JP3183081B2 - Transport system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for transporting small articles using a linear induction motor (hereinafter referred to as a linear motor).

[0002]

2. Description of the Related Art In hospitals, small articles such as prescriptions, medicines, specimens (blood, urine, etc.) are carried by nurses.
Most of the work of nurses is occupied by these transport operations. Under such circumstances, a transport system for transporting small articles instead of nurses has been introduced to hospitals so that nurses can concentrate on their primary bedside nursing tasks. As one of such transport systems, there is a linear motor-type transport system that uses a linear motor for a traveling drive unit of a carrier to transport small articles at high speed and quietly.

In such a transport system, stations for transmitting and receiving carriers are provided in each examination room and medical office. Each of these stations is connected to a main running track provided behind a ceiling or the like by a branch track, and can stop one or a plurality of carriers, respectively. In addition, each station is provided with an operation panel for inviting an empty carrier (a carrier on which a conveyed article is not mounted) or instructing a destination of an actual carrier (a carrier on which a conveyed article is mounted). The empty carrier for this call is waiting in a storage buffer provided in a bypass shape with respect to the main traveling path. When an operator instructs a station to call for an empty carrier, the control device for controlling the transport system operates as a storage device.
The empty carrier waiting in the buffer is caused to travel to the station. Then, when the operator mounts the small article on the empty carrier and inputs the station number of the travel destination, the carrier travels from the branch track to the target station via the main travel track.

[0004] Each of the above-mentioned small articles is stored and transported in a container provided in the carrier. However, it is not preferable to store the above-mentioned various conveyed products in the same container from the viewpoint of hygiene. Conventionally, as a transport system that satisfies such demands, transport items are classified into several groups, and a traveling track is provided for each group, so that only transport items of a specific group are transported for each carrier. was there. Further, as another transport system, there is a system in which containers are changed according to transport items.

[0005]

However, in the above-described transport system in which the traveling trajectory is provided for each group, the cost of the traveling trajectory is increased, and a large space is required for attaching the traveling trajectory. there were. Further, in the transport system for replacing containers, there is a problem that the replacement of containers is troublesome, and it is not possible to quickly carry out an emergency transport operation.

The present invention has been made in view of the above-mentioned problems, and provides a transport system capable of transporting the above-mentioned small articles by using the same traveling track without affecting the sanitary environment in a hospital. The purpose is to:

[0007]

Conveying system according to claim 1, wherein Means for Solving the Problems] are classified in order to achieve the purpose of above, some kind advance depending on the application Rutotomoni, linear motor
A plurality of carriers driven cars by possible ingress
The type of carrier is specified for each
A plurality of stations for instructing the traveling operation of the carrier including the destination, connecting between the stations ,
A traveling trajectory on which a number of position sensors for detecting positions are provided, and a traveling block obtained by virtually dividing the traveling trajectory.
A plurality of runs provided in response to control the running of the carrier
Control means, and control of traveling of the carrier by the control means.
A traveling management means for management, the travel control means, before
Based on the travel destination and the detection signal of the position sensor.
Controls the traveling of carriers in traveling blocks
Control and travel destinations outside the travel block under your control
Is instructed, the carrier
The travel information including the identification number of the
Driving controller that controls the traveling block on which the carrier travels
To the stage, and the operating status of the station and the running track
Transmitted to the travel administration section the device state information indicating a travel management
Means include the type of the carrier and the entry of the station
The types of possible carriers are stored in advance and these
On the basis of the vehicle state information and the device state information.
Manages the running control of the carrier
When rear driving is instructed, the type of carrier
Station if it was previously associated with the station.
Only allow the carrier to travel and
If there is no carrier, the traveling of the carrier is not permitted .

[0008] The transfer system according to the second aspect is the first aspect.
In the described invention, the carrier has a process of transporting the prescription.
A sample carrier for transporting specimens such as blood and urine, etc.
Carrier for transporting drugs,
Classified as general carriers for transporting general objects
It is characterized in that there.

