US-12617631-B2 - Article transport facility

US12617631B2US 12617631 B2US12617631 B2US 12617631B2US-12617631-B2

Abstract

An article transport facility includes a plurality of transport vehicles, a first traveling rail, a second traveling rail below the first traveling rail, a lifter including a lift rail, and a control system. In response to a preliminary request signal from a target transport vehicle, the control system performs a preliminary lifting process of moving the lift rail to a target position when no non-target transport vehicle is on the lift rail and no entry request signal is received from a non-target transport vehicle.

Inventors

Toshihito Ueda
Shota Inden
Akira Suzuki
Ryoji Kishi
Ayaka Kawanami
Yoshitaka Tanaka
Tatsuki II
Noriyuki Ikuta
Yuya Hirao

Assignees

DAIFUKU CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20231212
Priority Date: 20221213

Claims (7)

1 . An article transport facility, comprising: a plurality of transport vehicles configured to transport articles; a first traveling rail for the plurality of transport vehicles to travel; a second traveling rail below the first traveling rail, wherein the second traveling rail is a rail for the plurality of transport vehicles to travel; a lifter configured to lift and lower the plurality of transport vehicles between the first traveling rail and the second traveling rail; and a control system configured to control the plurality of transport vehicles and the lifter, and wherein: the first traveling rail comprises a first upstream area and a first downstream area discontinuous from each other, the first upstream area is upstream from a lift area in which the lifter is located, and the first downstream area is downstream from the lift area, the second traveling rail comprises a second upstream area and a second downstream area discontinuous from each other, the second upstream area is upstream from the lift area, and the second downstream area is downstream from the lift area, the lifter comprises a lift rail for the plurality of transport vehicles to travel, and the lift rail ascends and descends in the lift area, the lift rail at a first position connects the first upstream area and the first downstream area in the first traveling rail, and the lift rail at a second position connects the second upstream area and the second downstream area in the second traveling rail, the plurality of transport vehicles in an entry request section transmit an entry request signal to the control system to request permission for entering the lift rail, the plurality of transport vehicles in a preliminary request section transmit a preliminary request signal to the control system, the entry request section is defined in each of the first upstream area and the second upstream area, and the preliminary request section is defined upstream from the entry request section in each of the first upstream area and the second upstream area, the plurality of transport vehicles comprise a target transport vehicle and a non-target transport vehicle other than the target transport vehicle, in response to the entry request signal from the target transport vehicle, the control system transmits an entry permission signal to the target transport vehicle to permit entry into the lift rail when the lift rail is at a target position and no non-target transport vehicle is on the lift rail, where the target position is one of the first position or the second position corresponding to a target upstream area, the other of the first position or the second position not being the target position is a non-target position, and the target upstream area is one of the first upstream area or the second upstream area comprising the target transport vehicle, and in response to the preliminary request signal from the target transport vehicle, the control system performs a preliminary lifting process of moving the lift rail not at the target position to the target position when no non-target transport vehicle is on the lift rail and no entry request signal is received from the non-target transport vehicle.
2 . The article transport facility according to claim 1 , wherein: in response to the preliminary request signal from the target transport vehicle, the control system allows the lift rail at the target position to remain at the target position when receiving no entry request signal from the non-target transport vehicle.
3 . The article transport facility according to claim 1 , wherein: when the non-target transport vehicle is on the lift rail, the control system prioritizes an operation of the lifter corresponding to a path for the non-target transport vehicle on the lift rail over the preliminary lifting process, and when no non-target transport vehicle is on the lift rail, the control system prioritizes an operation of the lifter corresponding to the path for the non-target transport vehicle over the preliminary lifting process in response to the entry request signal from the non-target transport vehicle received after the preliminary request signal from the target transport vehicle and before the entry request signal from the target transport vehicle.
4 . The article transport facility according to claim 1 , wherein: the target transport vehicle enters the lift rail in response to the entry permission signal, and after entering the lift rail, transmits an exit request signal to the control system to request permission for entering a target downstream area, where the target downstream area is one of the first downstream area or the second downstream area to which the target transport vehicle travels, upon receiving the exit request signal from the target transport vehicle, the control system transmits an exit permission signal to the target transport vehicle to permit entry into the target downstream area when the lift rail is at one of the first position or the second position corresponding to the target downstream area, and the target transport vehicle exits the lift rail and enters the target downstream area in response to the exit permission signal.
5 . The article transport facility according to claim 4 , wherein: after exiting the lift rail, the target transport vehicle transmits, to the control system, a main line entry notification signal indicating that the target transport vehicle has entered the target downstream area.
6 . The article transport facility according to claim 5 , wherein: the control system identifies an estimated position of each of the plurality of transport vehicles along a transport path of the transport vehicle, and determines whether the target transport vehicle has entered the target downstream area based on the estimated position of the target transport vehicle when the control system receives no main line entry notification signal from the target transport vehicle within a predetermined period after transmitting the exit permission signal to the target transport vehicle.
7 . The article transport facility according to claim 1 , wherein: the control system comprises a lift controller to control the lifter and a host controller to control the plurality of transport vehicles and the lift controller, and the plurality of transport vehicles transmit or receive signals to or from the host controller through wireless communication using radio waves.

