JP2003029835A - Unmanned carrier system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned carrier system in which an unmanned carrier controller 3A is able to automatically grasp the change of the machine configurations of a plurality of unmanned carriers 10, 10, and so on existing under a control section 1A. SOLUTION: An unmanned carrier controller 3A is provided with a storage means and a machine changing means, and the storage means stores carriers 10 existing at present under the control as 'registered' machines, and stores the other carriers 10 as 'unregistered' machines. Then, the unmanned carrier controller 3A calls all the machines stored as the 'registered' machines in the storage means, and also calls at least one machine among the machines stored as the 'unregistered' machines in the storage means, and changes the storage contents, of the storage means of the machines which respond to the call, to the 'registered' machines by the machine changing means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for grasping and managing an automated guided vehicle automatically traveling on a traveling route.

[0002]

2. Description of the Related Art Conventionally, in a semiconductor manufacturing factory, etc., in a clean room where dust generation is a problem, automatic guided vehicles are automatically run along a traveling route to transfer articles from one station to another. Car systems are known. The automated guided vehicle controller is installed at an appropriate position such as a corner of a clean room, and calls the entire controlled area managed by the controller using the machine number. The guided vehicle that has received the call within the control area determines whether the call is for itself, and if the call is for itself, returns information such as the current position on the travel route. In this way, the unmanned guided vehicle controller grasps the position of each guided vehicle, etc., and assigns a carrying command to the nearest guided vehicle from the station,
It controls the transfer of loads and the like. Therefore, the unmanned guided vehicle controller configures the machine number of the guided vehicles existing in the controlled area, that is, which vehicle number is in the controlled area and which number is not in the controlled area. , Must be known at all times.

[0003]

Therefore, every time the guided vehicle in the management area of the automated guided vehicle controller is replaced for maintenance or the like, the guided vehicle controller is instructed to newly add the guided vehicle to the automated guided vehicle controller. It took time and effort to register the machine number. Therefore, an object of the present invention is to automate the work.

[0004]

The present invention uses the following means in order to solve the above problems.
First, as described in claim 1, in an automated guided vehicle system including an automated guided vehicle controller that calls and communicates with a plurality of automated guided vehicles under control by a machine number, in the automated guided vehicle controller, A storage unit and a unit change unit are provided, and the storage unit stores the currently existing transport vehicles as "registered" units and the non-existing transport vehicles as "unregistered" units. At the same time, the automated guided vehicle controller calls all the units stored as "registered" in the storage means, and at least one of the units stored as "unregistered" in the storage means. For the number of the responding machine, the stored content of the storage means is changed to "registered" by the machine changing means.

As described in claim 2, in the automatic guided vehicle system according to claim 1, the automatic guided vehicle controller has a cycle including the following steps (1), (2) and (3). By repeating the procedure, the carrier vehicles under control are grasped. (1) A first step of calling to all the machines stored in the storage means as "registered". (2) Among the transport vehicles stored as "unregistered" in the storage means, one or more transport vehicles having a machine number different from the one stored in the previous cycle are called and a reply is made. The second step is to re-store the number of the registered units as "registered" by the unit changing unit. (3) A third step of storing the number of the machine called in the second step.

Further, as described in claim 3, in the automatic guided vehicle system according to claim 1 or 2, a plurality of travel routes are provided, and adjacent travel routes are connected by branch routes, and each travel route is provided. The unmanned guided vehicle controller is arranged at.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION An automatic guided vehicle system 1 according to the present invention will be described below. FIG. 1 is a schematic plan view of an automated guided vehicle system 1, and FIG. 2 is a block diagram of the automated guided vehicle system 1. FIG. 3 is a plan view of the system 1A of the automated guided vehicle system 1, in which FIG. 3 (a) shows the transportation vehicle 10.10 ... Before moving, and FIG. 3 (b) shows the transportation vehicle 10.10.・ ・ After moving.

The automated guided vehicle system 1 shown in FIG. 1 comprises a plurality of carrier systems 1A, 1B, 1C, ...
・ 1C ... is the traveling route 1 of the automated guided vehicle 10, respectively.
1, 11, ... Are laid in a loop, and the traveling route 11
A plurality of stations 13, 14, ... Are arranged along the line. At station 13, 13 ...
The cargo was transferred to 0, and stations 14, 14 ...
Then, the unloading from the transport vehicle 10 is performed.

Further, the adjacent traveling routes 11 and 11 are connected by branching routes 12 and 12, respectively, and a switching means is provided at a branching portion from the traveling route 11 to the branching route 12, or a guide wheel from the carrier vehicle 10. Is applied to the groove portion along the travel route 11 or the branch route 12 and the transport vehicle 10 itself is provided with a means for selecting a route so that the transport vehicle 10 can be operated even between the systems 1A, 1B, 1C. It is possible to move.

Along the traveling paths 11, 12, ..., A power supply line in which a conductive wire such as a copper wire is covered with an insulating material and a communication line 9, 9, ... Using a feeder line are installed. Has been done. This power supply line is stretched over the respective systems 1A, 1B, 1C, ..., A power supply device is provided at one end of the power supply line, and a high-frequency current is supplied. The induced electromotive current generated by the magnetic field generated around the power supply line is taken out by a pickup coil fixed to the carrier vehicle 10, amplified, converted into a predetermined voltage, rectified and smoothed, and the carrier vehicle 10
Electric power is supplied to the control equipment and the traveling motor installed in the vehicle.

On the other hand, the communication lines 9 ...
B ・ 1C ・ ・ ・ The area is divided for each system 1A ・
1B, 1C ... Higher-level controller (host controller) 2 that integrally manages the entire transport vehicle 10.
And a lower controller (zone controller) 3A, 3B, 3C arranged for each system 1A, 1B, 1C ...
, And the zone controllers 3A, 3B, 3C, ... And the communication lines 9, 9, 9 ... of the system to which they belong are connected. The carrier 10 traveling on the travel routes 11 and 12 is equipped with a receiver 42 and a transmitter 43 so as to approach and face the communication line 9.

With such a configuration, the host controller 2
Each zone controller 3A / 3B / 3C ...
Via the whole system 1A, 1B, 1C ...
10 ... is controlled and managed.

As shown in FIG. 2, in the host controller 2, each zone controller 3A from the modem 21 is sent.
.3B, 3C ... feedback signals, for example,
The transport vehicles 10, 10 ... of the system 1A, 1B, 1C ... Managed by each zone controller 3A, 3B, 3C ...
······································································································································
Output to the modem 21 via the interface of the host controller 2.

The modem 21 is a host controller 2
The digital signal input from each of the transport vehicles 10, 10 ... Is FM-modulated and transmitted to each zone controller 3A, 3B, 3C ... Using the control line 8 as an antenna. Then, the control signals received by the zone controllers 3A, 3B, 3C, ... Are input to the modems 31, 31, 31 ,.

The modem 31 is the host controller 2
The modem 21 has the same configuration except that the local oscillation frequency of the transceiver function is replaced, and the input signal is demodulated and converted into a digital signal, and the zone controller 3 (3A, 3B, 3C, etc.) Is output to.

Further, the zone controller 3 inputs a feedback signal from the modem 32 for each of the guided vehicles 10, 10 ..., For example, an address signal of the current position and a signal indicating the presence / absence of a load, and inputs it via an interface. Modem 3
1 to each transport vehicle 10 from the modem 31
A control signal such as a traveling destination of 10 and whether to perform transfer is input, and the details thereof will be described later. Among the control signals, the zone controller 3
... picks up only the control signals for the guided vehicles 10 managed by and is output to the modem 32 via the interface.

The modem 32 is a zone controller 3
The digital signal for each of the guided vehicles 10, 10 ...
The communication line 9 is transmitted as an antenna via the communication line 3.

The control signal received by the receiver 42 of the transport vehicle 10 is input to the modem 41. The modem 41
Has the same configuration except that the local oscillation frequency of the transceiver function is replaced with that of the modem 32 of the zone controller 3, and the signal input from the receiver 42 is demodulated and converted into a digital signal. It is output to the on-board controller 4, which is the control means of 10 itself.

The onboard controller 4 serves as a sensor, which is a package detector including a photoelectric switch for detecting the presence / absence of a load on the loading platform of the carrier 10 and a fixed position of the load, and the traveling route 1
The origin, which is the base point of the address of the current position installed along 1/12, the zone of stations 13-14 ...
And a travel control detector including a photoelectric switch that detects a curve, a light receiver that detects an approach to the preceding vehicle 10.
A bumper switch for detecting a rear-end collision, an encoder for detecting the traveling distance by the rotation speed of the traveling motor of the driving wheels, etc. are connected, and signals from each sensor and a control signal from the zone controller 3 input from the modem 41 are connected. The automatic traveling of the carrier vehicle 10 is controlled by controlling the traveling motor and the like via an inverter.