[0009]

[0010]

[0011]

[0012]

According to the transport system of the present invention, the traveling control means
Next, enter the carrier identification number and the destination device number next.
Travel control over which travel block the carrier travels
Means to control the travel of the carrier.
Next, control the traveling block on which the carrier travels.
Take over to travel control means. And the traveling of the carrier
The traveling control means that has taken over the control performs traveling of the carrier.
Based on the destination and the identification number,
Control the traveling of the carrier. In other words, traveling of the carrier
Control oversees the travel block in the carrier travel direction
By the traveling control means
The rear travels between multiple traveling blocks to perform transport work.
U. Further, the type of the carrier is determined in advance according to the type of the transported object. The control means stores the type determined for each carrier and the type of accessible carrier determined for each station, and controls the traveling of the carrier based on the information. Therefore, it is possible to prevent a carrier determined not to be allowed to enter from a sanitary point of view (a carrier of such a type for transporting an object to be carried) from entering a specific station and thereby invading the sanitary environment of the station. can do.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the transport system of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a transport path in the present embodiment. In the figure, reference numerals 1a to 1d denote carriers, 2 denotes a main running track, 3a
3c is a branch track, 4a-4c is a station, 5a-
5g is a branching device, 6a to 6g are standby buffers, and 7g
a, 7b is storage. It is a buffer. Carrier 1a
1 to 1d are provided with a container for accommodating an object to be transported and a secondary-side conductor (not shown) of the linear motor.
The transported object is transported by traveling along the branch track 3a to 3c. In addition, the plurality of carriers 1a
1 to 1d are classified into four types, namely, a prescription carrier, a specimen (blood, urine, etc.) carrier, a drug carrier, and a general carrier, according to the types of objects to be transported that can be stored in the container.

The main running track 2 includes the stations 4a to 4
It is a running track connecting between c and is provided at the back of the ceiling or the like. The branch tracks 3a to 3c are running tracks connecting the main running track 2 and the stations 4a to 4c, respectively. On these running tracks, a primary coil (not shown) of a linear motor and a position sensor (not shown) for detecting the position of a carrier are provided.
Are arranged at regular intervals. The primary coil and the secondary conductor fixed to the carriers 1a to 1d are:
A linear motor is formed, and the carriers 1a to 1d
The vehicle is driven by the current flowing through the secondary coil.

The stations 4a to 4c are provided in each examination room and medical office, and one stop berth (carrier stop position) is set. In addition, each station 4a ~
The type of carrier that can enter 4c is each station 4a
4c is predetermined for hygiene management reasons. A dead end station 4 as shown in FIG.
In addition to a to 4c, there is also a pass-type station provided in the middle of a branch track having an entrance and an exit. A plurality of stop berths are provided in such a passing station. Each of the stations 4a to 4c is provided with an operation panel for instructing a transfer operation.

FIG. 2 is a diagram showing an example of the operation panel. As shown in this figure, the operation panel 4-1 is provided with the following operation buttons. A sample call button 4-1a for instructing to call an empty carrier for a sample A prescription call button 4-1b for instructing to call an empty carrier for prescription A medicine for instructing to call an empty carrier for medicine General call button 4-1c General call button 4-1d for instructing to call an empty carrier for general use Numeric buttons 4-1e for inputting a device number of a transmission destination of a carrier Start button for instructing start of carrier 4-1f Return button 4-1g for instructing carrier return 4-1g Close button 4-1h for instructing station closing The operation panel 4-1 has a liquid crystal display 4-2 for displaying various messages related to the transport operation. Is provided. Further, each of the stations 4a to 4c has an interphone (not shown) connecting the stations 4a to 4c.
Are installed respectively.

The branching devices 5a to 5g move the carriers 1a to 1d in a traveling direction from the main traveling track 2 to the branch track 3a to 3c or from the branch track 3a to 3c to the main traveling track when a part of the track moves. This is a device for switching to 2.
Note that the branching devices 5a to 5g change the traveling direction of the carriers 1a to 1d by moving a part of the track horizontally (horizontal shifter), and the branching devices 5a to 5g vertically move a part of the track. There is a type that changes the traveling direction of the carriers 1a to 1d vertically (vertical shifter). The standby buffers 6a to 6g are temporary stop points of the carriers 1a to 1d, and are provided before and after the branching devices 5a to 5g. The storage buffers 7a and 7b are standby places for carriers to which transport operations are not allocated (empty carriers for fetching, etc.). The storage buffers 7a and 7b are connected to the main traveling track 2 via the branching devices 5d and 5e or the branching devices 5f and 5g. It is provided in a bypass shape. Although not shown, a number of standby buffers are provided in the storage buffers 7a and 7b, and a number of empty carriers and the like before being called by the stations 4a to 4c wait.

