JP2009123156A - Carrier system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrier system ensuring safety while maintaining carrying efficiency. <P>SOLUTION: The carrier system with light curtains 30A to 30F for detecting an object provided around a traveling path 20 of a crane 10 comprises: a control means for controlling a speed of the crane 10 upon receiving a detection result indicating detection of an object by the light curtains 30A to 30F; and a determination means for determining whether to transmit the detection result by the light curtains 30A to 30F to the control means according to a distance between the light curtains 30A to 30F and the crane 10. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a transport vehicle system using a transport vehicle that transports articles.

  In an automatic storage warehouse for liquid crystal glass, a transport vehicle for transporting articles is used. Since such a transport vehicle travels unattended, a mechanism for ensuring safety is required.

For example, in the tracked cart system disclosed in Patent Document 1, an area sensor is provided in the processing facility to detect the presence of an obstacle such as a person or a preceding tracked cart. When an obstacle is detected, the corresponding area is blocked and entry of the tracked carriage is prohibited, and interference between a person or a preceding carriage and the tracked carriage is prevented.
JP 2005-284780 A

  However, according to the prior art, the conveyance efficiency may be reduced.

  FIG. 13 is a diagram for explaining a conventional problem. Here, the conveyance vehicle system provided with the light curtain 300 along the traveling route 200 of the crane 100 is illustrated. In this transport vehicle system, when the light curtain 300 is shielded from light, it is assumed that a person has entered and the crane 100 is stopped. However, as shown in this figure, when the crane 100 is sufficiently far from the light curtain 300, it is not necessary to stop the crane 100. That is, stopping the crane 100 in such a case does not contribute at all in terms of safety, and only reduces the conveyance efficiency.

  This invention solves the said subject, and it aims at providing the conveyance vehicle system which can ensure safety | security, maintaining conveyance efficiency.

  In order to achieve the above object, a transport vehicle system according to the present invention is a transport vehicle system in which an object detector that detects an object is provided around a travel route of the transport vehicle, and detects an object of the object detector. When the detection result is received, the control means for controlling the speed of the transport vehicle and the detection result of the object detector are transmitted to the control means in accordance with the distance between the object detector and the transport vehicle. Determination means for determining whether or not to do. As a result, the speed of the transport vehicle is controlled according to the distance between the object detector and the transport vehicle, so that safety can be ensured while maintaining the transport efficiency. In addition, since a useless detection result is not transmitted to the control unit, the configuration of the control unit can be simplified.

  Here, the transport vehicle system further includes an acquisition unit configured to acquire a current position of the transport vehicle, and the determination unit determines whether the object detector is within an effective range based on the current position of the transport vehicle. It may be determined whether or not only the detection result of the object detector determined to be within the effective range is transmitted to the control means. As a result, when the article detector outside the effective range detects the article, the speed of the transport vehicle is not controlled, so that safety can be ensured while maintaining the transport efficiency.

  Further, the transport vehicle system further includes transmission means for transmitting an ignorance signal to the object detector outside the effective range, and the object detector detects a detection result only when the ignorance signal is not received. May be transmitted to the control means. Thereby, when a communication failure occurs, an ignorance signal is not transmitted, and the object detector can be maintained in an operating state.

  Further, the determination unit may set a range within a certain distance from the current position of the transport vehicle as the effective range. This makes it possible to prevent the speed of the transport vehicle from being controlled when the product detector that is not within a certain distance from the current position of the transport vehicle detects the product.

  In addition, the determination unit may set the effective range as a range excluding a travel range of the transport vehicle that has received a command by a transport command from a range within a certain distance from the current position of the transport vehicle. Thus, even when an article detector within a certain distance from the current position of the transport vehicle detects the article, the speed of the transport vehicle is not controlled when the article detector is outside the travel range of the transport vehicle. It becomes possible to do.

  In addition, the determination unit may set a range obtained by excluding the back of the transport vehicle from a range within a certain distance from the current position of the transport vehicle as the effective range. As a result, even when an article detector within a certain distance from the current position of the transport vehicle detects an article, the speed of the transport vehicle is not controlled when the article detector is behind the transport vehicle. Is possible.

  Further, the determination means may widen the effective range as the traveling speed of the transport vehicle is higher. As a result, it is possible to make the effective range appropriate for the traveling speed of the transport vehicle.

  Further, the object detector determines whether or not the object detector is within the effective range based on the current position of the transport vehicle, and transmits the detection result to the control means only when it is determined to be within the effective range. May be. This makes it possible to ignore the object detector that is outside the effective range simply by transmitting the current position of the transport vehicle to the object detector.

  The object detector may directly transmit the detection result to the control means provided in the transport vehicle. As a result, since the signal is directly exchanged between the object detector and the control means, it is possible to quickly perform the processing from when the object detector detects the object until the control means controls the transport vehicle. Become.

  Note that the present invention can be realized not only as such a transport vehicle system, but also as a transport vehicle control method using steps characteristic of the transport vehicle system. It can also be realized as a program executed by a computer. Needless to say, such a program can be distributed via a recording medium such as a CD-ROM or a transmission medium such as the Internet.

  As is apparent from the above description, according to the transport vehicle system of the present invention, the speed of the transport vehicle is controlled according to the distance between the object detector and the transport vehicle, so that the transport efficiency is maintained. It becomes possible to ensure safety. In addition, since a useless detection result is not transmitted to the control means for controlling the speed of the transport vehicle, it is possible to simplify the configuration of the control means, and it is possible to reduce the time required for the processing of the control means. Become. In situations where the present invention is applied, it is important to perform rapid processing in order to ensure safety. From such a viewpoint, the present invention can be said to be an invention with extremely high practical value.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a diagram showing an outline of the transport vehicle system according to the first embodiment.

  Here, a conveyance vehicle system used in an automatic storage warehouse for liquid crystal glass is assumed. As shown in this figure, a plurality of light curtains 30 </ b> A to 30 </ b> F are provided along the traveling route 20 of the crane 10. The crane 10 is an example of a transport vehicle that transports articles. The transport vehicle here includes a stacker crane. The light curtain 30 is an example of an object detector that detects an object. Here, although several light curtain 30A-30F is illustrated, the number of light curtains is not specifically limited. Hereinafter, the light curtains 30 </ b> A to 30 </ b> F are referred to as “light curtains 30” when not distinguished from one another.

  FIG. 2 is a diagram showing an overview of the light curtain 30 according to the first embodiment.

  The light curtain 30 is provided at the boundary between a dangerous area where entry of an operator is prohibited and a safe area where entry is allowed. In the danger area, the crane 10 is traveling on the travel route 20. A light projector 301 having a plurality of light projecting elements and a light receiver 302 having a plurality of light receiving elements are arranged to face each other, so that a channel (optical axis) is formed by each of the light projecting elements and the light receiving elements. ing. The plurality of light projecting elements sequentially perform a light projecting operation at a predetermined light project timing. Thus, it is possible to detect the shading of the channel based on the light reception signal from the light receiving element. When the light shielding is detected, a detection signal indicating that effect (hereinafter sometimes referred to as “detection result”) is output from the light curtain 30 to stop the crane 10.

  FIG. 3 is a configuration diagram of the crane board 40 and the light curtain board 50 in the first embodiment.

  The crane board 40 is an operation panel for operating the crane 10, and the light curtain board 50 is an operation panel for operating the light curtain 30. The crane board 40 and the light curtain board 50 can transmit and receive signals to and from each other. Although not shown in this figure, the crane board 40 and the crane 10, and the light curtain 30 and the light curtain board 50 can also transmit and receive signals to and from each other.

  The crane board 40 includes an acquisition unit 41, a determination unit 42, a transmission unit 43, and a control unit 44. The acquisition unit 41 is an example of an acquisition unit according to the present invention, and acquires the current position of the crane 10. The determination unit 42 is an example of a determination unit according to the present invention, and determines whether to transmit the detection result of the light curtain 30 to the control unit 44 according to the distance between the light curtain 30 and the crane 10. To do. Specifically, based on the current position of the crane 10, it is determined whether or not the light curtain 30 is within the effective range, and only the detection result of the light curtain 30 determined to be within the effective range is transmitted to the control unit 44. judge. The transmission unit 43 is an example of a transmission unit according to the present invention, and transmits an ignorance signal to the light curtain 30 outside the effective range. The control unit 44 is an example of a control unit according to the present invention, and controls the speed of the crane 10 when receiving a detection result indicating that an object of the light curtain 30 has been detected.

  FIG. 4 is a diagram illustrating a state in which an area on the travel route 20 is divided into a plurality of areas AF.

  As shown in this figure, the areas near the light curtains 30A to 30F are referred to as areas A to F, respectively. Here, six light curtains 30A to 30F and six areas A to F are illustrated, but the number of light curtains 30A to 30F and the number of areas A to F may not match.

  FIG. 5 is a diagram illustrating an internal configuration example of the determination table T. As illustrated in FIG.

  This determination table T is a table in which the area where the crane 10 is located is associated with the effective range of the light curtain 30 at that time. “◯” in the figure indicates an effective range, and “x” in the figure indicates that it is not in an effective range. For example, when the crane 10 is located in the area A, the light curtains 30A and 30B are within the effective range, and the other light curtains 30C to 30F are not within the effective range. Such a determination table T is created in advance and stored in the crane board 40 or the like.

  FIG. 6 is a flowchart showing the operation of the transport vehicle system in the first embodiment. Hereinafter, the structure of the conveyance vehicle system in this Embodiment 1 is demonstrated with the operation | movement.

  First, the crane 10 transmits its current position to the crane board 40 (S11). The current position can be calculated (obtained) based on an output from the encoder provided in the crane 10, for example. Each time the crane 10 calculates its current position, the crane 10 transmits the current position to the crane board 40.

  Next, the acquisition unit 41 of the crane board 40 receives (acquires) the current position of the crane 10 (S12), and passes the received current position of the crane 10 to the determination unit 42. Thereby, the determination part 42 determines whether each of light curtain 30A-30F exists in an effective range based on the present position of the crane 10 (S13).

  Here, a range within a certain distance from the current position of the crane 10 is defined as an effective range. Therefore, when the crane 10 is located in the area E, the light curtains 30D to 30F are in the effective range and the other light curtains 30A to 30C are not in the effective range as shown in the determination table T of FIG. It will be. This determination result is passed from the determination unit 42 to the transmission unit 43.

  Next, the transmission unit 43 of the crane board 40 transmits an ignorance signal to the light curtain 30 outside the effective range (S14). Here, since the light curtains 30A to 30C are not within the effective range, an ignoring signal is transmitted to the light curtains 30A to 30C. The ignore signal transmitted by the transmitter 43 is received by the light curtain board 50 (S15).

  On the other hand, when detecting the object, the light curtains 30A to 30F transmit the detection result to the light curtain board 50 (S16 → S17). When receiving the detection result from the light curtain 30, the light curtain board 50 determines whether to ignore the detection result (S18 → S19). Here, since the ignore signals are received for the light curtains 30A to 30C (S15), the detection results received from the light curtains 30A to 30C are ignored. In contrast, the detection results received from the light curtains 30D to 30F are transmitted to the crane board 40 (S20).

  Subsequent operations are the same as in the prior art. That is, the crane board 40 will transmit a stop command to the crane 10, if a detection result is received from the light curtain board 50 (S21-> S22). The crane 10 stops upon receiving a stop command from the crane board 40 (S23 → S24). Instead of stopping the crane 10, the traveling speed of the crane 10 may be reduced. In this way, it is possible to avoid as much as possible a decrease in transport efficiency while ensuring safety.

  As described above, according to the transport vehicle system in the first embodiment, the speed of the crane 10 is controlled according to the distance between the light curtain 30 and the crane 10, so that safety can be maintained while maintaining the transport efficiency. It can be secured. Moreover, since a useless detection result is not transmitted to the control part 44 which controls the speed of the crane 10, it becomes possible to make the structure of the control part 44 simple, such as receiving input signals together in one circuit. Thus, the time required for the processing of the control unit 44 can be shortened.

  Here, the ignore signal is transmitted to the light curtain 30 outside the effective range. However, the effective signal may be transmitted to the light curtain 30 within the effective range. However, in this case, the light curtain 30 is set in a non-operating state until a valid signal is received, so that a safety problem when a communication failure occurs becomes a problem. In this respect, if the ignore signal is transmitted to the light curtain 30 outside the effective range as in the present embodiment, the ignore signal is not transmitted even if a communication failure occurs. It remains operational. Therefore, when the operator enters the dangerous area, the light curtain 30 detects it, so that the safety of the operator can be ensured.

  Moreover, although the light curtain board 50 controlled the light curtain 30 here and the structure which the crane board 40 controls the crane 10 was illustrated here, this invention is not limited to this. For example, instead of the light curtain board 50, a personal computer that controls the light curtain 30 may be employed. Further, a personal computer that controls the crane 10 may be employed instead of the crane board 40. Furthermore, the same effect can be obtained even if one control device having the functions of both the light curtain board 50 and the crane board 40 is employed.

  Although the case where only one crane 10 exists in the automatic storage warehouse has been described here, the present invention can also be applied to a case where a plurality of cranes 10 exist. For example, when there are two cranes 10X and 10Y, it is assumed that one crane 10X is located in area E and the other crane 10Y is located in area A. Of course, the areas A and E here are the areas A to F shown in FIG.

  In this case, one crane 10X transmits an ignorance signal to the light curtains 30A to 30C, and the other crane 10Y transmits an ignorance signal to the light curtains 30C to 30F. Here, since the light curtains 30A, 30B, 30D, 30E, and 30F receive the ignore signal from either of the two cranes 10X and 10Y, the operations of the light curtains 30A, 30B, 30D, 30E, and 30F are performed. Is a problem.

  Therefore, in such a case, it is preferable to add the identifier of the crane 10 that has transmitted the ignore signal to the ignore signal. In this way, the light curtain 30 that has received the ignore signal does not transmit the detection result to the crane 10 having the identifier added to the ignore signal, and the detection result to the other cranes 10. Can be sent.

  For example, the light curtain 30B receives an ignorance signal (identifier: 10X) from one crane 10X. Therefore, when the light curtain 30B detects an object, the light curtain 30B does not transmit the detection result to one crane 10X, and transmits the detection result to the other crane 10Y. In this way, when the light curtain 30B is shielded, the crane 10X located in the area E sufficiently away from the light curtain 30B continues to travel, and the crane 10Y located in the area A near the light curtain 30B stops. become. Thus, the present invention can also be applied to a case where a plurality of cranes 10 are present in an automatic storage warehouse.

  Here, the range within a certain distance from the current position of the crane 10 is set as the effective range, but the effective range is not limited to this. Several other examples of the effective range will be described below.

  FIG. 7 is a diagram illustrating another example of the effective range.

  Since the traveling range of the crane 10 is determined by the conveyance command, it can be said that it is safe even in the vicinity of the crane 10 if it is outside the traveling range of the crane 10. Therefore, the determination unit 42 may set a range obtained by excluding the outside of the traveling range of the crane 10 that has been instructed by the conveyance command from the range within a certain distance from the current position of the crane 10. For example, as shown in this figure, even when the light curtains 30D to 30F are within a certain distance from the current position of the crane 10, the light curtain 30D is out of the traveling range of the crane 10, so It may be determined that only 30F is in the effective range. As a result, even when the light curtain 30 within a certain distance from the current position of the crane 10 detects an article, the speed of the crane 10 is not controlled when the light curtain 30 is out of the traveling range of the crane 10. It becomes possible to do.

  FIG. 8 is a diagram illustrating another example of the effective range.

  When the crane 10 is traveling in a certain direction, it can be said that it is safe even in the vicinity of the crane 10 if it is behind the crane 10. Therefore, the determination unit 42 may set a range obtained by removing the back of the crane 10 from a range within a certain distance from the current position of the crane 10 as an effective range. For example, as shown in this figure, even when the light curtains 30D to 30F are within a certain distance from the current position of the crane 10, the light curtain 30F is behind the crane 10, so only the light curtains 30E and 30D are present. May be determined to be within the effective range. Thus, even when the light curtain 30 within a certain distance from the current position of the crane 10 detects an article, the speed of the crane 10 is not controlled when the light curtain 30 is behind the crane 10. Is possible.

  FIG. 9 is a diagram illustrating another example of the effective range.

  The traveling speed of the crane 10 is usually different depending on the equipment environment such as the traveling route 20 and the type of the crane 10. Therefore, the determination unit 42 may widen the effective range as the traveling speed of the crane 10 is higher. For example, as shown in FIG. 9A, when the crane 10 is traveling at a low speed, it is determined that the three light curtains 30D to 30F are in the effective range, and as shown in FIG. 9B. When the crane 10 is traveling at a high speed, it may be determined that the four light curtains 30C to 30F are in the effective range. As a result, it is possible to set an appropriate effective range according to the traveling speed of the crane 10.

(Embodiment 2)
In the first embodiment, the crane board 40 mainly performs characteristic processing, whereas in the second embodiment, the light curtain 30 mainly performs characteristic processing. Hereinafter, the configuration of the transport vehicle system according to the second embodiment will be described focusing on differences from the first embodiment.

  FIG. 10 is a diagram showing an outline of the transport vehicle system in the second embodiment.

  A dotted line arrow between the crane 10 and the light curtain 30C indicates that the crane 10 and the light curtain 30C are wirelessly communicating. Not only the light curtain 30C but also the other light curtains 30A, 30B, 30D, 30E, and 30F can wirelessly communicate with the crane 10. Here, although the light curtain board 50 and the crane board 40 are not illustrated, the general light curtain board 50 and the crane board 40 may also be provided in the carrier system in the second embodiment.

  FIG. 11 is a configuration diagram of the crane 10 and the light curtain 30 according to the second embodiment.

  The crane 10 includes an acquisition unit 11, a transmission unit 12, and a control unit 13. The acquisition unit 11 acquires the current position of the crane 10. The transmission unit 12 wirelessly transmits the current position of the crane 10 acquired by the acquisition unit 11 to each of the light curtains 30A to 30F. The control unit 13 controls the speed of the crane 10 when receiving the detection result that the object of the light curtain 30 has been detected.

  The light curtain 30 includes a determination unit 31, a detection unit 32, and a transmission unit 33. When receiving the current position of the crane 10, the determination unit 31 determines whether itself (the light curtain 30) is within the effective range based on the current position. The detection unit 32 transmits the detection result wirelessly to the control unit 13 of the crane 10 only when it is determined that the detection unit 32 is within the effective range.

  FIG. 12 is a flowchart showing the operation of the transport vehicle system in the second embodiment. Hereinafter, the structure of the carrier system in this Embodiment 2 is demonstrated with the operation | movement.

  First, the acquisition unit 11 of the crane 10 acquires its current position (S31) and passes it to the transmission unit 12. The transmission unit 12 wirelessly transmits its current position acquired by the acquisition unit 11 to each of the light curtains 30A to 30F (S32).

  Next, when the determination unit 31 of the light curtain 30 receives the current position of the crane 10 (S33), it determines whether or not it is within the effective range (S34). And when it determines with self being in an effective range, when an object is detected (S35), the detection result is transmitted to the crane 10 by radio | wireless (S36). The control part 13 of the crane 10 will stop, if a detection result is received from the light curtain 30 (S37-> S38).

  Here, as shown in FIG. 10, the light curtains 30D to 30F are in the effective range, and the other light curtains 30A to 30C are not in the effective range. Therefore, only when the light curtains 30D to 30F detect an object, the detection result is transmitted to the crane 10 and the crane 10 stops.

  As described above, the same effect as in the first embodiment can also be obtained by the transport vehicle system in the second embodiment. That is, since the speed of the crane 10 is controlled according to the distance between the light curtain 30 and the crane 10, it is possible to ensure safety while maintaining the conveyance efficiency. Moreover, since a useless detection result is not transmitted to the control part 13 which controls the speed of the crane 10, it becomes possible to make the structure of the control part 13 into a simple structure, such as receiving an input signal collectively in one circuit. Thus, the time required for the processing of the control unit 13 can be shortened.

  Furthermore, in the transport vehicle system in the second embodiment, a configuration in which the crane 10 and the light curtain 30 communicate wirelessly is adopted. That is, since signals are directly exchanged between the light curtain 30 and the control unit 13 of the crane 10, it is possible to quickly perform processing from when the light curtain 30 detects an object until the crane 10 is stopped. Become.

  Moreover, in the carrier system in this Embodiment 2, since the light curtain 30 mainly performs the characteristic process, the structure of the crane 10 can be simplified. There is also a merit that the light curtain board 50 and the crane board 40 may be conventional products. In this respect, although not particularly mentioned in the above description, in the transport vehicle system in the first embodiment, since the crane board 40 mainly performs characteristic processing, there is an advantage that the light curtain 30 may be a conventional product. is there. Which configuration of the first and second embodiments is adopted may be determined in accordance with the existing equipment situation.

