JP2003208224A - Carriage system and carrier - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carriage system equipped with a carrier which can stop at a predetermined stop spot by quickly judging the traveling position by using a simply configured means and the carrier. <P>SOLUTION: A first striker BS1 (BS2, BS3, BS4) and a plurality of second strikers SS1, SS2,... are set on a traveling path 11 (12, 13, 14). A carrier 2 stores the identification information of the first striker set on the traveling path corresponding to a stop spot and the number of setting of the second strikers until the stop spot on the traveling path, and at the time of detecting the first striker having the identification information, the carrier 2 stops when the detected number of the second strikers is made coincident with the number of setting of the second strikers. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a plurality of traveling paths,
A transport system including a position index installed on the travel route, a transport vehicle that travels along the travel route, detects the position index, and stops when a position index corresponding to a stop point is detected, Concerning carrier vehicles.

[0002]

2. Description of the Related Art In a transport system in which a transport vehicle travels on a traveling path provided on a ceiling or a floor surface, a plurality of position indicators (detected members for detecting a position by a sensor; hereinafter referred to as strikers) are provided on the traveling path. Installed, the carrier detects the striker and counts the number of the striker, and by initializing the counted number at a predetermined position,
The control means of the transport vehicle determines the traveling position of the transport vehicle.
Further, the stop point at which the transport vehicle should stop is expressed as the number of strikers installed from the predetermined position to the stop point, and when the transport vehicle counts the number of strikers equal to the installed number, the transport vehicle Is configured to stop, the carrier vehicle stops at a required stop point.

Further, in Japanese Patent Laid-Open No. 8-36417,
A travel control device in a travel transport system is disclosed. FIG. 10: is explanatory drawing which shows the structure of the conventional conveyance system. Reference numeral 10 in the figure denotes a running path that forms a closed loop. The running path 20 and the running path 20 that branches from the running path 10 at a branch point 31 and merges into the running path 10 at a meeting point 32.
And are constructed using a monorail. The carrier 2
The vehicle automatically runs clockwise (in the direction of the white arrow in the figure) along the monorail. Stations ST11 to ST20 for stopping the transport vehicle 2 are provided on the respective traveling paths, and the stations ST11 to ST20 have station numbers N11 to N20 for identifying the stations ST11 to ST20.

The system control unit 50 uses the station numbers of the respective running paths and the stations provided on the running paths (station numbers N11 to N1 for the running path 10).
6. Station numbers N17 to N2 for the road 20
0) is memorized. In addition, the system controller 50
The station number (any one of N11 to N20) of the station where the vehicle 2 should stop is transmitted to the vehicle 2. The carrier 2 receives the station number and stores it in a station number storage means (not shown).

At the branch point 31, a switching rail 10a for allowing the transport vehicle 2 traveling on the traveling path 10 to travel on the traveling path 10 as it is and a switching rail 20a for allowing the transportation vehicle 2 to enter the traveling path 20. Rail switching device 3 to switch between
1a and a branch control device 31d for controlling the rail switching device 31a are provided. The branch control device 31d
Is a station (ST1
7 to ST20) station number (N17 to N20)
A storage unit (not shown) for storing

When the transport vehicle 2 travels on the traveling path 10 before the branch point 31, the transport vehicle 2 temporarily stops and transmits the station number stored in the station number storage means to the branch control device 31d. The branch control device 31d refers to the storage means and determines whether or not the station number of the station provided on the traveling path 20 and the received station number match. When they match, it is determined that the station having the station number, that is, the station where the transport vehicle 2 should stop is present in the traveling path 20, and the branch control device 31d controls the rail switching device 31a so that the transport vehicle 2 operates. When switching to the switching rail 20a so that the vehicle can enter the traveling path 20 and the station numbers do not match, it is determined that there is no station on the traveling path 20 on which the vehicle 2 should stop, and the vehicle 2 continues traveling on the traveling path 10. Switch to the switching rail 10a to run.
Next, the branch control device 31d transmits a start command to the transport vehicle 2, and the transport vehicle 2 that has received the start command starts traveling.

[0007]

However, when a large number of stations are provided on the traveling path 20, the branch control device 31d determines whether or not the station having the received station number is provided on the traveling path 20. There has been a problem that the processing time for performing the determination processing becomes long, and thus the stop time in which the transport vehicle 2 temporarily stops before the branch point becomes long. Further, when a plurality of branch points or traveling paths branching from the branch points are provided, since the branch control device performs the processing for each branch point or each traveling path, the processing time and the stop time become long, There has been a problem that the transport efficiency of the transport vehicle deteriorates. When the branch control device is changed to a high-performance branch control device capable of high-speed processing in order to shorten the processing time, there is a problem that the transport system becomes large-scale or expensive.

Further, it is not possible to control the plurality of rail switching devices with one branch control device to save labor in the transport system, or to drive the transport vehicle without stopping the transport vehicle before the branch point. There is also a problem in that it is not possible to improve the transport efficiency of the transport vehicle by selecting the traveling path on which the transport vehicle should travel while the transport vehicle is still running. When there are a plurality of travel paths, the number of strikers counted by the transport vehicle is used to determine the travel position at which the transport vehicle is traveling (the travel path on which the transport vehicle is currently traveling and the position within the travel path). There is a problem that the determination procedure and the procedure for determining the stop point of the transport vehicle using the number and the number of strikers installed are complicated. In order to solve this problem, when each striker has an identification means (for example, a bar code) for identifying the striker, the structure of the striker and the detection means of the identification means, or the control means for controlling the transport vehicle or system is complicated. Therefore, there is a problem that the amount of data used increases.

Further, when a change or addition of a running path or station is made, or a striker is added or removed, the running path stored in the system control device or the branch control device, There is also a problem that it takes a lot of time and labor to change the data such as the station number of the installed station and / or the number of installed strikers between the predetermined position and the station. . Therefore, the processing performed by the transport vehicle or the branch control device is simplified, the processing time is reduced, less data is used, and the system configuration can be easily changed. There is a demand for a transport system that can determine the traveling position of a transport vehicle based on the number of strikers and can stop at a predetermined stop point.

The present invention has been made in view of the above circumstances, and conveys a first striker installed on each of a plurality of traveling paths and one or a plurality of second strikers installed along each traveling path. The vehicle detects the first striker having the required identification information based on the identification information of the first striker and the number of the second strikers detected by the vehicle,
Since the second striker is configured to stop when the required number is counted, the processing performed by the control means constituting the system can be simplified and the processing time can be reduced.
Another object of the present invention is to provide a transport system in which the configuration of the system can be easily changed, and the traveling position of the transport vehicle can be determined to stop at a predetermined stop point.