Here, the main traveling track 2 is provided with branching devices 5a to 5a.
It is virtually divided into a plurality of traveling zones with the boundary before and after g. The branch track 3a forms one travel zone together with the connected station 4a, the branch track 3b forms one travel zone together with the station 4b, and the branch track 3c forms one travel zone together with the station 4c. Then, three traveling blocks A to C as shown in the drawing are configured by several traveling zones adjacent to each other. The traveling blocks A to C are provided corresponding to control units A ′ to C ′ described below.

FIG. 3 is a control block diagram of the transport system according to the present embodiment. In the figure, reference signs A ′ to C ′
Is a control unit. These control units A 'to C'
Are provided corresponding to the traveling blocks A to C, respectively. The control units A ′ to C ′ are control units that control the traveling of the carrier staying in the corresponding traveling blocks A to C. The control unit A ′ is configured by the devices in the traveling block A described above, the local controller 10a, and the driver 11a. The local controller 10a controls traveling of the carrier staying in the traveling block A by controlling the driver 11a and the branching device 5a based on various transport instructions input from the station 4a and detection signals of the position sensor. . The local controller 10a also monitors the operation state of each device in the control unit A '. The driver 11a controls the current flowing through each of the primary coils in the traveling block A so that the carriers 1a to 1
1d is directly controlled. Note that the control unit B ′,
The configuration of C ′ is the same as the configuration of the control unit A described above.

Each of the local controllers 10a to 10c
Are connected to each other by the optical communication line 12, and when the carriers 1a to 1d travel toward another traveling block, the identification number of the carrier and the device number indicating the traveling destination (predetermined for each device described above) ) And the local controllers 10a to 10c which control the traveling blocks A to C in which the carriers 1a to 1d will travel next.
10c. In addition, each local controller 10
a to 10c are connected to the central controller 1 by the communication line 13.
4 and periodically transmits the operating status of each device under its control to the central controller 14 as device status data. The central controller 14 controls the use of each of the carriers 1a to 1d and the stations 4a to 1d.
The types of carriers that can be entered for each of a to 4c are stored in the internal memory. And the central controller 14
Performs the travel management of the carriers 1a to 1d over the entire transport system based on these information, the travel destinations of the carriers 1a to 1d, and the equipment status data obtained from each of the local controllers 10a to 10c.

Here, each local controller 10
Reference numerals a to 10c store the above-described device state data in the internal memory, and also store the following data for controlling the traveling of the carriers 1a to 1d. (1) Map data This is data indicating the device numbers of the devices included in the control units A 'to C' under their control, and the distance between the devices indicated by the device numbers. For example, for the traveling block A, data such as the device numbers of the station 4a, the branching device 5a, and the standby buffers 6a and 6b, the distance from the station 4a to the branching device 5a, the distance from the branching device 5a to the standby buffer 6a, and the like. is there. (2) Travel pattern data This is data that is stored for each travel zone and indicates the travel speed pattern of the carrier traveling in each travel zone. For example, when the carrier 1a travels toward the standby buffer 6b in the travel zone from the branching device 5a to the standby buffer 6b, the traveling pattern data when passing the standby buffer 6b at a constant speed, and the carrier 1a in the standby buffer 6b. There is running pattern data and the like when stopping.

Next, the operation of the transport system will be described in detail. Note that the carriers 1a and 1d are specimen carriers, and the central controller 14 stores the types of carriers that can enter the station 4a as only specimen carriers, prescription carriers, and drug carriers. Shall be A case will now be described in which the carrier 1a for a sample is to be run from the station 4a to the station 4c.

At the station 4a, the operator operates the sample call button 4--on the operation panel 4-1 shown in FIG.
When 1a is pressed, the local controller 10a transmits this call request signal to the central controller 14. In response to the call request for an empty carrier for the sample, the central controller 14 waits for the carrier 1a in the storage buffer 7a and the carrier 1d in the storage buffer 7b as the carrier for the sample from the device status data. Make sure there is. Then, it is determined that the carrier 1a waiting in the storage buffer (storage buffer 7a) nearest to the station 4a is to be run to the station 4a, and the following points are further confirmed. (1) Is the station 4a a station into which the sample carrier can enter? (2) Is there a vacancy in the stop berth of station 4a? (3) Whether each device (running track, branching device, etc.) between the storage buffer 7a and the station 4a operates normally. (4) Whether there is a carrier already running toward the station 4a. (5) Is station 4a closed? As a result, when the central controller 14 determines that the carrier 1a can travel to the station 4a, it outputs a travel instruction signal to the local controller 10c.

Here, the central controller 14 stores in the internal memory the types of carriers that can enter the station 4a. Therefore, when the station 4a requests a general carrier, the central controller 14 does not permit the call request. . In this case, the liquid crystal display 4-2 indicates that the call request is not permitted. This is the same for the other stations 4b and 4c.