Description

CROSS REFERENCE TO RELATED APPLICATION This application claims priority to Japanese Patent Application No. 2022-198691 filed Dec. 13, 2022, the disclosure of which is hereby incorporated by reference in its entirety. BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an article transport facility. Description of Related Art Article transport facilities including multiple transport vehicles for transporting articles and a control system for controlling the transport vehicles are used. An example of such article transport facilities is described in Japanese Unexamined Patent Application Publication No. 2006-313463 (Patent Literature 1). In the article transport facility described in Patent Literature 1, a transport vehicle (5) approaching in front of a branching portion or a joining portion in a traveling rail (1) transmits an entry request signal (blocking request in Patent Literature 1) to a control system (zone controller 11). The control system receiving the entry request signal determines whether the transport vehicle can enter, for example, the branching portion, and transmits an entry permission signal (permission in Patent Literature 1) to the transport vehicle when permitting the entry. This entry adjustment process allows transport vehicles to avoid colliding with one another in, for example, branching portions. Another known article transport facility described in, for example, Japanese Unexamined Patent Application Publication No. 2022-96668 (Patent Literature 2) includes vertically parallel travel paths for transport vehicles (ceiling-hung transport vehicles 12) (e.g., paragraph 0027 and FIG. 3 in Patent Literature 2). The article transport facility may include a lifter between a first traveling rail (upper traveling rail 11A) and a second traveling rail (lower traveling rail 11B) below the first traveling rail to allow the transport vehicles to move between the first and second traveling rails. The area including the lifter may be equivalent to the branching portions or joining portions in the article transport facility in Patent Literature 1. Thus, an entry adjustment process similar to the process described in Patent Literature 1 may be used. The process may allow, in addition to simply allowing the transport vehicles to avoid colliding with one another, the transport vehicles to pass the area including the lifter efficiently. SUMMARY OF THE INVENTION The transport vehicles are to travel more efficiently in an area including the lifter. This may eventually improve the transport efficiency of the entire article transport facility. An article transport facility according to an aspect of the present disclosure includes a plurality of transport vehicles that transport articles, a first traveling rail for the plurality of transport vehicles to travel, a second traveling rail below the first traveling rail and being a rail for the plurality of transport vehicles to travel, a lifter that lifts and lowers the plurality of transport vehicles between the first traveling rail and the second traveling rail, and a control system that controls the plurality of transport vehicles and the lifter. The first traveling rail includes a first upstream area and a first downstream area discontinuous from each other. The first upstream area is upstream from a lift area in which the lifter is located, and the first downstream area is downstream from the lift area. The second traveling rail includes a second upstream area and a second downstream area discontinuous from each other. The second upstream area is upstream from the lift area, and the second downstream area is downstream from the lift area. The lifter includes a lift rail for the plurality of transport vehicles to travel. The lift rail ascends and descends in the lift area. The lift rail at a first position connects the first upstream area and the first downstream area in the first traveling rail. The lift rail at a second position connects the second upstream area and the second downstream area in the second traveling rail. The plurality of transport vehicles in an entry request section transmit an entry request signal to the control system to request permission for entering the lift rail. The plurality of transport vehicles in a preliminary request section transmit a preliminary request signal to the control system. The entry request section is defined in each of the first upstream area and the second upstream area. The preliminary request section is defined upstream from the entry request section in each of the first upstream area and the second upstream area. The plurality of transport vehicles include a target transport vehicle and a non-target transport vehicle other than the target transport vehicle. In response to the entry request signal from the target transport vehicle, the control system transmits an entry permission signal to the target transport vehicle to permit entry into the lift rail when the lift rail is at