JP2008097500A - Traveling system, moving device used therefor, storage medium and data structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To drastically reduce storage capacity of a moving device even when there are a large number of stations, for example, and to easily perform coping when adding a new station, for example. <P>SOLUTION: In this traveling system, storage media 7a-7h are provided near a prescribed reference position on a travel line 5. Station information about each station 3a-3e is stored in each the storage medium. The station information is information about a direction to which the moving device 11 has to advance from the reference position so as to move to each the station. The moving device 11 has: a reader 15 allowing input of destination information showing the station to which the moving device 11 has to go, and capable of reading the station information from the storage medium when the moving device 11 is positioned in the reference position; and a controller 17 controlling an advance direction of the moving device on the basis of the destination information and the station information. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a traveling system including a predetermined traveling line, a plurality of stations respectively provided at a plurality of positions on the traveling line, and a moving device that moves along the traveling line. The present invention also relates to a mobile device, a storage medium, and a data structure used in the traveling system.

  An example of the traveling system is an automatic warehouse transport system. In this case, the station includes a loading / unloading station for loading and unloading articles and a storage station for storing the loaded articles. At the time of carry-in, the moving device performs an operation of receiving the article carried in at the loading / unloading station, moves to a predetermined storage station, and performs an operation of delivering the article here. At the time of unloading, the moving device performs an operation of receiving the article at the storage station, moves to the entry / exit station, and performs an operation of delivering the article for unloading.

  The station is a place where the mobile device performs a predetermined operation such as delivery of an article as described above.

  For example, the traveling line is of a magnetic induction type. In this case, a magnet is disposed along the line on the floor surface, and a magnetic sensor is provided on the moving device. The magnetic sensor of the moving device detects a magnet on the travel line. Based on the detected magnetism, the control device of the moving device obtains a deviation amount from the travel line, and performs steering control of the moving device based on the deviation amount. Thereby, a moving apparatus can be made to drive | work along a driving | running line, detecting a magnetism.

  The moving device includes a control device that performs the above-described steering control and a storage device that stores control data. The control data includes route information for moving to the destination station, distance information to the destination station, operations to be performed at the destination station, and the like. Based on such control data, the mobile device moves to the destination station and performs a predetermined operation at the destination station. In general, a plurality of moving devices are used in the traveling system.

  The traveling system as described above is described as a transport cart system in Patent Documents 1 and 2 below, for example.

In Patent Document 1, in a transport cart system, stop control data for stopping at a station is stored in an ID tag instead of the transport cart. The ID tag is provided in front of the station serving as the stop position. Further, the control data for stopping is stored in the ID tag so as to be readable by the transport carriage. The transport carriage reads stop control data when passing the ID tag, and performs an operation of stopping at the station using the control data.
In Patent Document 1, transfer control data for performing an article delivery operation at a station is stored in the ID tag instead of the transport carriage. The transport carriage reads transfer control data when passing the ID tag, and performs a transfer operation at the station using the control data.

In Patent Document 2, a mark for detection is provided in a transport cart system so that the transport cart can be stopped at a station without traveling at a low speed. This mark is provided from before the stop position to the stop position itself. The transport carriage determines its own position and the remaining travel distance from this mark, performs travel control, and stops at the stop position without slow speed travel.
Japanese Patent Application Laid-Open No. 2005-202463 “Transport Cart System” Japanese Patent Application Laid-Open No. 2005-202464 “Transport Cart System”

In the conventional traveling system including Patent Documents 1 and 2, the following problems occur when there are a large number of stations or when a large number of branch points exist on the traveling line.
(1) The mobile device must store travel data regarding the route to travel to each station. Therefore, the storage capacity becomes enormous.
(2) When a new station is added, when a part of an existing station is removed, or when a travel line is changed, it is necessary to rewrite the route information of all mobile devices each time. A lot of labor and time are required for the work.

  Therefore, an object of the present invention is to make it possible to greatly reduce the storage capacity of a mobile device even when there are a large number of stations, and to easily cope with the case where a new station is added.