When the local controller 10c receives the travel instruction signal, it outputs an entry request signal including the identification number of the carrier 1a and the equipment number of the travel destination (the equipment number of the station 4c) to the local controller 10a.
Then, the local controller 10c determines the traveling direction of the carrier 1a based on the above-described map data (the traveling direction is determined according to the traveling destination), and converts the traveling pattern data according to the content of the answer signal to the entry request signal. select. That is, the local controller 10c selects traveling pattern data for stopping the carrier 1a in the standby buffer 6a when entry into the traveling block A is not permitted, and switches the carrier 1a when entry into the traveling block A is permitted. The travel pattern data to be entered into the travel block A at a constant speed without being stopped in the standby buffer 6a is selected. Note that the case where entry into the travel block A is not permitted means that another carrier is stopped at the stop berth of the station 4a, or the branching device 5a is connected to the carrier 1a.
This is the case, for example, when it is not in a state of accepting the request.

Here, assuming that the access permission signal is received, the local controller 10c causes the carrier 1a to travel from the storage buffer 7a toward the branching device 5f and outputs a traveling instruction to stop at the branching device 5f. . Upon receiving this instruction, the driver 11c switches the switching order of the AC voltage applied to the primary coil provided in the storage buffer 7a so that the carrier 1a runs toward the branching device 5f. At the same time, the driver 11c stops the carrier 1a with the branching device 5f by changing the level of the current applied to each primary coil. Further, when the local controller 10c detects that the carrier 1a has arrived at the branching device 5f by the position sensor, the local controller 10c operates the branching device 5f to activate the carrier 1a.
a is moved from the storage buffer 7a side to the main traveling track 2 side. Then, the carrier 1a is transferred to the standby buffer 6a.
And outputs an instruction to the driver 11c to travel at a constant speed to the standby buffer 6a. In accordance with this instruction, the driver 11c controls the current flowing through the primary coil to move the carrier 1a toward the standby buffer 6a as described above.

On the other hand, when the local controller 10a detects that the carrier 1a has entered the traveling block A by the position sensor, the local controller 10a selects traveling data of a pattern for stopping the carrier 1a by the branching device 5a, and
For the traveling zone a, traveling pattern data for stopping the carrier 1a at the station 4a is selected. Then, based on the traveling pattern data, the driver 11a
To stop the carrier 1a by the branching device 5a.
Further, the local controller 10a activates the branching device 5a to move the branch track 3 from the carrier 1a main traveling track 2 side.
Move to a side. Then, the driver 11a is controlled again to stop the carrier 1a at the station 4a. During this time, the liquid crystal display 4-2 of the station 4a displays that the carrier is approaching, and when the carrier 1a arrives, an arrival display is displayed.

Next, when the operator mounts the sample on the container of the carrier 1a and inputs the device number of the station 4c, which is the travel destination, the local controller 10a
Based on the map data, the traveling direction of the carrier 1a on the main traveling path 2 is determined to the direction of the standby buffer 6b. And
Station 4 which is the equipment number of the carrier 1a and the travel destination
The device number of c is transmitted to the central controller 14. The central controller 14 confirms the following from the use of each of the carriers 1a to 1d and the type of station stored in the internal memory and the device status data transmitted from each of the local controllers 10a to 10c. (1) Can a carrier for specimen enter the station 4c? (2) Whether each device (running track, branching device, etc.) between the station 4a and the station 4c is operating normally. (3) Is there a vacancy in the stop berth of station 4c? (4) Whether there is a carrier already traveling toward the station 4c. (5) Is station 4c closed? As a result, when the central controller 14 determines that the carrier 1a may be caused to travel toward the station 4c, the central controller 14 transmits a travel permission signal to the local controller 10a.

When receiving the traveling permission signal, the local controller 10a displays on the liquid crystal display 4-2 that the transport is permitted. When the operator confirms this display and presses the start button 4-1f, the carrier 1a starts running toward the station 4c. When the central controller 14 determines that the traveling cannot be permitted, the central controller 14 transmits a traveling non-permission signal to the local controller 10a. In this case, the local controller 10a
The fact that the carrier 1a cannot be run is displayed on the liquid crystal display 4-2. Here, in the case where the reason why the traveling is not permitted is that the carrier is stopped at the station 4c, the operator returns the carrier to the storage buffer 7a or 7b, so that the carrier 1a can be accepted. As described above, the operator of the station 4c can be instructed using the intercom.