  Here, the detection result is transmitted to the crane 10 only when the light curtain 30 within the effective range detects an object, but the present invention is not limited to this. That is, when all the light curtains 30A to 30F detect an object, the detection result is transmitted to the crane 10, and the detection result from the light curtain 30 that is not within the effective range is ignored on the crane 10 side. Also good. In this case, although it is necessary to determine whether or not the detection result is ignored on the crane 10 side, the conventional problem of stopping the crane 10 sufficiently far away from the light curtain 30 can be solved.

  The crane 10 is not a stacker crane, but may be a tracked carriage or an AGV (Automated Guided Vehicle) that travels along a rail.

  The present invention can be applied to a use of a transport vehicle system that needs to ensure safety while maintaining transport efficiency.

It is a figure which shows the outline | summary of the conveyance vehicle system in Embodiment 1. FIG. FIG. 2 is a diagram showing an overview of a light curtain in the first embodiment. It is a block diagram of the crane board and light curtain board in Embodiment 1. FIG. It is a figure which shows a mode that the area | region on the driving | running route in Embodiment 1 was divided | segmented into the several area. 6 is a diagram illustrating an internal configuration example of a determination table according to Embodiment 1. FIG. 3 is a flowchart showing an operation of the transport vehicle system in the first embodiment. FIG. 10 is a diagram showing another example of the effective range in the first embodiment. FIG. 10 is a diagram showing another example of the effective range in the first embodiment. FIG. 10 is a diagram showing another example of the effective range in the first embodiment. It is a figure which shows the outline | summary of the conveyance vehicle system in Embodiment 2. FIG. It is a block diagram of the crane and light curtain in Embodiment 2. 10 is a flowchart showing the operation of the transport vehicle system in the second embodiment. It is a figure for demonstrating the conventional subject.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Crane 11 Acquisition part 12 Transmission part 13 Control part 20 Traveling route 30 Light curtain 31 Determination part 32 Detection part 33 Transmission part 40 Crane board 41 Acquisition part 42 Determination part 43 Transmission part 44 Control part 50 Light curtain board

Claims (10)

A transport vehicle system provided with an object detector for detecting an object around a travel route of the transport vehicle,
Control means for controlling the speed of the transport vehicle when receiving a detection result that an object of the object detector is detected;
A carrier system comprising: a determination unit that determines whether to transmit a detection result of the object detector to the control unit according to a distance between the object detector and the carrier vehicle. . The transport vehicle system further includes:
An acquisition means for acquiring a current position of the transport vehicle;
The determination means determines whether or not the object detector is within an effective range based on the current position of the transport vehicle, and only the detection result of the object detector determined to be within the effective range is the control means. The conveyance vehicle system according to claim 1, wherein it is determined to be transmitted to the vehicle. The transport vehicle system further includes:
Transmission means for transmitting an ignorance signal to the object detector outside the effective range;
The carrier system according to claim 2, wherein the object detector transmits a detection result to the control means only when the ignore signal is not received. The transport vehicle system according to claim 2, wherein the determination unit sets a range within a certain distance from a current position of the transport vehicle as the effective range. The range of a range within a fixed distance from the current position of the transport vehicle, excluding the outside of the travel range of the transport vehicle that has been instructed by a transport command, is set as the effective range. 2. The transport vehicle system according to 2. The carrier system according to claim 2, wherein the determination unit sets a range excluding the back of the carrier vehicle from a range within a certain distance from the current position of the carrier vehicle as the effective range. The carrier system according to claim 2, wherein the determination unit widens the effective range as the traveling speed of the carrier vehicle increases. The object detector determines whether or not the object detector is within the effective range based on the current position of the transport vehicle, and transmits the detection result to the control means only when it is determined that the object detector is within the effective range. The transport vehicle system according to claim 1. The carrier system according to claim 1, wherein the object detector directly transmits the detection result to the control unit provided in the carrier vehicle. A transport vehicle control method for controlling the transport vehicle in a transport vehicle system provided with an object detector for detecting an object around a travel route of the transport vehicle,
A control step in which a control means controls the speed of the transport vehicle when receiving a detection result that an object of the object detector is detected;
And a determination step of determining whether or not to transmit a detection result of the object detector to the control means according to a distance between the object detector and the conveyance vehicle. Method.

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