Further, the onboard controller 4 uses a light projector to project light for detecting the approach of the transport vehicle 10 described later. The feedback signal from the onboard controller 4 to the zone controller 3 is output as a digital signal to the modem 41, and the modem 41 FM-modulates this feedback signal and transmits it to the transmitter 43. The feedback signal from the onboard controller 4 transmitted from the transmitter 43 is received by the communication line 9, demodulated by the modem 32 via the impedance matching box 33, and output to the zone controller 3. The zone controller 3 grasps the condition of the carrier vehicle 10 from the feedback signal from the onboard controller 4 input from the modem 32.

As described above, the modem 21 and the modem 31 are used as transmitting / receiving devices, and the host controller 2 is connected via the control line 8.
Signals are transmitted and received between the zone controller 3 and the zone controller 3 by using the modem 32 and the modem 41 as transmitting / receiving devices and the receiver 42, the transmitter 43 and the communication line 9 as antennas. Signals are exchanged with the controller 4. The control line 8 may be used as an antenna to exchange signals between the modem 21 and the modem 31.

Further, the zone controllers 3A and 3B
In 3C ..., the polling communication described below keeps track of the vehicles 10, 10 ... existing in the systems 1A, 1B, 1C, ... The polling communication method according to the present invention will be described below. FIG. 4 is a diagram showing the contents of the memory of the zone controller 3A. FIG. 5 is a diagram showing the processing in the first cycle. Similarly, the processing of the second cycle is shown in FIG. 6, and the processing of the third cycle is shown in FIG.

Here, in order to make the explanation concrete, as shown in FIG. 1, at the stage of preparation for starting the system, the carrier vehicle 10 to which the machine numbers 101, 102, and 103 are assigned to the system 1A.
・ 10 ・ 10, system number 1 104 ・ 105 ・
It is assumed that there is a transport vehicle 10.10.10 to which 106 is assigned, and a transport vehicle 10.10.10 to which a machine number 107.108.109 is assigned in the system 1C.

Each zone controller 3A (or 3B, 3
The assigned machine numbers 101 and 102 are assigned to the readable / writable memory (storage means) of C, ...
... by the system 1A (or 1B, 1
.. existing in C, ...) and those not existing in the managed system 1A (or 1B, 1C, ...) are distinguished. I remember. In addition, the memory numbers of “registered” and “unregistered” are stored in ascending order. Therefore, the zone controller 3 will be described in detail later.
When A, 3B, and 3C call the carrier vehicle 10 with the machine number or add the machine number, the number of the machine numbers stored in the “registered” and “unregistered” areas is always the highest. You can call or add from the smallest number. As for the zone controller 3A, as shown in FIG. 4, the transport vehicles of the machine numbers 101, 102, and 103 existing in the system 1A are stored as "registered", and the other machine numbers 104, 105, and 106 are stored.
-The vehicles 107, 108 and 109 are stored as "unregistered".

When the operation of the system is started, the zone controller 3A, as shown in FIG. 5, stores all the carrier vehicles 10 (here, machine numbers 101 and 102) stored in the memory as "registered".・ Transmit signals to the carrier 103) to communicate with each other. This is the first step. Then, one of the transport vehicles 10 (104, 105, ... 109) with the machine number stored as "unregistered" (the transport vehicle 1 with the machine number 104 in this cycle)
For 0), a signal is transmitted to call out. This is the second step. Then, the number of the called machine, that is, "104" is set as the final called machine number.
It is stored in the memory. This is the third step. One cycle is completed by the above three steps, and in this cycle, the machine number is 101.102.10.
Signals will be transmitted to the four carrier vehicles 3 and 104 one after another.

In the next cycle, as shown in FIG. 6, the zone controller 3A stores all the machine numbers 101 stored in the memory as "registered" as in the previous case.
Send signals for 102 and 103 (first step). Then, the number “10” stored in the memory is
4 ”is incremented by 1 and the resulting machine number (ie,
The transport vehicle of the machine number 105) is checked for "registered" or "unregistered" with reference to the memory. In this case, the carrier 105 is “unregistered”, so that the carrier 1
A signal is sent to 05 to interrogate (second step). If the machine number 105 is "registered", it is checked in the second step whether or not the number "106" obtained by adding 1 to the machine number is "unregistered". If it is "unregistered", the machine number 1
06 will be called.

In this way, by calling a number different from the "unregistered" machine number called in the immediately preceding cycle, it is possible to call the "unregistered" machine number in one cycle. By limiting the number to only the number to save the communication volume, it is possible to call the "unregistered" carrier evenly by repeating the cycle. Then, the content stored in the memory as the final challenged machine number is updated with the number of the called machine, that is, "105" (third step). With the above, one cycle is completed, and in this cycle, the number machine eventually transmits signals to the four carrier vehicles 101, 102, 103, and 105.

Thus, in the first cycle, signals are sent to the machine numbers 101, 102, 103 and 104, and in the second cycle the machine numbers 101, 102 and 103.
・ A signal is sent to 105, and in the third cycle, a signal is sent to the machine number 101 ・ 102 ・ 103 ・ 106.
・ Thus, for registered vehicles, call all vehicles in each cycle, while for unregistered vehicles, call each person one cycle at a time. Polling communication is performed. Since the machine numbers are 101 to 109 in this embodiment, if the content of the final calling machine number increases to "109" while repeating the above cycle, instead of adding 1 in the second step, , Reset the content of the last called machine number to "101". Therefore, any unregistered machine number is always called as the cycle progresses (at intervals).

The above-mentioned call is made by the zone controller 3A.
Each of the guided vehicles 10, which has been carried out for the entire system 1A managed by the above, receives the signal of the interrogation, and the number of the called machine that is included in the information of the interrogation signal as information as to whether or not the interrogation is for the self Judging by the number, if the call is for itself, a signal including information such as the current position of the user is returned. Therefore, when the zone controller 3A calls the whole system 1A for a certain machine number, it can be recognized that the carrier vehicle 10 having that machine number exists in the system 1A managed by itself when the reply is received. Therefore, in the second step, when there is a reply to the call from the zone controller 3A to the "unregistered" machine number, the part of the machine number in the memory is changed to "registered". . This change is performed by changing the contents of the memory by the memory rewriting means (machine change means) inside the control device of the zone controller 3A.

FIG. 7 shows the processing in an example in which when a signal is sent to the machine numbers 101, 102, 103 and 106 in the third cycle, there is a reply from the unregistered machine 106. Since the machine number 106 is “registered”, the machine numbers 101, 102, 103, 106, 107 are generated in the next fourth cycle.
Will send a signal about. If there is no reply from the unregistered machine, naturally "unregistered" is maintained.

Regarding the transport vehicles 101, 102, 103 stored as "registered", it is checked whether or not there is a response when the signal is transmitted in the first step, and if there is no response. Since the carrier is no longer in the system 1A managed by itself, the stored contents may be rewritten to "unregistered". This control is performed in a specific example described later. This change is also performed by changing the contents of the memory by the memory rewriting means in the control device of the zone controller 3A.

The outline of the polling communication method has been described above, and a specific example will be described below. FIG. 8 is a diagram showing processing in the first cycle in the specific example shown in FIG. Similarly, the second
The processing of the fourth cycle is shown in FIG. 9, the processing of the third cycle is shown in FIG. 10, and the processing of the fourth cycle is shown in FIG.
, Respectively.

As shown in FIG. 1 or FIG. 3 (a), the machine numbers 101, 102, 103 are set at the start preparation stage of the system.
Although three carrier vehicles 10 existed in the system 1A, a carrier command from the host controller 2 was received, and machine number 10
Carrier 3 of No. 3 leaves system 1A, and
Two carrier vehicles 6 and 107 are newly added to the system 1A, and as shown in FIG.
It is assumed that there are four transport vehicles 10, 01, 102, 106, and 107. It should be noted that the replacement of the transport vehicle 10 as shown in FIG. 3 (a) → FIG. 3 (b) may be performed by receiving a transport command from the host controller 2 or may be performed by an operator for maintenance or the like. May be done manually.

In the memory of the zone controller 3A, the machine numbers 101, 102, 103 existing in the system 1A at the stage of starting preparation of the system are "registered", and the other machine numbers 104, 105 ... It is stored as "unregistered". That is, as shown in FIG. 4, the contents of the memory are in an old state that does not yet reflect the current configuration of the machine number shown in FIG. From this state, by the control of the present invention, the contents of the memory are updated so that the configuration of the machine number of FIG. 3 (b) is correctly reflected, and the zone controller 3A determines which machine number is used by the system 1A managed by itself. There is a transport vehicle, and it is possible to correctly understand which machine number does not have.

To be more specific, as shown in FIG. 8, the zone controller 3A first starts with the first cycle.
With respect to registered machine numbers 101, 102, 103 and unregistered machine numbers 104, the entire system 1A is called. In response to this call, machine numbers 101 and 102
Although there is a response from the two transport vehicles 10 having the numbers 1 and 2, there is no response from the transport vehicles 10 because the two transport vehicles 10 with the machine numbers 103 and 104 do not exist in the system 1A. As a result, by the changing means of the zone controller 3A, as shown in FIG.
The data in the memory is rewritten as shown in FIG.
That is, the registered machine number 101.1 that responded
For 02, the information of "registered" is maintained as it is, the information of the registered machine number 103 of "registration" which has not responded is updated to "unregistered", and "not registered" which has not responded. The machine number 104 of “registered” remains “unregistered”.

Next, in the second cycle, as shown in FIG. 9, the zone controller 3A updates the registered machine numbers 101 and 102 and the unregistered machine numbers 10 and 10.
Call 5 Unit number 1 for this call
Although a response is returned from the two transport vehicles 10 having 01 and 102, there is no response from the transport vehicle 10 with the machine number 105. As a result, the contents of the memory of the zone controller 3A are not rewritten in this cycle. That is, the "registered" machine number 101.1 that responded
For 02, the information of "registered" is maintained as it is, and for the unregistered machine number 105 that has not responded, the information of "unregistered" is maintained.

In the next third cycle, as shown in FIG. 10, the zone controller 3A calls the registered machine numbers 101 and 102 and the unregistered machine number 106. In this case, all machine numbers 101.1
There is a response from the carrier 10 of 02.106. as a result,
The data in the memory is rewritten as follows by the changing means of the zone controller 3A. That is,
As for the “registered” machine numbers 101 and 102, “registered” is maintained as it is, and the unregistered machine number 106
Is updated from “unregistered” to “registered”.

Then, in the fourth cycle, as shown in FIG. 11, the "registered" machine numbers 101.102.
106 and the “unregistered” machine number 107. In response to this call, all of them are machine number 10
There is a response from the transport vehicle 10 of 1.102.106.107. As a result, the data in the memory is rewritten by the changing means of the zone controller 3A as follows. That is, the "registered" machine numbers 101 and 102
・ For 106, "registered" is maintained as it is,
The “unregistered” machine number 107 is rewritten to “registered”.

At the stage when the fourth cycle is completed, as shown in FIG. 11, in the memory of the zone controller 3A, the machine numbers are 101, 102, 106, 107.
Is stored as "registered" and the other vehicles 103, 104, 105, 108, 109 are stored as "unregistered". So at this point, system 1
The present machine configuration of the carrier vehicle 10 existing in A (that is, FIG.
What correctly reflects the machine configuration shown in (b) will be stored in the memory.

After that, the sixth and seventh times ...
The cycle is repeated and polling communication is performed, and when and when the machine configuration of the carrier vehicle 10 is changed, for example, the carrier vehicle 10 with the machine number 101 leaves the system 1A, or the carrier vehicle with the machine number 105 changes. Even when the system 1A is newly added, such a change is always automatically recognized by the zone controller 3A.

As described above, the loop-shaped traveling route 11.
The description has been made with reference to the automatic guided vehicle system 1 in which the ..
···························· may be an independent configuration without being connected. In this case, the machine configuration is changed by manually moving the carrier vehicles 10, 10 ... Of the respective systems 1A, 1B, 1C, ... By such polling control, it is possible to always grasp the change in the machine configuration of the carrier vehicle 10 on the traveling routes 11, 11, ....

Further, in the above-mentioned embodiment, the configuration is such that only one unit is called for each "unregistered" machine per cycle. However, the present invention is not limited to this, and a plurality of "unregistered" machines may be called per cycle. It may be configured to.

[0043]

Since the present invention is configured as described above, it has the following effects. First, as in claim 1,
In an automated guided vehicle system comprising an automated guided vehicle controller that calls and communicates with a plurality of automated guided vehicles existing under control, the automated guided vehicle controller is provided with a storage means and a machine changing means, In the storage means, the vehicles currently existing under the control are stored as "registered" vehicles, and the non-existing vehicles are stored as "unregistered" vehicles, respectively. In addition to calling all the units stored as "registered" in the above, also calling to one or more of the units stored as "unregistered" in the storage means Changes the stored contents of the storage means to “registered” by the machine change means, so that the operator can manage the And the like replace the transport vehicle to the underlying, even when the Unit under controlled area is increased,
The automated guided vehicle controller can automatically recognize that the number of units under the controlled area has increased. Therefore, it is not necessary to perform work such as registering the number of additional machines in the controller.

Then, as described in claim 2, the unmanned guided vehicle controller (1) "registered" in the storage means.
The first step of calling to all the machines stored as (2), among the transport vehicles stored as "unregistered" in the storage means, a machine number different from the machine number stored in the previous cycle Calling one or more of the transport vehicles that it has, and re-memorizing the number of the responding machine as "registered" by the machine changing means, the second step, (3) the machine called in the second step By repeating the cycle including the three steps of memorizing the number and the third step, the carrier vehicles under control are grasped, so in one cycle, in addition to "registered", "unregistered" The number of vehicles that communicate in one cycle can be kept smaller than when all vehicles are called, and the vehicles that are under the control can communicate at an appropriate cycle. Te, it is possible to prevent the occurrence of trouble of delay of the communication. Also, as long as the cycle is repeated
It is ensured that all "unregistered" machine numbers will be called evenly.

According to a third aspect of the present invention, in the automated guided vehicle system according to the first or second aspect, a plurality of traveling routes are provided, adjacent traveling routes are connected by a branch route, and each traveling route includes the above-mentioned traveling routes. Even if the system is such that the guided vehicles are switched between multiple travel routes by arranging the guided vehicle controllers, each guided vehicle controller automatically recognizes the guided vehicles under its control. be able to.

[Brief description of drawings]

FIG. 1 is a schematic plan view of an automated guided vehicle system 1.

FIG. 2 is a block diagram of an automated guided vehicle system 1.

FIG. 3 is a plan view of a system 1A of the automated guided vehicle system 1.
(A) shows before movement of the carrier 10.
(B) shows a state after the transport vehicles 10, 10 ...

FIG. 4 is a diagram showing the contents of a memory of a zone controller 3A.

FIG. 5 is a diagram showing a process in a first cycle.

FIG. 6 is a diagram showing a process in a second cycle.

FIG. 7 is a diagram showing processing in a third cycle.

FIG. 8 is a diagram showing processing in the first cycle in the specific example shown in FIG.

FIG. 9 is a diagram showing a process in a second cycle.

FIG. 10 is a diagram showing a process in a third cycle.

FIG. 11 is a diagram showing a process in a fourth cycle.

[Explanation of symbols]

1 Automated guided vehicle system 1A / 1B / 1C system 2 Host controller 3A / 3B / 3C zone controller 4 Onboard controller 10 transport vehicles 11 travel route 12 branches 101 ・ 102 ・ ・ ・ Unit No.

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Claims (3)

[Claims] 1. An automated guided vehicle system including an automated guided vehicle controller that calls and communicates with a plurality of automated guided vehicles existing under control by a machine number, wherein the automated guided vehicle controller has a storage means and a machine change means. In the storage means, the currently existing transport vehicles under the control are stored as “registered” units, and the non-existing transport vehicles are stored as “unregistered” units, respectively, and an unmanned transport vehicle controller is stored. Responds to all of the units stored as "registered" in the storage means and at least one of the units stored as "unregistered" in the storage means, and sends a reply. In the case of the unmanned car, the stored contents of the storage means are changed to "registered" by the machine change means, Tem. 2. The automated guided vehicle system according to claim 1, wherein the automated guided vehicle controller has the following (1):
An automated guided vehicle system characterized in that a guided vehicle under control is grasped by repeating a cycle including steps (2) and (3). (1) A first step of calling to all the machines stored in the storage means as "registered". (2) Among the transport vehicles stored as "unregistered" in the storage means, one or more transport vehicles having a machine number different from the one stored in the previous cycle are called and a reply is made. The second step is to re-store the number of the registered units as "registered" by the unit changing unit. (3) A third step of storing the number of the machine called in the second step. 3. The automated guided vehicle system according to claim 1 or 2, wherein a plurality of traveling routes are provided, the traveling routes are connected by branch routes, and the unmanned guided vehicle controller is arranged for each traveling route. An automated guided vehicle system characterized in that