Next, the local controller 10a sends an entry request including the device number of the station 4c on which the carrier 1a travels and the identification number of the carrier 1a to the local controller 10b which controls the traveling block B to which the carrier 1a enters next. Output a signal. Then, a traveling pattern is selected according to the content of the answer signal to the entry request signal. That is, when the entry permission signal is received, the local controller 10a selects, for the traveling zone of the branch track 3a, traveling pattern data for stopping the carrier 1a by the branching device 5a. For the traveling zone from the branching device 5a to the standby buffer 6b, traveling pattern data that passes through the standby buffer 6b at a constant traveling speed is selected. When the local controller 10a receives the entry impossible signal, the local controller 10a
In b, the driving pattern data for stopping the carrier 1a is selected.

If the local controller 10a receives the entry permission signal, the local controller 10a
Transmits the carrier 1a to the driver 11a to the station 4a.
From the vehicle to the branching device 5a.
A traveling instruction to stop at a is output. The driver 11a
When this instruction is received, the switching order of the AC voltage applied to the primary coil disposed on the branch track 3a is switched so that the carrier 1a runs toward the branching device 5a. At the same time, the driver 11a controls the traveling speed of the carrier 1a by changing the level of the current applied to each primary coil. Next, the local controller 10a
When the position sensor detects that the carrier 1a arrives at the branching device 5a, the branching device 5a is operated to move the carrier 1a from the branch track 3a to the main traveling track 2 side. Then, an instruction to cause the carrier 1a to travel toward the standby buffer 6b and travel at a constant speed to the standby buffer 6b is output to the driver 11a. In accordance with this instruction, the driver 11a controls the current flowing through the primary coil and causes the carrier 1a to run, as described above.

Next, when the local controller 10a confirms that the carrier 1a has left the traveling block A by the position sensor, the local controller 10a transmits an advance notice signal of the carrier 1a to the local controller 10b. Here, the local controller 10b first sends the local controller 1
When the access permission signal is transmitted to 0a, the identification number of the carrier 1a and the equipment number of the travel destination (the equipment number of the station 4c) are stored in an internal memory, and the apparatus waits for an advance notice signal. Has become. When the local controller 10b receives the entry notice signal and confirms that the traveling destination of the carrier 1a is not a device in the traveling block B, the local controller 10b gives the identification number of the carrier 1a to the local controller 10c that controls the traveling block C. And an access permission signal together with the device number of the station 4c.

When the local controller 10b confirms that the carrier 1a has entered the travel block B by the position sensor, it transmits an entry report signal to the local controller 10a. Local controller 10
a receives the entry report signal, terminates the traveling control operation for the carrier 1a, and
Is passed to the local controller 10b. Then, the local controller 10a enters a standby state waiting for the next transport request.

The local controller 10b selects traveling pattern data of the carrier 1a in the traveling block B based on a response signal to the entry permission signal transmitted to the local controller 10c. Then, the driver 11b is controlled based on the selected traveling pattern data to cause the carrier 1a to travel toward the traveling block C. Thereafter, the operations of the local controllers 10b and 10c are the same as the operations of the local controllers 10a and 10b described above. The local controller 10c
Confirms that the traveling destination (station 4c) of the carrier 1a is a device in the traveling block C under its own control, and selects traveling pattern data for stopping the carrier 1a at the station 4c. Then, the driver 11c is controlled based on the traveling data to stop the carrier 1a at the stop berth of the station 4c.

According to the transport system of this embodiment, the following effects can be obtained. (1) When a transfer request is issued from a station, each local controller requests permission from the central controller for the transfer request. Further, when receiving the permission signal from the central controller, the carrier controller outputs an entry request signal to the local controller which is in charge of the traveling block where the carrier travels next. That is, at the start of traveling, the state of the equipment related to traveling of the carrier is double-checked. Therefore, for reasons such as being unable to enter the target station,
The carrier is less likely to pause for a long time in the standby buffer on the main traveling path, and the carrier can travel efficiently.

(2) Since each station is provided with an intercom, the station operators can communicate with each other. Therefore, in the case where an urgent transport operation occurs, when there is a carrier that has completed the transport operation at the stop berth of the carrier destination station, the source operator uses the intercom to notify the destination operator of the transport operation. Can be instructed to expel the completed carrier to a storage buffer or the like. In this way, it is possible to reliably transport the transported goods in an emergency.