Another object of the present invention is that the carrier vehicle is configured to travel at high speed, medium speed or low speed based on the number of the detected second strikers, thereby improving the carrier efficiency of the carrier vehicle. Another object of the present invention is to provide a transport system which can be improved and can be easily stopped when reaching a stop point. Another object of the present invention is to provide a control unit that configures the system by using a small amount of data by providing a means for selecting a travel route that a transport vehicle reaches a stop point in the shortest time by using the identification information of the first striker. It is an object of the present invention to provide a transport system that can simplify the processing performed by the means and reduce the processing time.

Another object of the present invention is to detect a first striker and a second striker, and to detect a predetermined second striker based on the identification information of the detected first striker and the number of second strikers. It is to provide a carrier vehicle that can be used in a carrier system including a first striker and a second striker by being configured so as to be stopped. Still another object of the present invention is to detect the second
An object of the present invention is to provide a transport vehicle that can improve transport efficiency when used in a transport system including a second striker by traveling at high speed, medium speed, or low speed based on the number of strikers.

[0013]

A transport system according to a first aspect of the present invention is a transport system including a plurality of traveling paths and a vehicle that travels along the traveling paths, each of which is installed on each traveling path. One position index and one or a plurality of second position indexes installed along each traveling path, and the transport vehicle includes a first sensor for detecting the first position index and the second position index. A second sensor for detecting, identification information of a first position index installed on a traveling path where a stop point at which the transport vehicle should stop is located, and a first sensor installed between the first position index and the stop point. (2) When the first position index having the identification information is detected using the storage unit that stores the number of installed position indexes and the first sensor, the second position index is counted using the second sensor. And a counter for starting And a means for comparing the number of installed second positions with the number of second position indexes counted using the counter, and configured to stop when the number and the installed number match. To do.

According to the first aspect of the invention, a plurality of running paths are provided, the first position index is installed on each of the running paths, and one or a plurality of second position indexes are installed along each running path. . At this time, the first position index is set at a position where the guided vehicle enters each traveling route (for example, in the case of a traveling route branched from another traveling route, near the branch point), and the second position indicator is The transportation vehicle should be installed at a stop point (for example, a station for loading and unloading cargo on the transportation vehicle).

The transport vehicle has a first sensor for detecting the first position index, a second sensor for detecting the second position index, and a counter for counting the number of the detected second position index. In addition, the transport vehicle includes identification information of a first position index installed on a traveling path where the stop point of the transport vehicle is located, and the first location index.
The storage unit has a storage unit that stores the number of second position indexes installed between the position index and the stop point. The identification information and the number of installations are stored in, for example, a system control device, and the system control device transmits the identification information and the number of installations to a transport vehicle at a predetermined timing, and the transport vehicle performs the identification. The information and the number of installations are received and stored in the storage means.

By using the first sensor to detect the first position index having the identification information, the transport vehicle determines that it is traveling on the traveling path on which the stop point is located. For example, transmitting means for transmitting the identification information of the first marking means is provided in the vicinity of each first marking means, the vehicle receives the identification information, and the identification information and the identification information stored in the storage means are When they match, when the first position index is detected,
The transport vehicle determines that it has detected the first position index (the first position index installed on the traveling path where the stop point is located) having the identification information. At this time, the transport vehicle is determined to be traveling on the traveling path where the stop point is located.

When the first position index having the identification information is detected, the transport vehicle detects the second position index by using the second sensor and the counter and counts the number of the second position index. The transport vehicle compares the number of installations stored in the storage means with the number counted by the counter, and when the number and the number of installations match, it is determined that the transport vehicle has arrived at the stop point, It is configured to stop.

As described above, the stop point is represented by the identification information of the first position index and the number of installed second position indexes, and the traveling path on which the transport vehicle is traveling is determined by the first position index. Since the traveling position of the guided vehicle on the traveling path can be determined by the second position index, the traveling position of the guided vehicle can be determined and the vehicle can be stopped at a predetermined stop point.

Further, even when a large number of stop points are provided on each traveling path, when it is determined whether or not there are stop points for the guided vehicle on each traveling path, It is not necessary to individually determine whether or not the stop point provided on the traveling path is the stop point of the transport vehicle, and the identification information of the first position index provided on each traveling path and the stop point are located. In order to determine whether or not they match by comparing the identification information of the first position index provided on the traveling road,
It is possible to reduce the processing time for performing the processing for determining whether or not the stop point of the transport vehicle exists. In addition, for example, when the system control device stores each traveling path and the traveling path that minimizes the traveling distance of the guided vehicle when traveling on the traveling path, the first position provided on each traveling path is stored. Since the information can be stored using the identification information of the index, the shortest route to the required travel route can be stored with a small amount of data.

Further, when the carrier receives the identification information and the identification information matches the identification information stored in the storage means, and when the first position index is detected, the stop point is located. If it is determined that the vehicle is traveling on the traveling road and the identification information does not match, or if the first position index is not detected even if they match, the vehicle is traveling on the traveling road on which the stop point is located. Since it is determined that the vehicle does not exist, it can be easily determined in a short time whether the transport vehicle is traveling on the traveling path where the stop point is located.

Further, when the traveling path is expanded, the first position index and the second position index are installed on the expanded traveling path, and the first position index is set.
The system controller stores the identification information of the position index and the number of second position indexes installed between the first position index and each stop point, and stores the first position indicator near the first marking means. It suffices to provide a transmitting means for transmitting the identification information of the marking means. When a stop point (station) is added to the traveling path, a second position index is set in correspondence with the stop point,
The system control device may store the number of second position indexes installed from the first position index on the traveling path to each stop point. That is, it is not necessary to change the data regarding all the traveling paths, and only the data regarding the additional traveling path or the traveling path where the additional stop point is located may be changed.

As described above, the first position index and the second position index
Since the position index is used, it is possible to simplify the processing performed by the carrier vehicle or the system control device (control means that configures the system), reduce the processing time, and easily change the configuration of the system.

In the transfer system according to the second aspect of the present invention, the transfer vehicle includes means for traveling at high speed, medium speed, or low speed, and the number is smaller than the installed number by n ₁ (n ₁ : natural number). It is configured to run at a low speed at a certain time, to run at a medium speed when the number is smaller by n ₂ (n ₂ : natural number, n ₂ > n ₁ ) and to run at a higher speed when the number is smaller than the number. It is characterized by being done. According to the second aspect of the invention, the transport vehicle travels at a high speed, a medium speed, or a low speed on a travel path on which a plurality of second position indexes are installed. Low speed is the speed at which the carrier can easily stop, and medium speed is
A speed that is higher than the speed and that allows the transport vehicle to easily shift the traveling speed to a low speed. A high speed is a speed that is higher than the speed, and is the most efficient speed when traveling on a traveling path. .

[0024] Using n ₁ as 1, the case of using 2 as n _2, the transport vehicle, typically traveling at high speed, the number of the second position index guided vehicle is counted, until the second position index of the stop point 2 was smaller than the number of installed vehicles, that is, when the second position index two points before the second position index at the stop point was detected, the traveling speed was changed from high speed to medium speed, and then the transport vehicle counted. The number of the second position index is the second of the stop point.
When the number of installations up to the position index is one less, that is, when the second position index immediately before the second position index at the stop point is detected, the traveling speed is changed from medium speed to low speed, and then,
It is configured to stop when the number of the second position indexes counted by the transport vehicle matches the number of installations up to the second position index at the stop point, that is, when the second position index at the stop point is detected.

As described above, the transport vehicle decreases its speed as the traveling position approaches the stop point, and can travel at a high speed when the traveling position is far from the stop point, thus improving the transport efficiency of the transport vehicle. It is possible to stop when the vehicle reaches the stop point. In addition, when only one or two second position indicators are installed at the stop point, or when the first or second second position indicator is the stop point, the first position indicator is transferred. The position where the vehicle normally travels at low speed (eg, a corner or a turning point)
In this case, even if the second position index immediately before the second position index at the stop point is detected immediately after the first position index is detected, the speed of the transport vehicle is low, and The transport vehicle can be easily stopped even when the second position index at the stop point is detected immediately after the first position index is detected.

In the transport system according to the third aspect of the present invention, each of the plurality of travel paths has a branch point, and when the travel path branches from the branch point, the travel distance of the transport vehicle is the shortest. Identification information storage means for storing the identification information of the first position index respectively installed, and the first position index of the first position index installed in the traveling path in association with the transport vehicle, where the stop point at which the transport vehicle should stop is located. Stopping point storage means for storing identification information and the number of second position indexes installed between the first position index and the stop point, means for detecting the traveling position of the transport vehicle, and the means. When the traveling position detected by using is the position where the branch point exists in the front, the traveling position, the identification information stored in the identification information storage means, and the stop point storage means are stored. Based on the identification information, Characterized in that it comprises a means for selecting a travel path that reaches a minimum in the serial stop point.

According to the third aspect of the invention, the plurality of running paths are formed, for example, in a closed loop shape with branch paths. At this time,
The traveling road has a branch point where one traveling road and one or more other traveling roads branch. In addition, for example, in order to cause the system control device to store the traveling path that the traveling distance of the transport vehicle is the shortest when traveling on the traveling path branched from the branch point,
Identification information storage means for storing identification information of the first position index respectively installed on the traveling path is provided, and the traveling path on which the stop point is located so as to store the transport vehicle and the stop location of the transport vehicle. The identification information of the first position index installed on the vehicle, the number of second position indexes installed between the first position index and the stop point, and the identification number for identifying the transport vehicle are stored in association with each other. A stop point storage means is provided.

As means for detecting the traveling position of the carrier,
An identification number for identifying the transport vehicle, and communication means (for example, optical communication means) provided respectively on the traveling path before the branch point and the transport vehicle are used, and the transport vehicle uses the optical communication means to identify the transport vehicle. When the identification number is transmitted and the optical communication unit before the branch point receives the identification number, it is determined that the transport vehicle having the identification number is running before the branch point. That is, when the optical communication unit before the branch point receives the identification number, it is determined that the traveling position of the transport vehicle is the position where the branch point exists ahead.

At this time, the system controller sets the transport vehicle to the stop point based on the traveling position, the identification information stored in the identification information storage means, and the identification information stored in the stop point storage means. Select the shortest route to reach. That is, when the traveling position of the transport vehicle is a position where a branch point exists in the front, and the transport vehicle is traveling so as to approach the branch point, the system control device refers to the stop point storage means, The identification information of the stop point of the transport vehicle is acquired, and the identification information storage unit is referred to. The transport vehicle is installed on each of the travel paths where the travel distance is the shortest when traveling on each travel path branched from the branch point. The identification information of the first position index, and using the identification information and the identification information of the stop point, the traveling path where the stop point is located from among the traveling paths that branch from the branch road, or the When the transport vehicle travels to the travel route, the travel route that minimizes the travel distance is selected.

As described above, the identification information of the first position index is used to represent the connection between each traveling path and another traveling path, and when the transport vehicle arrives at the branch point, it corresponds to the stop point of the transport vehicle. Transport based on the identification information of the first position index and the identification information of the first position index respectively installed on the travel path where the travel distance of the transport vehicle is the shortest when traveling on the travel path branched from the branch point. The shortest route can be determined using a small amount of data because the vehicle that arrives at the stop point in the shortest time is selected, and the shortest route determination process performed by the control means that configures the system can be simplified to reduce the processing time. Can be reduced. Further, since the processing time is short, it is not necessary for the transport vehicle to stop once before the branch point or for a long time.

Further, since the processing is simple, even if there are a large number of branch points or a large number of traveling paths branching from the branch points, a control means for performing the processing is provided at the branch points or the traveling paths. The shortest route processing can be performed by providing one or a small number of control means without providing each. Further, when the identification information storage means and the stop point storage means are provided in a device (system control device) outside the transport vehicle, the system control device is provided with means for selecting the shortest route, so that the transport vehicle with a simple structure is provided. Can be used.

When a plurality of traveling paths are constructed by using rails and a rail switching device is provided at each branch point, when the traveling vehicle selects the traveling path which reaches the stop point in the shortest time. , It is determined whether or not the rail at the branch point is switched to a rail that allows the guided vehicle to enter the selected traveling path, and if not switched, the rail is switched to the rail using the rail switching device. As a result, the transport vehicle can travel on the travel route without the transport vehicle determining the travel route. In this case, since the process of selecting the travel route where the transport vehicle reaches the stop point in the shortest time is completed in a short time, it is necessary to stop the transport vehicle before the branch point if the rail is switched to or There is no need to stop for a long time, and even if the rail has not been switched to, it is not necessary to stop for a long time.

A transport vehicle according to a fourth aspect of the invention is a transport vehicle that travels along a travel path, wherein the first position index is detected.
A sensor, a second sensor for detecting the second position index, and storage means for storing identification information of the first position index corresponding to the stop point at which the vehicle should stop and the number of installed second position indexes corresponding to the stop point. A counter for starting counting the second position index by the second sensor when the first position index having the identification information is detected by the first sensor, and stored in the storage means. And a means for comparing the number of installed second positions with the number of second position indexes counted using the counter, and configured to stop when the number and the installed number match. To do. According to the fourth aspect of the invention, the traveling path on which the vehicle is traveling can be determined by the first position index, and the traveling position of the guided vehicle in each traveling path can be determined by the second position index. It can be used for a transport system including the index and the second position index (for example, the transport system of the first invention).

The transport vehicle according to the fifth aspect of the invention comprises means for traveling at high speed, medium speed or low speed, and when the number is smaller than the number of installations by n ₁ (n ₁ : natural number), it is operated at low speed. The vehicle is configured to travel at a medium speed when the number is smaller by n ₂ (n ₂ : natural number, n ₂ > n ₁ ) and at a higher speed when the number is smaller than the number. Characterize. In the fifth aspect of the invention, the transport vehicle slows down as the traveling position approaches the stop point, and the vehicle can travel at a high speed when the traveling position is far from the stop point. When used in a transportation system provided (for example, the transportation system of the second invention), the transportation efficiency of the transportation vehicle can be improved.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below with reference to the drawings showing the embodiments thereof. FIG. 1 is an explanatory diagram showing a configuration of a transfer system according to the present invention. In the figure, 1 is a monorail transportation route that is suspended substantially horizontally from the ceiling, and the transportation route 1 is a travel route 11, 12, 13, 1.
It is composed of four. In the transport route 1, the traveling road 11 and the traveling road 14 are formed in a closed loop shape so that the boundary between the traveling road 11 and the traveling road 14 becomes the junction 33 and the junction 32, and the traveling road 12 travels at the junction 31. A branch road that branches off from the road 11 and joins the traveling road 11 at a confluence 32 is formed.
Is a branch road that branches from the running paths 11 and 14 at a branch point 33 and joins the running path 14 at a joining point 34.

The system controller 5 is a main controller for controlling the carrier system, stores programs and data necessary for controlling the carrier system, and stores it in the communication cable 51 or the communication cable 51. The carrier system is controlled by communicating with each part of the carrier system including the carrier vehicles 2, 2, ... Via a plurality of optical communication devices connected and provided on the carrier route 1.

The carriages 2, 2, ... Have identification numbers C1, C2, ... Which identify the carriages 2, are respectively suspended on the monorails, and are automatically suspended along the travel paths 11-14. It is configured to run clockwise (in the direction of the white arrow in the figure) and stop at the required stop point. Each carrier vehicle 2 is provided with an optical communication device 230 having a communication range around the carrier vehicle 2 so as to communicate with the optical communication device when approaching the optical communication device. , Always outputs the identification number of the carrier 2. Also, via the optical communication device 230,
The data of the stop point of the transport vehicle 2 (identification information of the first striker and the number of second strikers to be described later) transmitted by the system controller 5 or a speed control signal for controlling the traveling speed or a stop signal for instructing the stop It receives and runs automatically based on the received data or signals.

At the transport route 1, there is a station S where transport vehicles 2, 2, ... Stop for loading and unloading objects to be transported.
The first strikers BS1, BS2, BS, which are made of T101, ST102, ..., ST420, and metal plates and are installed one by one on the traveling paths 11, 12, 13, 14 respectively.
3, BS4, and second strikers SS1, SS2, ... Installed one by one corresponding to each station, and provided with first strikers BS1, BS2, BS3.
The optical communication device 6 is provided on the front side in the traveling direction of the transport vehicle 2 with respect to BS4.
1, 62, 63, 64 are provided.

Further, each first striker BS1, BS2
BS3 and BS4 are the first strikers BS1, BS2,
Identification information B1, B2 for identifying BS3 and BS4
Optical communication devices 61, 62, 63, 64 having B3 and B4
Always outputs the identification information B1, B2, B3, B4.
Further, optical communication devices 70, 70, ... That constantly output a speed control signal for causing the transport vehicle 2 to travel at a low speed are provided on the front side in the traveling direction of the transport vehicle 2 with respect to the right turn portions of the travel paths 11, 14. Has been. Stations ST101, ST10
2, ..., ST420 are stations ST101, ST
102, ..., An optical communication device (not shown) having a communication range in the vicinity of ST420 is provided, data of the stop point of the carrier vehicle 2 transmitted by the system control device 5 is received via the communication cable 51, and the received data is received by the station. ST10
, ST102, ..., ST420, and transmits to the guided vehicles 2, 2 ,.

On the traveling path 11, the station ST10
1, ST102 are juxtaposed in the traveling direction of the guided vehicles 2, 2, ... And provided in order between the junction 32 and the junction 31,
Branch point optical communication devices 41a and 41b between the station ST102 and the branch point 31, and the branch point 31 and the branch point 33.
And the branch point optical communication devices 43a and 43b are arranged in order in the traveling direction of the transport vehicles 2, 2, ...

Branch point optical communication devices 41a, 41b, 43
a, 43b are the branch point optical communication devices 41a, 41b, 4
There is a communication range near the installation positions of 3a and 43b, and reception of the identification number of the guided vehicle 2 transmitted by the optical communication device 230 or reception of a control signal transmitted by the system control device 5 via the communication cable 51 and The received control signal is transmitted. Further, when the branch point optical communication devices 41a and 43a receive the identification number of the transport vehicle 2 transmitted by the transport vehicle 2, the transport vehicle 2 approaches the branch point via the communication cable 51. The carrier approach signal indicating that the vehicle is present and the received identification number are transmitted. Further, the optical communication device 61 and the first optical communication device 61 having a communication range on the traveling path 11 near the exit of the right turn portion between the junction 32 and the station ST101.
Striker BS1 is installed and station ST
No. 2 on the road 11, corresponding to 101 and ST102.
The strikers SS1 and SS2 are installed.

On the traveling path 12, the station ST20
1, ST202, ..., ST220 are transport vehicles 2, 2, ...
The optical communication device 62 and the first striker BS2 having a communication range in the vicinity of the branch point 31 are installed in the traveling path 12 near the branch point 31 in parallel in the traveling direction of the stations ST201, ST202, …, ST2
Corresponding to No. 20, on the road 12, the second striker SS
1, SS2, ..., SS20 are installed. Further, a junction optical communication device (not shown) is provided between the station ST220 and the junction 32. The converging point optical communication device, when receiving the identification number of the transport vehicle 2 transmitted by the transport vehicle 2, transmits a transport vehicle approach signal via the communication cable 51.

Station ST30 is provided on the traveling path 13.
1, ST302, ..., ST325 are transport vehicles 2, 2 ,.
The optical communication device 63 and the first striker BS3 having a communication range in the vicinity of the branch point 33 are installed in the traveling path 13 in the vicinity of the branch point 33, which are provided side by side in the traveling direction of the stations ST301, ST302, …, ST3
Corresponding to 25, on the road 13, the second striker SS
1, SS2, ..., SS25 are installed. Further, a junction optical communication device (not shown) is provided between the station ST325 and the junction 34.

Station ST40 is provided on the traveling path 14.
1, ST402, ..., ST420 are carrier vehicles 2, 2, ...
Are provided side by side in the advancing direction between the junction points 33 and the confluence points 34, and between the stations ST420 and the confluence points 34 and between the confluence points 34 and the confluence points 32. A communication device is provided. Also, branch point 3
3, the optical communication device 64 and the first striker BS4 having a communication range on the traveling path 14 are installed in the traveling path 14 near the exit of the right turn portion between the station 3 and the station ST401,
Stations ST401, ST402, ..., ST420
Corresponding to, the second striker SS1, S on the road 14
S2, ..., SS20 are installed.

At the branch point 31, a straight traveling rail 11a for the transport vehicle 2 traveling on the traveling route 11 to travel on the traveling route 11 as it is and a right turn rail for the transport vehicle 2 to enter the traveling route 12 A rail switching device 31a is provided to switch between 12a and 12a under the control of the system control device 5 via the communication cable 51. At the branch point 33, the transport vehicle 2 passing through the branch point 31 and traveling on the traveling path 11
However, a straight rail 14a for entering the traveling path 14 and a right turn rail 1 for the carriage 2 to enter the traveling path 13
3a is provided with a rail switching device 33a that is switched by the system control device 5 via the communication cable 51.

At the confluence 34, the transport vehicle 2 traveling on the travel path 14, the straight rail for traveling on the travel path 14 and the transport vehicle 2 traveling on the travel path 13 to the travel path 14 A rail switching device (not shown) for switching between the right-turning rail and the right-turning rail for entering is provided, and the rail switching device is configured to switch between the straight-rail rail and the right-turning rail under the control of the system controller 5. . The system control device 5 switches to the right turn rail when receiving a vehicle approach signal from the junction optical communication device provided between the station ST325 and the junction 34 via the communication cable 51, and joins the station ST420. Point 34
The rail switching device is controlled so as to switch to the straight-ahead rail when a carrier approach signal is received from the confluence optical communication device provided between the rail switching device and the rail switching device.

At the merging point 32, a straight rail for the transport vehicle 2 traveling on the traveling path 14 passing through the merging point 34 and the transport vehicle 2 traveling on the traveling path 12 to enter the traveling path 11. Is provided with a rail switching device (not shown) for switching between a right-turning rail and a right-turning rail for entering the traveling path 11. The rail switching device is controlled by the system control device 5 to switch between the straight-rail rail and the right-turning rail. It is configured as follows. The system control device 5 switches to the right turn rail when receiving a vehicle approach signal from the junction optical communication device provided between the station ST220 and the junction 32 via the communication cable 51, and switches to the junction 34. Confluence 32
The rail switching device is controlled so as to switch to the straight-ahead rail when a carrier approach signal is received from the confluence optical communication device provided between the rail switching device and the rail switching device. Each rail switching device transmits, via the communication cable 51, whether the switching rail currently connected to the traveling path is a straight traveling rail or a right turn rail. Also, when the switching rail is switched, a switching completion signal is transmitted.

FIG. 2 is a partially sectional front view of the carrier vehicle 2 according to the present invention, and FIG. 3 is a side view of the carrier vehicle 2.
Shows the case where the vehicle is traveling on the traveling path 11, and the first striker and the second striker exemplify the first striker BS1 and the second striker SS1. The monorail forming the traveling path 11 has an I-shaped cross-sectional shape, and a large number of support arms (not shown) are provided on the upper surface of the monorail at appropriate intervals in the longitudinal direction. 11 is suspended from the ceiling substantially horizontally.

The carrier 2 has a body cover 241 and
A motor M with a speed reducer, a front wheel 211 that rolls when driven by the motor M and a rear wheel 212 that follows, a support portion 242, 243, 244, a vehicle body base 245, a first striker sensor 221, and a second striker sensor 222. ,
In addition, a hoist (not shown) to which the transported object is detachably attached is provided. The vehicle body base 245 includes support portions 242 and 243 projecting upward near both ends in the front-rear direction. The support portions 242 and 243 rotatably support the front wheel 211 and the rear wheel 212, respectively. , Is in rolling contact with the traveling path 11 along one side surface of the monorail. The vehicle body base 245 is suspended below the traveling path 11 by the support portions 242 and 243, and the motor M is
It is fixed to the vehicle body base 245 near the support 242.

The first striker sensor 221 and the second striker sensor 222 are U-shaped transmissive photoelectric sensors, and are supported by a support portion 244 provided so as to project above the vehicle body base 245. , Side by side. When the optical axis of the first striker sensor 221 (second striker sensor 222) is blocked by the first striker (second striker), the first striker sensor 2
21 (2nd striker sensor 222) outputs a 1st striker detection signal (2nd striker detection signal).

Each of the first striker BS1 and the second striker SS1 is formed by bending a rectangular metal plate into an L-shape having a base and a protrusion, and the base is closely fixed to the upper surface, and the protrusion is formed from a monorail. It is installed so as to be spaced apart and protrude downward along the other side surface of the monorail. At this time, in the first striker BS1 (second striker SS1), the protruding portion of the first striker BS1 (second striker SS1) has the first striker sensor 221 (second striker sensor 221).
It is arranged at a position where the optical axis of the striker sensor 222) can be blocked. Further, an optical communication device 61 is installed on the upper surface of the first striker BS1 on the front side in the traveling direction of the carrier vehicle 2. The optical communication device 230 includes the optical communication devices 61 and 6
2, 63, 64 and branch point optical communication devices 41a, 41b,
It is installed outside the vehicle body cover 241 for optical communication with an external optical communication device including 43a, 43b and the like.

FIG. 4 is a block diagram of the carrier 2. Reference numeral 201 in the figure denotes a control unit of the carrier vehicle 2.
The ROM 202, the RAM 203, and various parts of the device such as the optical communication device 230 are connected. The control unit 201 is the ROM 2
Each part of the device is controlled according to the control program stored in 02, and the data generated at this time or the data received via the optical communication device 230 is temporarily stored in the RAM 203,
Executes various processes.

The control unit 201 determines the traveling position of the transport vehicle 2 and performs a travel control process for selecting the traveling speed of the transport vehicle 2, and then uses the motor control unit 210 to drive the motor control unit 210. By controlling the output of the motor M to rotate or stop the front wheels 211, so that the transport vehicle 2 can easily stop, a low speed that is faster than the low speed and can easily shift to the low speed, or Control is performed so that the vehicle runs at a higher speed than the medium speed or stops. Also,
When the optical communication device 230 receives the speed control signal or the stop signal output from the external optical communication device, the control unit 201
The motor control unit 210 is controlled to travel at a speed according to the speed control signal or temporarily stop according to the stop signal.

When the control unit 201 receives the identification information of the first striker via the optical communication device 230,
When the first striker sensor 221 outputs the first striker detection signal, it is determined that the vehicle is traveling on the traveling path on which the first striker having the identification information is installed.
For example, when the identification information B1 is received, and the first striker sensor 221 outputs the first striker detection signal, the vehicle travels on the traveling path where the first striker BS1 is installed, that is, the traveling path 11. Determine that

The counter 220 outputs the second striker sensor 222 when the second striker sensor 222 outputs the second striker detection signal.
The number of striker detections, that is, the number of detected second strikers is counted. The control unit 201 refers to the count result of the counter 220 to determine the timing of starting high-speed, medium-speed, or low-speed traveling or the timing of stopping, and the first striker sensor 221 outputs the first striker detection signal. When output, the count result of the counter 220 is reset to 0.

The storage unit 204 stores the identification number (for example, C1) of the transport vehicle 2. The control unit 201 receives the identification number of the transport vehicle, the identification information of the first striker (for example, B3), and the number of installed second strikers (for example, 4) via the optical communication device 230. When the identification number is the identification number of the transport vehicle 2 (C1 in this case), the identification information and the number of installations (B3 and 4) are
The data is stored in the storage unit 204 as data of the stop point of the transport vehicle 2.

The control unit 201 controls the motor control unit 210, and usually causes the motor control unit 210 to control the output of the motor M so that the guided vehicle 2 travels at a high speed. When the count result of the counter 220 (the number of counted second strikers) is acquired, the storage unit 204 is referenced and the number is subtracted from the number of installations stored in the storage unit 204. When the subtraction result n is 2, the control unit 201 determines that the transport vehicle 2 is traveling in the vicinity of the second striker two units before the second striker at the stop point, and controls the motor control unit 210. , The output of the motor M is controlled so that the transport vehicle 2 travels at a medium speed, and when the subtraction result n is 1, it is traveling near the second striker, one before the second striker at the stop point. When the determination is made, the motor control unit 210 is controlled to control the output of the motor M so that the transport vehicle 2 travels at a low speed, and when the subtraction result n is 0, the vehicle travels near the second striker at the stop point. It is determined that the vehicle has arrived, that is, the vehicle has arrived at the stop point, and the motor control unit 210 is controlled to cause the motor M to decelerate so that the transport vehicle 2 stops.

5 to 7 are flowcharts showing the procedure of the traveling control process of the carrier vehicle 2. In the following, the case where the transport vehicle 2 stopped at the station receives the identification number of the transport vehicle 2 and the data of the stop point (identification information of the first striker and the number of installed second strikers) at 230 are exemplified. To do. The transport vehicle 2 stores the received data of the stop point in the storage unit 204 (S11) and starts traveling at high speed (S12). Next, it is determined whether or not a speed control signal for driving the transport vehicle 2 at a low speed is received at 230 (S
13) If not received (NO in S13), continue traveling at high speed. If received (YES in S13)
Running at low speed is started (S14). At this time, the transport vehicle 2 is in the right turn portion of the traveling road 11 or the traveling road 14, or before the branch point 31 or before the branch point 33 (the confluence point 32).
Before (or before the confluence 34)).

Next, the transport vehicle 2 determines at 230 whether a stop signal has been received (S15), and if it has received (YES at S15), it temporarily stops (S16). At this time, the transport vehicle 2 has the branch point 31 or the branch point 33 (the merging point 3
Since the rail at 2 or at the confluence 34) has not been switched, it is determined that the rail will stop before the junction 31 or the junction 33 (before the junction 32 or the junction 34) until the rail switching is completed. After being temporarily stopped in S16, the transport vehicle 2 determines whether or not a speed control signal for driving the transport vehicle 2 at a low speed is received in 230 (S17), and if not received (NO in S17). ) Wait until you receive it. If received (YES in S17), it is determined that the rail has been switched, and low-speed traveling is started (S1).
8). At this time, the transport vehicle 2 has the branch point 31 or the branch point 3
3 (merging point 32 or merging point 34) is determined to be entering at a low speed.

When the stop signal is not received (NO in S15), the guided vehicle 2 travels at a low speed on the right turn portion of the traveling road 11 or the traveling road 14, or at the branch point 31 or the branch point 33 (the confluence point 32). Or it is determined that the vehicle will enter the confluence 34) at a low speed. If the vehicle continues traveling at low speed without receiving a stop signal in S15, or if traveling at low speed is started in S18, the transport vehicle 2 determines whether or not the identification information of the first striker is received. Yes (S19). When the identification information is not received (NO in S19), the carrier 2
When it is determined that the right turn portion is turned right, or when it is determined that the right turn portion is passing through the merge point 32 or the merge point 34, and it is determined that the right turn is completed (for example, from the optical receiving device installed at the right turn portion exit). , When the speed control signal for causing the transport vehicle 2 to travel at a high speed is received) or when it is determined that the vehicle has passed the confluence 32 or the confluence 34, the process returns to S12 to start the high speed traveling.

When the identification information is received (Y in S19)
ES), the transport vehicle 2 determines that the vehicle 2 is traveling in the vicinity of the first striker. Next, the transport vehicle 2 determines whether or not the first striker is detected (S31), and when not detected (NO in S31), the traveling path 1 is determined at the branch points 31 and 33.
It is determined that the vehicle has not entered the roads 2 and 13, the process is returned to S12, and the road 11 or the road 14 is driven at high speed.
When the first striker is detected (YES in S31), it is determined that the transport vehicle 2 has entered the traveling road 11, the traveling road 12, the traveling road 13, or the traveling road 14, and then the identification information received in S19. And the identification information stored in the storage unit 204 match (S32). If they do not match (NO in S32), it is determined that there is no stop point on the entered road, and S12 The process is returned to and the vehicle travels on the traveling path at high speed.

When the identification information matches (YES in S32), it is determined that the vehicle has entered the traveling path where the stop point exists, and the transport vehicle 2 resets the number of the second strikers counted by the counter 220 to 0. Yes (S33). Next, referring to the storage unit 204, it is determined whether or not the number of second strikers installed up to the stop point is 2 or less (S3).
4) If it is 3 or more (NO in S34), it is determined that the vehicle will stop at the second striker after the third one, and the vehicle starts traveling at high speed (S35). When the number of installations is 2 or less (YES in S34), it is determined that the vehicle is stopped by the first or second second striker, and the traveling speed is kept low. The transport vehicle 2 traveling at high speed at S35 or at low speed at S34 determines whether or not the second striker is detected (S36), and if not detected (NO at S36).
O) Continue traveling at the current traveling speed until detected.

When the second striker is detected (S36
YES), the counter 220 counts the number of second strikers (S37), and subtracts the counted number from the number of installed second strikers stored in the storage unit 204 (S38), and the subtraction result n is 3 It is determined whether or not the above (S51). When n ≧ 3 (YE in S51)
S), it is determined that the vehicle will stop at the second striker after the third one from the current traveling point, the traveling is continued at the current traveling speed (high speed), the process is returned to S36, and the second striker is detected. Determine whether or not. If n <3 (S51
NO), it is determined whether the subtraction result n is 2 (S5
2) If n = 2 (YES in S52), it is determined that the vehicle will stop at the second second striker from the current traveling point, the traveling at medium speed is started (S53), and the process proceeds to S36. It returns and determines whether the 2nd striker was detected.

If n ≠ 2 (NO in S52), it is determined whether or not the subtraction result n is 1 (S54). If n = 1 (YES in S54), the next running point is determined. It is determined that the vehicle is stopped at the second striker, the vehicle starts traveling at a low speed (S55), the process is returned to S36, and it is determined whether the second striker is detected. If n = 0 (NO in S54), it is determined that the vehicle has arrived at the stop point and the vehicle is stopped (S56). By performing the above-described processing each time the data of the stop point is received, the carrier 2
It is possible to drive automatically from one station to another.

FIG. 8 is a block diagram of the system control device 5 which constitutes the above-mentioned transfer system. In the figure, 501 is a control unit of the system control device 5, and the control unit 501
Through the ROM 502, the RAM 503, and the communication cable 51, the rail switching devices 31a and 33a, the branch point optical communication devices 41a, 41b, 43a and 43b, and the device units such as the communication unit 504 for communicating with other optical communication devices are provided. It is connected. The control unit 501 controls each unit of the device according to the control program stored in the ROM 502, temporarily stores the data generated at this time or the data received via the communication cable 51 in the RAM 503, and executes various processes.

The stop point storage unit 505 stores stop point data of each carrier 2 (identification information of the first striker installed on the traveling path on which the stop point is located, and a station from the first striker to the stop point). (The number of second strikers installed up to the second striker installed in) and the identification number of the carrier 2 are stored in association with each other. For example, when the stop point of the carrier vehicle 2 with the identification number C1 is the station ST304 and the stop point of the carrier vehicle 2 with the identification number C2 is the station ST420, the identification information B of the first striker is associated with the identification number C1.
3 and the number 4 of second striker installations are stored and associated with the identification number C2, and the identification information B4 of the first striker,
The number of installed second strikers, 20 is stored.

The identification information storage unit 506 has branch points 31, 3
In association with the rail switching device installed in No. 3, the identification information of the first striker installed on each of the traveling paths where the traveling distance of the transport vehicle is the shortest when traveling on each traveling path branched from the branch point, A switching rail (straight rail or right turn rail) for entering each traveling path branched from the branch points 31 and 33 is stored. In the present embodiment, the first striker BS installed on the straight traveling rail 11a and the traveling path 13 is associated with the rail switching device 31a at the branch point 31.
No. 3 identification information B3, the identification information B4 of the first striker BS4 installed on the traveling path 14, and the right turn rail 1
2a and the first striker BS2 installed on the road 12
And the identification information B1 of the first striker BS1 installed on the traveling path 11 are stored, and in association with the rail switching device 33a at the branch point 33, the straight rail 14a and the traveling path 13 are associated with each other. The identification information B3 of the installed first striker BS3, the identification information B1 of the first striker BS1 installed on the traveling path 11, the identification information B2 of the first striker BS2 installed on the traveling path 12, and the right turn rail. 13a and the first installed on the road 14
The identification information B4 of the striker BS4 is stored.

FIG. 9 is a flow chart showing the procedure of the shortest route determination process of the system controller 5. In the following, the system control device 5 transmits the identification number of the transport vehicle 2 and the stop point data (identification information of the first striker and the second striker) via any of the optical communication devices installed on the traveling paths 11 to 14. The number of installations) and is output. At this time, the transport vehicle 2 receives the data, stores it in the storage unit 204, and starts traveling. System controller 5
Determines whether or not the branch point optical communication device 41a (43a) has received the carrier approach signal transmitted via the communication cable 51 (S71), and if not received (NO in S71), receives the signal. Wait until.

When the carrier approach signal is received (S
If YES in 71, the identification number of the transport vehicle 2 received from the branch point optical communication device 41a (43a) is received simultaneously with the transport vehicle approach signal (S72). At this time, the system controller 5 determines that the carrier 2 having the identification number has the branch point 31.
It is determined that the vehicle is approaching (33), and the stop point storage unit 50
5, the data of the stop point stored in association with the identification number (the identification information of the first striker and the second striker).
The number of strikers installed) is acquired (S73).

Next, the system control device 5 refers to the identification information storage unit 506, and for each switching rail stored in association with the rail switching device 31a (33a) of the branch point 31 (33), at S73. The switching rail in which the identification information that matches the acquired identification information of the first striker is stored is selected (S74). For example, when the identification information of the first striker acquired in S73 is B3, the rail switching device 3
Since the straight-ahead rail 11a stored in association with 1a has the identification information B3, the straight-ahead rail 11a is selected as the switching rail for the transport vehicle 2 to reach the stop point in the shortest distance.

Next, the system control device 5 communicates with the rail switching device 31a (33a), and the rail switching device 3
At 1a (33a), it is confirmed whether the switching rail currently connected to the traveling path 11 is the straight traveling rail 11a (14a) or the right turn rail 12a (13a) (S75), and S7.
Whether or not the rail is switched is determined by determining whether or not the switching rail selected in 4 and the switching rail confirmed in S75 match (S76). If the switching rails match, it is determined that the rails will not be switched (NO in S76), and the process returns to S71. At this time, the transport vehicle 2 enters the branch point 31 (33) without stopping once.

If the switching rails do not match, it is determined to switch the rails (YES in S76), and the stop signal is transmitted via the branch point optical communication device 41b (43b) (S77). At this time, the transport vehicle 2 has a branch point 31 (33).
Stop just before. Next, the system controller 5
Transmits a rail switching signal to the rail switching device 31a (33a) (S78). At this time, for example, the rail switching device 31a switches from the right turn rail 12a to the straight traveling rail 11a, and when the switching is completed, transmits a switching completion signal. The system control device 5 is a rail switching device 31.
It is determined whether or not the switching completion signal is received from a (33a) (S79), and if not received (NO in S79).
Wait until you receive it. When the switching completion signal is received (YES in S79), the branch point optical communication device 41b (43)
A speed control signal for causing the transport vehicle 2 to travel at a low speed is transmitted via b) (S80), and the process returns to S71.

In the transport system as described above, the station number of the first striker and the installed number of the second striker are set to the station, which is the stop point of the transport vehicle 2, without providing the station number for identifying each station. Each station is identified by the combination. Further, by providing the first striker for each traveling path, it is determined whether or not a required station exists on the traveling path, by identifying the identification information of the first striker corresponding to the station and the traveling path. Since it can be easily determined whether or not the identification information of the first striker matches, it is possible to reduce the processing time for performing the processing of determining whether or not the required station exists on the traveling path.

Further, it is possible to determine the traveling path on which the carrier 2 is currently traveling based on the identification information of the first striker, and to determine the traveling position within the traveling path by the number of the detected second strikers. By using the number and the installed number, the vehicle 2 travels at high speed when it is far from the station where it should be stopped, and the traveling speed can be reduced as the vehicle 2 approaches the station. It is possible to improve the transportation efficiency by driving the vehicle at the same time and to easily stop at the required station.

When determining the shortest route to the required station at each branch point, the identification information storage unit 506
Is stored in association with each switching rail (straight-ahead rail or right-turn rail) and a traveling path that minimizes the traveling distance of the guided vehicle 2 when traveling on the switching rail. At this time, each traveling path is stored in the traveling path. It is possible to easily determine the switching rail to be switched by the rail switching device in a short time by displaying the identification information of the first striker corresponding to the above and referring to the identification information storage unit 506.
However, it is not necessary to stop before the branch point or stop for a long time, and the transfer efficiency of the transfer vehicle 2 can be improved. Further, since various judgment processes are easy and completed in a short time, it is not necessary to use a control device capable of high-performance and high-speed processing, and a system control device 5 is not provided for each branch point. Since the processing can be performed only by itself, cost reduction and labor saving of the transfer system can be achieved.

When a station or a running path is added, the second striker corresponding to the added station or the first striker and the second striker corresponding to the added running path.
Since it is only necessary to add a striker and change the data of the stop point storage unit 505 and the identification information storage unit 506 of the system control device 5 for the travel route where the extension has been performed, it is possible to easily change the transfer system. it can. Although an optical communication device is used in the present embodiment, a multiplex transmission device or a wireless communication device may be used for communication.

[0077]

According to the transport system of the present invention, a transport vehicle has a first position index installed on each of a plurality of travel paths and one or a plurality of second position indexes installed along each travel path. Based on the detected identification information of the first position index and the detected number of second position indexes, the transport vehicle that has detected the first position index having the required identification information counted the required number of second position indexes. In this case, the stop point is represented by the identification information of the first position index and the number of installed second position indexes, and the traveling path on which the transport vehicle is traveling is determined by the first position index. However, since the traveling position of the guided vehicle in each traveling path can be determined by the second position index, the traveling position of the guided vehicle can be determined and the vehicle can be stopped at a predetermined stop point. The processing performed by the control means To be able to reduce the processing time, further, it is possible to easily change the configuration of the system.

Further, the transport vehicle is configured to travel at high speed, medium speed, or low speed based on the number of the detected second position indexes, so that the transport vehicle moves as the traveling position approaches the stop point. When the traveling speed is lowered and the traveling position is far from the stop point, the vehicle can travel at high speed, so that the transport efficiency of the guided vehicle can be improved, and when the stop point is reached, the vehicle can be easily stopped.

According to the transport vehicle of the present invention, the identification information of the first position index is used to represent the connection between each traveling path and another traveling path, and when the transportation vehicle arrives at the branch point, the transportation vehicle is stopped. The identification information of the first position index corresponding to the point and the identification information of the first position index respectively installed on the traveling path where the traveling distance of the transport vehicle is the shortest when traveling on the traveling path branched from the branch point Based on this, the shortest route can be determined using a small amount of data because the transport vehicle selects the travel route that reaches the stop point in the shortest time, and the shortest route determination process performed by the control means that constitutes the system is simplified. The processing time can be reduced.

When the first position index and the second position index are detected, and the predetermined second position index is detected based on the detected identification information of the first position index and the number of the second position index, Since the vehicle is configured to stop, the traveling path on which the vehicle is traveling can be determined by the first position index, and the traveling position of the guided vehicle in each traveling path can be determined by the second position index. It can be used for a transport system including a first position index and a second position index.

Furthermore, by traveling at high speed, medium speed, or low speed based on the number of the detected second position indexes, the transport vehicle decreases its speed as the traveling position approaches the stop point, and the traveling position stops. Since the vehicle can travel at a high speed when it is far from the point, the present invention has an excellent effect such that the transportation efficiency of the transportation vehicle can be improved when the transportation system including the second position index is used.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a configuration of a transfer system according to the present invention.

FIG. 2 is a partially sectional front view of a carrier vehicle according to the present invention.

FIG. 3 is a side view of the carrier according to the present invention.

FIG. 4 is a block diagram of a carrier according to the present invention.

FIG. 5 is a flowchart showing a procedure of travel control processing of the carrier according to the present invention.

FIG. 6 is a flowchart showing a procedure of travel control processing of the carrier according to the present invention.

FIG. 7 is a flowchart showing a procedure of travel control processing of the carrier according to the present invention.

FIG. 8 is a block diagram of a system control device that constitutes the transport system according to the present invention.

FIG. 9 is a flowchart showing the procedure of the shortest route determination process of the system control device that constitutes the transport system according to the present invention.

FIG. 10 is an explanatory diagram showing a configuration of a conventional transport system.

[Explanation of symbols]

11, 12, 13, 14 Road 2 carrier 201 control unit 204 storage 221 First striker sensor 222 Second striker sensor 220 counter 230 Optical communication device 61, 62, 63, 64 optical communication device BS1, BS2, BS3, BS4 1st striker SS1, SS2, ... Second striker

Claims (5)

[Claims] 1. A transport system comprising a plurality of travel paths and a transport vehicle traveling along the travel paths, wherein a first position index installed on each travel path and 1 along each travel path. Or a plurality of second position indicators installed, and the transport vehicle has a first sensor that detects the first position index, a second sensor that detects the second position index, and the transport vehicle stops. Storage means for storing the identification information of the first position index installed on the traveling path where the power stop point is located, and the number of installed second position indexes installed between the first position index and the stop point; A counter that starts counting the second position index by using the second sensor when the first position index having the identification information is detected by the first sensor, and is stored in the storage means. Counted using the number of installations and the counter And means for comparing the number of second position index, the transport system, characterized in that are configured to stop when said installation number and the individual number match. 2. The transport vehicle comprises means for traveling at high speed, medium speed, or low speed, and the number is n greater than the installed number.
When the number is smaller by ₁ (n ₁ : natural number), the vehicle travels at a lower speed, and when the number by n ₂ (n ₂ : natural number, n ₂ > n ₁ ) is smaller, the vehicle travels at a medium speed, which is smaller than the above number. The transport system according to claim 1, wherein the transport system is configured to travel at a high speed when the number is a number. 3. A plurality of traveling paths each have a branch point, and when traveling on a traveling path branching from the branch point, the first position is set on each of the traveling paths where the traveling distance of the transport vehicle is the shortest. Identification information storage means for storing identification information of an index; and identification information of a first position index and the first position, which are associated with the transport vehicle and are installed on a traveling path where a stop point at which the transport vehicle should stop is located. A stop point storage means for storing the number of installed second position indexes installed between the index and the stop point, a means for detecting the travel position of the carrier vehicle, and a travel position detected by the means. Is a position where the branch point exists in the front, the conveyance based on the traveling position, the identification information stored in the identification information storage means, and the identification information stored in the stop point storage means. A car that reaches the stop point in the shortest time The transport system according to claim 1, further comprising means for selecting a route. 4. A transport vehicle traveling along a travel path, a first sensor for detecting a first position index, a second sensor for detecting a second position index, and a first sensor corresponding to a stop point at which a vehicle should stop. When the first position sensor having the identification information is detected using the storage unit that stores the identification information of the position index and the number of installed second position indexes corresponding to the stop points, and A counter that starts counting the second position index using the second sensor, the number of installations stored in the storage means, and a second number that is counted using the counter.
And a means for comparing the number of position indexes with each other, and configured to stop when the number and the number of installations match. 5. A means for traveling at high speed, medium speed, or low speed is provided, and the number is n ₁ (n _{1 is a} natural number) from the installed number.
When the number is small,
₂ (n ₂ : natural number, n ₂ > n ₁ ) is configured to run at a medium speed when the number is smaller, and to travel at a higher speed when the number is smaller than the number. Item 4. The transport vehicle according to item 4.