  In order to achieve the above object, according to the present invention, a predetermined traveling line, a plurality of stations respectively provided at a plurality of positions on the traveling line, and a moving device that moves along the traveling line are provided. In the traveling system, a storage medium is provided in the vicinity of a predetermined reference position on the traveling line, and station information about each station is stored in each storage medium. In order to move to each station, it is information on which direction to go from the reference position, and the moving device can input destination information indicating which station to go to, A reading device capable of reading the station information from the storage medium when the moving device is located at the reference position; and the destination information; And a control unit for controlling the traveling direction of the mobile device based on the serial station information, are provided travel system, characterized in that.

In the above traveling system, for example, when the mobile device reaches the reference position by starting the traveling upon receiving the traveling instruction or the traveling direction instruction, the station information indicating the direction to the destination station can be obtained. The mobile device can then move to the destination station based on this information. Accordingly, since it is not necessary to store route information to each station in the mobile device, the storage capacity of the mobile device can be greatly reduced even when there are a large number of stations.
In addition, when a new station is added, it is only necessary to rewrite part of the information on the storage medium. Therefore, even if there are a large number of mobile devices used in the traveling system, it is not necessary to store new information for all the mobile devices, so that it is possible to easily cope with the addition of stations.

  According to a preferred embodiment of the present invention, the travel line has at least one branch point, and the storage medium is provided in the vicinity of each branch point, and the storage in the vicinity of the branch point. The station information stored in the medium is information on which direction to go from the branch point in order to move to each station.

  As a result, the mobile device can obtain station information every time it reaches the branch point, so that it can reach the destination station through an appropriate route.

  According to a preferred embodiment of the present invention, the storage medium is provided in the vicinity of a plurality of reference positions on the travel line, and each storage medium stores each station stored in the storage medium. For each traveling direction indicated by the information, at least one of travel speed information and distance information from the reference position to the next reference position is stored, and the reading device is located when the moving device is located at the reference position. The travel speed information and / or distance information can be read from the storage medium.

  With the above configuration, the control device can perform travel speed control of the mobile device, confirmation that the next reference position has been reached, and the like based on at least one of the read travel speed information and distance information. .

  According to a preferred embodiment of the present invention, the moving device is movable in a plurality of directions from the reference position along a travel line, and the moving device is one or more of the plurality of directions from the reference position. The direction is always forward and the remaining direction of the plurality of directions is always reverse, and one or more directions among the plurality of directions are defined as a first direction group, and the remaining directions of the plurality of directions are As the second direction group, the plurality of directions are determined using at least the first direction group and the second direction group in the station information.

  In this way, the moving device always moves forward in one or more directions (first direction group) among a plurality of directions at the reference position, and always moves backward in the remaining direction (second direction group). The direction from the reference position toward each station can be easily determined using the first direction group and the second direction group.

  In order to achieve the above object, according to the present invention, there is provided a moving device that moves along a predetermined traveling line and is capable of moving between a plurality of stations respectively provided at a plurality of positions on the traveling line, A storage medium is provided in the vicinity of a predetermined reference position on the travel line, and station information for each station is stored in each storage medium, and the station information moves to each station. For this purpose, it is information on which direction to go from the reference position, destination information indicating which station to go to can be input, and when the mobile device is located at the reference position A reading device capable of reading the station information from the storage medium; and a mobile device based on the destination information and the station information. And a control device for controlling the row direction, the mobile device is provided, characterized in that.

  In order to achieve the above object, according to the present invention, a predetermined traveling line, a plurality of stations respectively provided at a plurality of positions on the traveling line, and a moving device that moves along the traveling line are provided. A storage medium provided in a traveling system, which is used in the vicinity of a predetermined reference position on the traveling line, and stores a plurality of station information respectively corresponding to the plurality of stations; Each station information is information as to which direction to go from the reference position in order to move to the corresponding station, and in the state provided in the vicinity of the reference position, the moving device is moved to the reference position. When the mobile device is located, the reading device of the mobile device can read the station information, and the control device of the mobile device can Controlling the traveling direction of the mobile device based on the input destination information indicating whether to go to the station and the station information storage medium is provided, characterized in that.

  According to the present invention, a plurality of storage media are provided in the vicinity of the different reference positions on the travel line, and each of the storage media stores the plurality of station information. A plurality of storage areas are provided, and the positions of the plurality of storage areas are determined by the stations and are the same among the plurality of storage media, and the storage device of the mobile device includes the reading device. A plurality of storage areas are provided for storing the plurality of station information read by each, respectively, and the position of the plurality of storage areas of each storage medium and the position of the plurality of storage areas of the storage device are a pair. A plurality of storage media are provided, which are characterized by 1.

  In the above invention, the positions of the plurality of storage areas of each storage medium correspond to the plurality of station information on a one-to-one basis, and the positions of the plurality of storage areas provided on the storage device of the mobile device also have a one-to-one correspondence. Correspond. Thus, when the control device performs direction control for moving to the destination station, the control device extracts the station information necessary for the direction control from the storage device by accessing the storage area at a position determined by the destination station. can do.

  Furthermore, in order to achieve the above-mentioned object, according to the present invention, data used for a moving device that moves along a predetermined traveling line and can move between a plurality of stations respectively provided at a plurality of positions on the traveling line. It is a structure and is used by being stored in a storage medium provided in the vicinity of a predetermined reference position on the travel line, and has a plurality of storage areas respectively corresponding to each station. The station information about the corresponding station is stored, and the station information is information on which direction to go from the reference position in order to move to each station. When the moving device is located at the reference position in a state of being provided in the vicinity, the reading device of the moving device displays the station information. The data structure is characterized in that it is readable and the control device of the mobile device controls the traveling direction of the mobile device based on the input destination information indicating which station to go to and the station information. Provided.

  According to the present invention described above, even when there are a large number of stations, the storage capacity of the mobile device can be greatly reduced, and when a new station is added, it is possible to easily cope with it.

  The best mode for carrying out the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a configuration diagram of a traveling system 10 according to an embodiment of the present invention. In the example of FIG. 1, the traveling system 10 is an automatic warehouse facility. The traveling system 10 in FIG. 1 includes a plurality of stations 3a to 3e, a traveling line 5, ID tags 7a to 7h, a management computer 9, and a moving device 11.

  The stations 3a to 3e include an warehousing station for carrying in articles from the outside and carrying out the articles to the outside, a storage station for storing the carried articles, and a charging station for charging the mobile device 11. . In addition, the stations 3a to 3e may include a station where the mobile device 11 stands by or a station where the mobile device 11 receives maintenance.

  The traveling line 5 is predetermined so as to connect a plurality of stations 3a to 3e. The travel line 5 may be of the magnetic induction type described above. In the example of FIG. 1, the traveling line 5 has a plurality of branch points 5f, 5g, and 5h.

The ID tags 7 a to 7 h are provided in the vicinity of the reference position on the travel line 5. In the example of FIG. 1, the reference positions are the stations 3a to 3e and the branch points 5f, 5g, and 5h. Each of the branch points 5f, 5g, and 5h is a position slightly shifted toward the station 3a from the position where the travel line 5 actually branches in FIG.
Station information about the stations 3a to 3e is stored in the ID tags 7a to 7h. The station information is information on which direction to go from the reference position in order to move to each of the stations 3a to 3e along the travel line 5.

  The management computer 9 is connected to a plurality of mobile devices 11 traveling on the travel line 5 via a wireless LAN network. The management computer 9 transmits destination information indicating which station to go to to the mobile device 11. As a result, the destination information is input to the mobile device 11. The destination information may be input to the mobile device 11 by other methods, such as an operator inputting the information to the mobile device 11 using the input device of the mobile device 11.

In this embodiment, the moving device 11 is a transport device that moves between stations along the travel line 5 and transports articles between the stations.
As shown in FIG. 2, the moving device 11 includes a reading device 15 and a control device 17. When the reader 15 is located at the reference position, it reads station information from an ID tag near the reference position by wireless communication. The control device 17 controls the traveling direction of the mobile device 11 based on the destination information and the read station information.
In addition, the mobile device 11 includes a storage device 18 that temporarily stores information read from the ID tag by the reading device 15.
The moving device 11 is driven by the traveling wheel 19, the driving wheel 21, a steering device (not shown) that controls the direction of the driving wheel 21 by being controlled by the control device 17, and the driving wheel 21. And a drive motor 23.

FIG. 3 shows station information stored in the ID tags 7a to 7h. In FIG. 3, stations 3a to 3e are abbreviated as ST3a to 3e, respectively, and station information is abbreviated as ST information. In the example of FIG. 3, station information is determined using the forward direction and reverse direction of the moving device 11 as follows. The moving device 11 always moves forward in the direction of each dashed arrow in FIG. 1, and always moves backward in the direction opposite to each dashed arrow in FIG. Utilizing this, in FIG. 3, the direction of each broken-line arrow in FIG. 1 is the forward direction, and the direction opposite to each broken-line arrow in FIG. That is, the direction from each ID tag 7a-7h to each station 3a-3e is determined using these fixed forward and reverse directions.
For example, at the branch point 5f (reference position of the ID tag 7f) in FIG. 1, first, the forward direction and the reverse direction can be distinguished. Since the forward direction has two directions, it can be further divided into a forward left direction and a forward right direction using the left and right directions. In this way, as shown in the ID tag 7f of FIG. 3, the plurality of directions at the branch point 5f are distinguished by the forward left direction, the forward right direction, and the reverse direction using the forward direction, the reverse direction, and the left-right direction. be able to.

Each ID tag 7a to 7h has a plurality of storage areas a, b, c, d, and e at positions corresponding to the stations 3a, 3b, 3c, 3d, and 3e, respectively, as shown in FIG. In each of these storage areas a, b, c, d, and e, station information about the corresponding stations 3a, 3b, 3c, 3d, and 3e is stored. The plurality of storage areas a, b, c, d, and e can be at the same position (address) among the plurality of ID tags 7a to 7h.
On the other hand, the storage device 18 of the mobile device 11 is provided with a plurality of storage areas a, b, c, d, e corresponding to the storage areas a, b, c, d, e of the ID tags 7a-7h. (See FIG. 4). The positions of the plurality of storage areas a, b, c, d, and e of the storage device 18 correspond one-to-one with the positions of the storage areas a, b, c, d, and e of the ID tags 7a to 7h. That is, when the reading device 15 reads a plurality of station information stored in the plurality of storage areas a, b, c, d, and e of the ID tag, the storage areas a, b, and c of the corresponding storage device 18 respectively. , D, e. Specifically, in the storage device 18, the station information of the station 3a is always stored in the storage area a, the station information of the station 3b is always stored in the storage area b,... stored in e. Thereby, the control device 17 accesses the storage area a when the destination information input to the mobile device 11 indicates the station 3a, and stores the storage area when the destination information indicates the station 3b. b is accessed, and if the destination information indicates the station 3e, the storage area e is accessed. In this way, the control device 17 can extract the station information necessary for the direction control by accessing the storage area a, b, c, d or e at the position determined by the destination station.

  Next, operation | movement of the moving apparatus 11 is demonstrated based on FIG. FIG. 5 is a flowchart showing the operation of the mobile device 11.

First, in step S1, it is assumed that the mobile device 11 has received destination information indicating the station 3c from the management computer 9 when the mobile device 11 is located at the station 3a.
In this case, since the mobile device 11 is located at the station 3c, the reader 15 has already read a plurality of pieces of station information from the ID tag 7a, and these pieces of station information are stored in the storage areas a and b of the storage device 18. , C, d, e. Accordingly, the process proceeds to step S3.
In step S3, the control device 17 accesses the storage area c of the storage device 18 and extracts the station information (forward direction) of the station 3c (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the moving device 11 and travels in the forward direction indicated by the station information.
Thereafter, in step S4, the moving device 11 reaches the branch point 5f, and thus goes to step S2.
In step S2, when the reading device 15 reads a plurality of station information from the ID tag 7f, the station information is stored in the storage areas a, b, c, d, and e of the storage device 18.
Subsequently, in step S3, the control device 17 accesses the storage area c of the storage device 18 and extracts station information (forward right direction) of the station 3c (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the moving device 11 and travels in the forward right direction indicated by the station information.
Thereafter, in step S4, the moving device 11 reaches the branch point 5g, and thus returns to step S2.
In step S2, when the reading device 15 reads a plurality of pieces of station information from the ID tag 7g, the station information is stored in the storage areas a, b, c, d, and e of the storage device 18.
Subsequently, in step S3, the control device 17 accesses the storage area c of the storage device 18 and extracts the station information (forward left direction) of the station 3c (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the moving device 11 and travels in the forward left direction indicated by the station information.
Thereafter, since the mobile device 11 reaches the station 3c in step S4, the mobile device 11 performs a predetermined operation (for example, reception of an article) at the destination station c, and returns to step S1.

Subsequently, in step S1, it is assumed that the mobile device 11 has received destination information indicating the station 3b from the management computer 9 when the mobile device 11 is located at the station 3c.
In this case, when the mobile device 11 arrives at the station 3c, the reading device 15 reads a plurality of pieces of station information from the ID tag 7c, and these pieces of station information are stored in the storage areas a, b, c, d of the storage device 18. , E. Accordingly, the process proceeds to step S3.
In step S3, the control device 17 accesses the storage area b of the storage device 18 and extracts the station information (reverse direction) of the station 3b (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the mobile device 11 and travels in the backward direction indicated by the station information.
Thereafter, in step S4, the moving device 11 reaches the branch point 5g, and thus proceeds to step S2.
In step S2, when the reading device 15 reads a plurality of pieces of station information from the ID tag 7g, the station information is stored in the storage areas a, b, c, d, and e of the storage device 18.
Subsequently, in step S3, the control device 17 accesses the storage area b of the storage device 18 and extracts the station information (reverse direction) of the station 3b (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the mobile device 11 and travels in the backward direction indicated by the station information.
Thereafter, in step S4, the moving device 11 reaches the branch point 5f, and thus returns to step S2.
In step S2, when the reading device 15 reads a plurality of station information from the ID tag 7f, the station information is stored in the storage areas a, b, c, d, and e of the storage device 18.
Subsequently, in step S3, the control device 17 accesses the storage area b of the storage device 18 and extracts the station information (forward left direction) of the station 3b (see FIG. 3). Based on the station information, the control device 17 controls the traveling direction of the moving device 11 and travels in the forward left direction indicated by the station information.
Thereafter, since the mobile device 11 reaches the station 3b in step S4, the mobile device 11 performs a predetermined operation (for example, delivery of an article) at the destination station 3b, and returns to step S1.
In this way, the mobile device 11 can receive the destination information and move to the destination station.

  Further, in this embodiment, each ID tag 7a to 7h travels from the reference position of the ID tag to the next reference position in the direction indicated by each stored station information in the direction indicated by the station information. Speed information can be stored. In this case, the control device 17 can control the traveling speed of the mobile device 11 in the traveling process to the next reference position based on the traveling speed information read from the ID tag.

The ID tags 7a to 7h can also store distance information for each direction indicated by the stored station information. This distance information includes the distance from the reference position of the ID tag to the next reference position.
In this case, the moving device 11 is provided with a rotation angle sensor that detects the rotation angle of the drive motor 23, and the control device 17 counts pulses representing the rotation angle of the drive motor 23 to thereby determine the travel distance of the move device 11. Detect.
Accordingly, the control device 17 can perform control to stop the moving device 11 at the next reference position based on the distance indicated by the distance information and the travel distance detected by the pulse count. In addition, when the control device 17 determines that it has moved to the next reference position based on the distance indicated by the distance information and the travel distance detected by the pulse count, the next station information cannot be read. Therefore, it is possible to determine that there is an abnormality and perform control to stop traveling, or to send a signal indicating the abnormality to the management computer 9 to notify the abnormality.

The distance information may include a distance from a reference position of the ID tag to a position where the traveling speed is changed. There may be a plurality of positions where the traveling speed is changed, for example, a position before the curve of the traveling line 5 or a position at the end of the curve.
Therefore, the control device 17 changes to the travel speed specified in the travel speed information at the position specified in the distance information based on the distance information, the travel distance detected by the pulse count, and the travel speed information. Can be controlled. Correspondingly, a plurality of travel speeds may be specified in each travel speed information.

The travel speed information and the distance information are determined for each direction specified by the station information.
Although the case of the travel speed information will be described, the same applies to the case of distance information. In the case of FIG. 1, there are four types of station information: forward direction, forward right direction, forward left direction, and reverse direction. Therefore, as shown in FIG. 6, it is only necessary to provide four traveling speed information storage areas f, g, h, i corresponding to these four types of station information in each ID tag 7a-7h. The positions of these four storage areas f, g, h, i are determined by the forward direction, the forward right direction, the forward left direction, and the reverse direction, as in the case of the station information, and the plurality of ID tags 7a-7h. Can be the same between. On the other hand, the storage device 18 is also provided with four travel speed information storage areas f, g, h, i. The positions of the storage areas f, g, h, i of the ID tags 7 a to 7 h correspond to the positions of the storage areas f, g, h, i of the storage device 18 on a one-to-one basis. Thereby, the control device 17 first extracts the station information from the storage device 18 based on the destination information, and then stores it in the storage area f, g, h or i at a position determined by the traveling direction indicated by the station information. By accessing, travel speed information necessary for speed control in the travel direction can be extracted. The same applies to distance information. As described above, four storage areas for distance information are provided in each ID and storage device 18.

  Each of the ID tags 7a to 7h and the storage device 18 can be provided with another storage area for storing other information. For example, it may be information that determines whether or not the operation of the obstacle sensor mounted on the moving device 11 is turned off for each direction from the reference position. In the travel line 5 in a predetermined direction from the reference position, when the travel line 5 and a wall surface are close to each other, the obstacle sensor can be prevented from detecting the wall surface as an obstacle.

  In this embodiment, the operation information to be performed by the mobile device 11 at each station can be stored in the ID tags 7a to 7e of each station. Thereby, the mobile device 11 can obtain operation information to be performed at the station by reaching the destination station. Therefore, it is not necessary to store the operation to be performed at each station in the storage device 18.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the case where the traveling line 5 is of a magnetic induction type has been described, but another traveling line 5 may be used. For example, the traveling line 5 may be an optical induction type, an electromagnetic induction type, or a laser induction type. Further, the travel line 5 may be one using a rail on which the moving device 11 travels.

  Moreover, in the said embodiment, although the traveling system 10 was an automatic warehouse conveyance system, another traveling system may be sufficient. For example, a traveling system in which the mobile device 11 transports a predetermined medicine between the stations along the traveling line 5 in the chemical factory, or a predetermined material or product between the stations along the traveling line 5 in the chemical factory. It may be a traveling system for carrying.

  In the above embodiment, the ID tags 7a to 7h are provided at the stations 3a to 3e and the branch points 5f, 5g, and 5h, respectively, but the ID tags may not be provided to the stations 3a to 3e. In this case, for example, when the mobile device 11 arriving at the station 3c from the branch point 3g next moves to another station from the station 3c, the mobile device 11 returns to the branch point 3g based on the station information obtained at the branch point 3g. be able to.

  In the above embodiment, an ID tag is used as a storage medium that stores station information and the like. However, another appropriate storage medium may be used instead of the ID tag. It should be noted that an empty storage area (that is, a storage area that is not used) may be provided in advance in each ID tag and a desired location in the storage device 18 so as to be able to cope with the case where a station is added later.

It is a figure which shows the structure of the traveling system by embodiment of this invention. It is a figure which shows the structure of a moving apparatus. It is a figure which shows the some storage area of each ID tag. It is a figure which shows the several memory area of a memory | storage device. 6 is a flowchart illustrating an operation of the mobile device according to the embodiment of the present invention. It is a figure which shows the memory area for memorize | storing driving speed information.

Explanation of symbols

3a, 3b, 3c, 3d, 3e Station 5 Travel line 5f, 5g, 5h Branch point 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h ID tag (storage medium)
9 Management Computer 10 Traveling System 11 Moving Device 15 Reading Device 17 Control Device 18 Storage Device 19 Traveling Wheel
21 Drive wheel 23 Drive motor

Claims (8)

A traveling system comprising a predetermined traveling line, a plurality of stations respectively provided at a plurality of positions on the traveling line, and a moving device that moves along the traveling line,
A storage medium is provided in the vicinity of the predetermined reference position on the travel line,
Each storage medium stores station information for each station,
The station information is information as to which direction to go from the reference position in order to move to each station,
The mobile device can input destination information indicating which station to go to, and can read the station information from the storage medium when the mobile device is located at the reference position; A traveling system comprising: a control device that controls a traveling direction of a mobile device based on the destination information and the station information. The travel line has at least one branch point;
The storage medium is provided in the vicinity of each branch point,
2. The station information stored in the storage medium in the vicinity of the branch point is information as to which direction to proceed from the branch point in order to move to each station. The traveling system described in 1. The storage medium is provided in the vicinity of a plurality of reference positions on the travel line,
Each storage medium stores at least one of travel speed information and distance information from the reference position to the next reference position for each traveling direction indicated by each station information stored in the storage medium.
2. The travel according to claim 1, wherein the reading device is capable of reading at least one of the travel speed information and the distance information from the storage medium when the moving device is located at the reference position. system. The moving device is movable in a plurality of directions from the reference position along a travel line;
The moving device always moves forward in one or more of the plurality of directions from the reference position, and always moves backward in the remaining directions of the plurality of directions.
One or more directions among the plurality of directions are set as a first direction group, and the remaining directions of the plurality of directions are set as a second direction group. In the station information, at least the first direction group and the second direction group are used. The traveling system according to claim 1, wherein the plurality of directions are defined. A moving device that moves along a predetermined traveling line and is capable of moving between a plurality of stations respectively provided at a plurality of positions on the traveling line,
A storage medium is provided in the vicinity of the predetermined reference position on the travel line,
Each storage medium stores station information for each station,
The station information is information as to which direction to go from the reference position in order to move to each station,
Destination information indicating which station to go to can be input, a reading device capable of reading the station information from the storage medium when the moving device is located at the reference position, and the destination information And a control device that controls a traveling direction of the mobile device based on the station information. A storage medium provided in a traveling system comprising a predetermined traveling line, a plurality of stations respectively provided at a plurality of positions on the traveling line, and a moving device that moves along the traveling line,
It is used in the vicinity of a predetermined reference position on the travel line,
Storing a plurality of station information respectively corresponding to the plurality of stations;
Each station information is information as to which direction to go from the reference position in order to move to the corresponding station,
In the state provided in the vicinity of the reference position, when the moving device is located at the reference position, the reading device of the moving device can read the station information,
A storage medium characterized in that the control device of the mobile device controls the traveling direction of the mobile device based on input destination information indicating which station to go to and the station information. A plurality of storage media, each storage medium according to claim 6, wherein these storage media are respectively provided in the vicinity of the different reference positions on the travel line,
Each storage medium is provided with a plurality of storage areas each storing the plurality of station information,
The positions of the plurality of storage areas are determined by the station and are the same among the plurality of storage media,
The storage device of the mobile device is provided with a plurality of storage areas for storing the plurality of station information read by the reader,
A plurality of storage media, wherein the positions of the plurality of storage areas of each storage medium and the positions of the plurality of storage areas of the storage device have a one-to-one correspondence. A data structure used for a moving device that moves along a predetermined traveling line and is movable between a plurality of stations respectively provided at a plurality of positions on the traveling line,
It is used by being stored in a storage medium provided in the vicinity of a predetermined reference position on the travel line,
It has a plurality of storage areas corresponding to each station,
In each of these storage areas, station information about the corresponding station is stored,
The station information is information as to which direction to go from the reference position in order to move to each station,
In the state provided in the vicinity of the reference position, when the moving device is located at the reference position, the reading device of the moving device can read the station information,
A data structure characterized in that the control device of the mobile device controls the traveling direction of the mobile device based on the input destination information indicating which station to go to and the station information.

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