In the above-mentioned embodiment, the transport system constituted by three traveling blocks has been described. However, the number of traveling blocks may be larger. By providing the control unit corresponding to the increased traveling block, the traveling control of the carrier described above can be performed.

In each department in a hospital, a request for transporting a prescription frequently occurs. It is very troublesome for the operator to repeat calling and sending of the carrier every time a request for transporting the prescription occurs. Therefore, for a station where prescriptions are frequently transported, a prescription carrier is kept in the nearest storage buffer, and the station reciprocates between the storage buffer and the designated station at regular intervals. Control. Then, after a predetermined number of reciprocations or when a predetermined time has elapsed, control is performed so that the vehicle automatically travels to a station (a station provided in a pharmacy or the like) where prescriptions are collected. By controlling the prescription carrier in this way, it is not necessary to transport the prescription,
It is possible to operate the transport system efficiently.

[0039]

As described above, the transport system of the present invention has the following effects. (1) According to the transport system of the first aspect, each travel control
The control means is for the carrier in the traveling block under its own control.
Control the running of the vehicle and drive the carrier to another running block
If so, the identification number of the carrier and the destination
And the traveling information including the next
The line block is sent to the driving control
Take over rear running control. Therefore, each travel control hand
The load associated with step traveling control is reduced, and large-scale
A simple transport system can be easily constructed. Also,
The travel management means is a device state received from each travel control means.
Traveling control of carrier by travel control means based on information
, So that travel between travel blocks is performed efficiently.
It is. In addition, the travel control means is configured to travel from the station.
In response to requests, each carrier type and each station
Controls carrier travel based on the types of carriers that can enter
I do. Therefore, this transport system is
The transported object can be transported without invading the environment.
Also, they are classified into several types using the same traveling track.
Carrier that can travel
The cost required for the attachment can be reduced. further,
Emergency because there is no hassle of replacing containers
Sometimes, the transfer operation can be performed quickly. In addition,
The carrier is driven by a linear motor.
Vibration and noise generated during rowing are small.

(2) According to the transport system of the second aspect, the carriers are a prescription carrier, a sample carrier,
Pharmaceutical carriers and general carriers
To transport most small goods in hospitals.
it can.

[0041]

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing one configuration example of a transport path in a transport system of the present invention.

FIG. 2 is a diagram illustrating a configuration example of an operation panel in the transport system of the present invention.

FIG. 3 is a diagram illustrating a configuration example of a control block in the transport system of the present invention.

[Explanation of symbols]

 1a-1d Carrier 2 Main running track 3a-3c Branch track 4a-4c Station 5a-5g Branching device 6a-6g Standby buffer 7a, 7b Storage buffer 10a-10c Local controller 11a-11c Driver 12 Central controller A-C Control zone A 'to C' Travel control unit 4-1 Operation panel 4-1a Sample call button 4-1b Prescription call button 4-1c Drug call button 4-1d General call button 4-1e Numeric buttons 4-1f Start button 4-1g Return button 4-1h Close button 4-2 Liquid crystal display

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 43/00-43/10 G05D 1/02

Claims (2)

(57) [Claims] 1. A are classified into several types in advance depending on the application Rutotomoni, and a double <br/> number of carriers driven travel by a linear motor, the type of entry that can be said carrier is defined in each
In addition, a plurality of stations for instructing the traveling operation of the carrier including the traveling destination , and connecting the stations, and detecting the position of the carrier
Corresponding to a traveling track on which a number of position sensors are disposed and a traveling block obtained by virtually dividing the traveling path.
Traveling control to control the traveling of the carrier
Means and a traveling pipe for managing traveling control of the carrier by the control means
The travel control means detects the travel destination and the position sensor.
Based on the outgoing signal,
Control the traveling of the carrier in
If a destination outside the travel block is specified,
The stored identification number of the carrier and the travel destination are
The travel information including the travel block
To the travel control means in charge of the
And device status information indicating the operating status of the running track
Means, and the traveling management means determines the type of the carrier and the station.
And the types of carriers that can enter
The travel control is performed based on these information and the device status information.
Controls carrier travel control by means of
When the carrier instructs the carrier to run,
Der what kind has been corresponded beforehand et to the station
Is permitted only when the carrier is
If not, do not permit the carrier to travel.
There, the transport system characterized in that. 2. A carrier for a prescription which carries a prescription.
Carrier, sample carrier for transporting samples such as blood and urine
A, drug carriers for transporting drugs, general
Classified as general carrier for transporting conveyed objects
The transport system according to claim 1, wherein: