranged in each area and controls the guided vehicle in the area, and capable of easily changing carrying passage information on data when the layout of a carrying passage is changed. <P>SOLUTION: A plurality of the area controllers 8 are provided with storage means which store the carrying passage information including map information concerning all the passages 2 and transmission means which transmit and receive the carrying passage information between the area controllers 8, 8. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention manages a plurality of areas, a plurality of stations arranged in each area, vehicles transporting articles in each area or between areas, and vehicles arranged in each area and managing the vehicles in the area. The present invention relates to a carrier system including an area controller.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a clean room where dust generation is a problem, such as in a semiconductor manufacturing plant, a technology has been known in which an automatic guided vehicle is automatically driven on a track in order to transport articles.
This technique is disclosed in, for example, Japanese Patent Application Laid-Open No. 2002-97725, and is configured as follows.
[0003]
As shown in FIG. 1, in a clean room, a large number of bays 3 each having a plurality of processing units 4, 4,... And an automatic warehouse 5 are provided. A traveling path 2 serving as a moving path of the automatic guided vehicles 10,...,... The transport vehicle 10 is a tracked truck that automatically travels on the traveling path 2 and has articles (such as a cassette containing semiconductor wafers) mounted thereon, and between processing apparatuses 4.4, automatic warehouses 5.5, or processing apparatuses. 4 and the automatic warehouse 5.
[0004]
The traveling path 2 is roughly divided into first closed loop paths 21, 21 laid in each bay 3, and second closed loop paths connecting the first closed loop paths 21, 21. The first closed loop path 21 and the second closed loop path 22 are connected via connecting paths 23.
The first closed loop path 21 is a loop for in-process conveyance laid along the processing devices 4, 4... Belonging to each bay 3, and the second closed loop path 22 is between the bays 3, 3,. It is configured as a long-distance loop for inter-process transfer to be contacted.
[0005]
Using the first closed loop path 21 as one area, the transport vehicles 10, 10... For in-process transport are caused to travel in the first closed loop path 21, and the transport for inter-process transport is performed on the second closed loop path 22. Car 10 is running.
In the case where an express item that needs to be conveyed urgently occurs, for example, the in-process conveyance vehicle 10 changes the processing device 4 of the request source of one bay 3 to the processing device 4 of the request destination of another bay 3. To be transported directly to
[0006]
In this carrier system 1, an area controller is arranged for each bay 3, 3..., And each area controller considers to manage the carriers 10 in the bay 3. Have been. All of these area controllers are collectively managed by an integrated controller.
[0007]
Each of the transport vehicles 10 has an encoder mounted thereon, and the travel distance is obtained. The RAM, which is a storage unit of the on-board controller of the transport vehicle 10, has maps of all the travel paths 2. Information and the like are written, and the onboard controller recognizes the current position from the map information and the traveling distance.
Further, the map information and the like are also written in the RAM of the storage unit of each area controller, and each area controller grasps the current position of the managed vehicles 10, 10,. .. Are transmitted to the integrated controller.
Further, the map information and the like are also written in the RAM of the storage unit of the integrated controller, and the current position of the transport vehicles 10, 10,... Existing in the entire system is grasped in accordance with the map information, and a transport command is allocated. I have to.
[0008]
When the carrier system 1 is completed or the like, the map information or the like is sent by the operator under the integrated controller, each area controller, and the on-board controllers of all the carriers 10. Written individually.
[0009]
[Patent Document 1]
JP-A-2002-97725
[0010]
[Problems to be solved by the invention]
However, after that, new bays 3.3 are added to the existing carrier system 1 or the arrangement position of the bays 3.3 is changed in the existing carrier system 1 in accordance with the operation. The layout of the route may be changed, and when the layout of the transport route is changed, the map information and the like must be rewritten.
This rewriting of map information and the like must be performed by an operator while walking under the integrated controller, each area controller, and the on-board controllers of all the transport vehicles 10, 10,..., Individually for each controller. It is anticipated that the labor will be tedious due to the work that requires patience.
[0011]
Therefore, an object of the present invention is to provide a transport vehicle system 1 that can rewrite transport route information including map information on all travel paths 2 in such a case.
[0012]
[Means for Solving the Problems]
Next, means for solving this problem include, first, a plurality of areas, a plurality of stations arranged in each area, and Or, a transport vehicle system including a transport vehicle that transports articles between areas, and an area controller that is arranged for each area and manages the transport vehicles in the area, wherein the area controller includes the plurality of areas. And storage means for storing transfer route information including the following, and transmission means for transmitting and receiving the transfer route information between the area controllers.
[0013]
Further, as set forth in claim 2, the area controller includes a communication activation unit that activates the communication unit when the transport route information is updated.
[0014]
According to a third aspect of the present invention, the transport route information is transmitted to the transport vehicle via an area controller, and the transport route information includes the transport route map information and a reference stop of the transport vehicle at a station. Information for position correction, and each carrier stores information on individual differences from a reference carrier.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a plan view illustrating a schematic configuration of the transport vehicle system 1, FIG. 2 is a block diagram illustrating a control configuration of the transport vehicle system 1, and FIG. 3 is a block diagram illustrating a flow of changing transport route information.
In the following description, the traveling direction of the transport vehicle 10 (the traveling direction of the traveling path 2) is defined as the front, and the front, rear, left, and right positions of each component are described unless otherwise specified.
[0016]
First, the schematic configuration of the carrier system 1 will be described.
As shown in FIG. 1, in a clean room such as a semiconductor manufacturing plant, a large number of bays 3 each having a plurality of processing units 4, 4... And an automatic warehouse 5 are provided. A traveling path 2 serving as a moving path of the automatic guided vehicles 10,..., Is laid between 3.3. The transport vehicle 10 is a tracked truck that automatically travels on the traveling path 2 and has articles (such as a cassette containing semiconductor wafers) mounted thereon, and between processing apparatuses 4.4, automatic warehouses 5.5, or processing apparatuses. 4 and the automatic warehouse 5.
[0017]
The traveling path 2 is roughly divided into first closed loop paths 21, 21 laid in each bay 3, and second closed loop paths connecting the first closed loop paths 21, 21. ., The first closed loop path 21 is a loop for in-process conveyance laid along the processing devices 4, 4... Belonging to each bay 3, and the second closed loop path 22 is 3... Are configured as long-distance loops for inter-process conveyance for communication between the processes.
[0018]
The first closed loop path 21 and the second closed loop path 22 are connected via connection paths 23, 23, the connection paths 23, a curved portion of the first closed loop path 21, and the second closed loop path. An automatic warehouse 5 for temporarily storing articles is arranged in a space surrounded by the straight section of the road 22.
[0019]
On the traveling route 2, two types of transport vehicles, ie, transport vehicles 10, 10... For in-process transport, and transport vehicles 10, 10,. . Travels in one direction, and the transport vehicles 10, 10... For the intra-process transport travel on the first closed loop path 21 in the bay 3 and are transported between the processes. .. Run on the second closed loop road 22.
.. For the intra-process transfer, in the case of transferring express goods, etc., from the first closed loop path 21 of one bay 3 to the second bay of another bay via the second closed loop path 22. The vehicle may travel on one closed loop road 21.
[0020]
Next, a control configuration of the carrier system 1 will be described.
As described above, the transport vehicle system 1 is configured in a bay structure, and a control area is configured in each of the bays 3 as described below.
As shown in FIG. 2, area controllers 8, 8,... Are arranged for each of the bays 3, 3,. Are managed by the integrated controller 7.
[0021]
That is, the integrated controller 7 is a higher-level controller, and a number of area controllers 8, 8,... The integrated controller 7 is connected to a hub 36, which is a branch distributor, via a communication line 32. A large number of communication lines 33 are distributed from the hub 36, and each communication line 33 is connected to each area controller 8. It is connected. In this configuration, the area controllers 8, 8,... Are communicatively connected via the hub 36. Therefore, direct communication between the area controllers 8, 8,. It is possible.
[0022]
In this manner, the control area of the first transport vehicles 10A, 10A,... Is configured for each of the bays 3, 3,. 10A ... are communicated. In each bay 3, a communication line 34 is laid in a loop along the first closed loop path 21, and both ends of the communication line 34 are connected to the area controller 8 that manages the bay 3. A receiver and a transmitter are mounted on each carrier 10 on the traveling path 2 so as to approach and face the communication line 34.
[0023]
Further, the integrated controller 7 is connected to the host controller 6 for system management via a communication line 31. The host controller 6 is a computer for production management of the carrier system 1 including a CPU of a control unit, a ROM of a read-only storage unit, a RAM of a readable and writable storage unit, a modem of a communication unit, and the like. In the RAM 6, transport route information including map information (data) on all the traveling paths 2 is written, and transport logs such as a record of the use status of the transport vehicle system 1 and a record of communication are accumulated. The details of the transport path information will be described later.
[0024]
The integrated controller 7 includes a CPU of control means, a ROM of read-only storage means, a RAM of readable and writable storage means, a modem of communication means, and the like. Various control programs are stored in the ROM. The above-described transport path information is also written therein, and various information such as the traveling position and control state of the transport vehicles 10, 10... Sent from each area controller 8,. The CPU controls the entirety of the transport vehicle system 1 using the RAM as a work area in accordance with a control program or the like written in the ROM.
[0025]
In the integrated controller 7, a transport command for the transport vehicles 10, 10,... Existing in the entire system is created, and a signal carrying the created transport command is transmitted to each area controller 8, 8,. You. At this time, a signal is transmitted from the integrated controller 7 to each area controller 8 via the control lines 32 and 33 using the modem of the integrated controller 7 as a transmitting device and the modem 83 of each area controller 8 as a receiving device.
[0026]
Each area controller 8 includes a CPU of control means, a ROM of read-only storage means, a RAM of readable and writable storage means, a modem of communication means, and the like. Various control programs are stored in the ROM. The RAM also stores the above-described transport route information, and temporarily stores various information such as the traveling position and control state of the transport vehicles 10, 10,... Existing in the managed bay 3. The CPU controls the managed vehicles 10, 10,... Using the RAM as a work area according to a control program or the like written in the ROM.
[0027]
Each of the transport vehicles 10, 10,... Has an on-board controller 11, 11,..., And the on-board controller 11 has a CPU of a control unit, a ROM of a read-only storage unit, The storage path is provided with a RAM as a communication means, a modem as a communication means, etc., and the above-mentioned transport path information is also written in the RAM. An encoder is attached to each of the transport vehicles 10, and the travel distance is obtained by the encoder. The on-board controller 11 recognizes the current position from the map information of the transport route information and the travel distance. are doing.
[0028]
In brief, the on-board controller 11 of the transport vehicle 10 knows the positions of the markers scattered on the traveling path 2, and detects the marker by a reading reader mounted on the transport vehicle 10, and the current position of the marker is detected. It is configured such that accurate position information is recognized for each marker as to which position the vehicle is traveling. When the marker is detected by the reading reader, if the current position obtained from the travel distance by the encoder does not match the data of the marker position on the map information, the current position obtained from the travel distance is displayed on the map information. Correction is made so as to be data of the marker position.
[0029]
As described above, in the transport vehicle 10, the current position is always recognized based on the map information stored in the onboard controller 11 and the travel distance detected by the encoder, and the marker is detected by the reading reader, so that the current position on the marker is The location is known, and the current location is known by the dual system.
[0030]
Also, each area controller 8 performs polling communication with the transport vehicles 10, 10,... Under its management, and the area controller 8 transmits all the transport vehicles 10, 10,. And a call is made to any one of the transport vehicles 10 that does not exist in the managed bay 3, and this cycle is repeated, and this cycle is repeated.
[0031]
In this polling communication, the modem 83 of the area controller 8 and the modem of the on-board controller 11 of the carrier 10 are used as transmitting and receiving devices, and the receiver and the transmitter mounted on the carrier 10 and the first closed loop 21 Signals are exchanged between the area controller 8 and the transport vehicles 10, 10... Under the control of the area controller 8 by using the communication line 34 laid as an antenna.
[0032]
In this way, each area controller 8 checks the current position and the presence / absence of a load (whether an article is loaded) of the transport vehicles 10, 10... Present in the bay 3 under the control thereof from time to time by polling communication. In addition, a transfer instruction is appropriately given.
[0033]
Next, the layout of the transport path is changed by adding a new bay 3.3 to the existing transport vehicle system 1 or changing the arrangement position of the bay 3.3. Rewriting of the transport route information in this case will be described.
[0034]
As described above, each of the host controller 6, the integrated controller 7, the area controllers 8.8,... And the on-board controllers 11, 11,. The ROM of each of these controllers stores a communication activation program that activates a communication unit that transmits the updated transport path information to another controller when the transport path information is updated.
[0035]
The transport route information includes map information (data) relating to all the traveling paths 2 and information for stopping position correction (stations 41, 51, or 52) of each of the transport vehicles 10, 10,... Existing in the entire system. Data) and the like, and the map information describes the positions and the like of markers scattered along the travel path 2.
[0036]
The stop position correction information is reference data necessary for the transport vehicles 10, 10... To accurately stop at the target stop position. Specifically, when one reference vehicle 10 among the transport vehicles 10 is actually stopped and an error occurs due to friction between wheels and rails, the error is determined. This is data for correction so as to eliminate the change, and is, for example, change data of a pulse of a motor for changing the deceleration start position.
[0037]
In the RAM of each carrier 10, information (data) of the individual difference from the reference carrier 10 measured in advance is stored, and if information for correcting the stop position of the reference carrier 10 is given, Each transport vehicle 10 can stop at an optimal stop position by taking into account the stored individual difference data.
[0038]
That is, when each transport vehicle 10 stops at the target station 41, 51, or 52, the transport vehicle 10 travels along a predetermined transport route according to the map information while grasping an accurate current position for each marker, and stops. Data is created by adding the individual difference data to the position correction information to correct the motor pulses, etc., and stop accurately.
[0039]
Each time the transport vehicle 10 stops at the target station 41, 51, or 52, the transport vehicle 10 does not create data in which the individual difference data is added to the information for correcting the stop position. 41, 51, or the correction data in which the individual difference data is added to the information for the stop position correction created for each stop position is stored in the RAM, and when stopping at the target station 41, 51, or 52, The correction may be performed based on the stored correction data. In this way, when the correction data is stored in the RAM, when the transport route information is updated, all the correction data may be created and stored again, and the correction data of the changed and added portions may be created. You may make it memorize | store.
[0040]
Next, automatic updating of the transport route information will be described.
As shown in FIG. 3, when the layout of the transport path is changed or added, the worker goes under one of the controllers 6, 7, 8, or 11, where the controller 6, 7, 8 When the transfer route information in the RAM 8 or 11 is rewritten and updated to the new transfer route information corresponding to the changed layout (step S1), the communication in the ROM of the controller 6, 7, 8, or 11 is performed. The start-up program is executed (step S2), the communication unit is started up (step S3), and the updated transport path information is transmitted from the controller 6, 7, 8, or 11 to the other controllers. (Step S4).
[0041]
The updated transport route information includes the map information of the travel path 2 after the layout has been changed, and the stop position correction for each of the transport vehicles 10, 10,... Existing in the entire transport vehicle system 1 after the change. , And the controller that has received the updated transfer path information also updates the transfer path information (step S5), the host controller 6, the integrated controller 7, the area controllers 8.8,. The transfer route information is updated in all the controllers of the upper controllers 11.
[0042]
More specifically, referring to FIG. 2, the worker goes under one area controller 8 (hereinafter, referred to as an “update source area controller 8”) and updates the transport route information in the RAM. Then, the communication start program in the ROM of the area controller 8 of the update source is executed to start the communication means, and the area controller 8 of the update source, the other area controllers 8.8,. , And are directly transmitted to the on-board controllers 11, 11,... Of the transport vehicles 10, 10,.
[0043]
The transmission of the updated transfer route information is performed in and out of the bay 3 managed by the area controller 8 of the request source. In the transmission in the bay 3, the modem of the area controller 8 of the update source is transmitted. , And the modems of the on-board controllers 11, 11,... Of the transport vehicles 10, 10,. By using the receiver and the transmitter mounted on the vehicle and the communication line 34 laid along the first closed loop path 21 as an antenna, the area controller 8 of the request source can control the vehicles 10 and 10 under its control. Is transmitted to.
[0044]
For transmission outside the bay 3, the control line 33 uses the modem of the area controller 8 of the update source as a transmitting device, the modems of the other area controllers 8.8,..., And the modem of the integrated controller 8 as receiving devices. .., 33 from the update source area controller 8 to the other area controllers 8.8,...
[0045]
.. That have received the updated transport route information are transferred to the on-board controllers of the transport vehicles 10, 10... Under the management of the updated transport route information. The integrated controller 7 that has also transmitted the updated transport path information to the host controller 6 has received the updated transport path information. The transmission of the updated transport route information at this time is performed in the same manner as the above-described transmission.
[0046]
In other words, the updated transport route information from the requesting area controller 8 is directly transmitted to the area controllers 8.8 other than the requesting source and the integrated controller 7, and the area controllers 8.8 other than the requesting source are transmitted. .. Are transmitted indirectly to the on-board controllers 11, 11,... Of the transport vehicles 10, 10,. Then, it is transmitted indirectly to the host controller 6 via the integrated controller 7.
[0047]
Note that the indirect transmission may be performed at the same time that the integrated controller 7 and the area controllers 8.8 other than the request source receive the updated transport route information from the request source area controller 8. It may be performed after reception.
[0048]
When performing the indirect transmission at the same time, each area controller 8.8 receives the update information of the transport route information from the requesting area controller 8, and uses the message of the polling communication as the transport route information, The polling communication is performed with respect to all the managed vehicles 10. When the transport vehicles 10 receive the transport route information by polling communication, they return the reception completion to the area controller 8 and update the transport route information in the RAM.
[0049]
When carrying out the polling communication of the transport route information to all the managed vehicles 10, 10,..., The data may be simultaneously transmitted to each of the managed vehicles 10, 10,. For example, in one polling communication, the transport route information is transmitted to only one transport vehicle 10, and the transport route information is sequentially transmitted to the managed transport vehicles 10. May be repeated as many times as the number of carriers 10. The repetition is performed a plurality of times in order to reduce the time required for one polling communication, and is not limited to one polling communication but may be performed simultaneously for a plurality of polling communications.
[0050]
When the indirect transmission is performed after receiving the updated transport route information from the request source area controller 8, for example, the integrated controller 7, the area controller 8.8 other than the request source, After the information is updated, a communication activation program is executed by the integrated controller 7 and the area controllers 8.8 other than the request source, and the integrated controller 7 sends the information to the host controller 6 to the host controller 6. The updated transport route information is transmitted from the area controllers 8, 8,... To the on-board controllers 11, 11,... Of the transport vehicles 10, 10,.
[0051]
In this way, the updated transfer route information from the requesting area controller 8 is received by each of the controllers 6, 7, 8.8,. .., 11.11..., 11.11... Are also automatically updated by the respective controllers.
[0052]
With the above configuration, the transfer route information of one of the host controller 6, the integrated controller 7, the area controllers 8.8,..., The on-board controllers 11, 11,. .., 11..., Are automatically updated, and the operator is required to have the controller 6, 7, 8, 8,. , 11, 11..., It is not necessary to individually update the transport path information for each of the controllers 6, 7, 8, 8,. Efficiency is improved.
[0053]
The update of the transfer route information from the update source area controller 8 to the onboard controller 11 and the host controller 6 of the transport vehicle 10 managed by the other area controller 8 is addressed to the other area controller 8 and the integrated controller 7. , But may be transmitted to all controllers that need the transport route information. In this case, the communication activation program activates only the controller whose worker has updated the transport route information, and the other area controller 8 and integrated controller 7 are relay points for communication to the on-board controller 11 and the host controller 6.
[0054]
In addition, by updating the information for correcting the stop position in addition to the map information, the transport vehicles 10, 10,... Serving as the reference of the information for correcting the stop position are actually driven, and the actual stop position is determined. .. Is performed only by creating and storing correction data so as to correct the difference between them, and it is not necessary to perform teaching on the rest positions of the transport vehicles 10, 10,... .
[0055]
As described above, an embodiment of the present invention is described. In the above-described embodiment, the description has been made with reference to the carrier system 1 including the carriers 10 as tracked vehicles. The present invention can also be applied to a transport vehicle system including the transport vehicle of (1).
[0056]
【The invention's effect】
The present invention is configured as described above, and has the following effects.
First, according to the first aspect of the present invention, even if the layout of the transport route of the transport vehicle system is changed, the updated transport route information is updated only by updating the transport route information of any one area controller. The information is transmitted from the one area controller to all the other area controllers, the transport path information of all the area controllers is also updated, and the worker walks under each controller one by one, and the transport path is individually set for each controller. Since the information does not need to be updated, work efficiency is improved.
In addition, since the area controller can communicate with the transport vehicles to manage the transport vehicles, it is also possible to transmit the transport route information to all the transport vehicles.
[0057]
According to the second aspect of the present invention, even if the layout of the transport route of the transport vehicle system is changed, the communication route of the area controller is activated only by updating the transport route information of any one area controller. When the means is activated, the transfer route information of all other area controllers can be automatically updated.
[0058]
According to the third aspect of the invention, it is possible to change not only the area controller but also the traveling route information of the carrier. In addition, by updating the reference information for correcting the stop position of the carrier in addition to the map information, each carrier can stop the target based on the information for correcting the stop position and the information on the stored individual difference. Can stop exactly in position. For this reason, it is only necessary to actually run only the reference carrier and create the information for correcting the stop position, thereby improving the working efficiency.
[Brief description of the drawings]
FIG. 1 is a plan view showing a schematic configuration of a carrier system 1. FIG.
FIG. 2 is a block diagram showing a control configuration of the carrier system 1.
FIG. 3 is a block diagram illustrating a flow of changing the transport route information.
[Explanation of symbols]
1 Car carrier system
2 Runway
3 bay
6 Host controller
7 Integrated controller
8 Area controller
10 Carrier
11 Onboard controller

Claims (3)

A plurality of areas, a plurality of stations arranged in each area, a transport vehicle that transports articles in each area or between areas, an area controller that is arranged for each area and manages the transport vehicles in that area, A carrier system with
The area controller,
Storage means for storing the transport route information including the plurality of areas,
Transmitting means for transmitting and receiving the transport route information between area controllers,
A carrier system comprising: 2. The carrier system according to claim 1, wherein the area controller includes a communication activation unit that activates the communication unit when the transport route information is updated. 3. The transport route information is transmitted to the transport vehicle via an area controller, and the transport route information includes map information of the transport route and information for correcting a stop position of a reference transport vehicle station. The carrier system according to claim 1 or 2, wherein the vehicle stores information on an individual difference from a reference carrier.

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