JP2019021128A - Traveling vehicle system - Google Patents

Abstract

To improve the reliability of travel control in a traveling vehicle.SOLUTION: A traveling vehicle system comprises: a traveling vehicle 8 traveling along a prescribed traveling route in one direction; a first belt-like body 4 arranged in a belt shape along the traveling route and switchable to a plurality of luminous colors; and a host controller 9 for switching the color of the first belt-like body. The traveling vehicle has an identification unit 86 capable of identifying the color of the first belt-like body and an operation control unit 89C for controlling the travel of the traveling vehicle on the basis of the color identified by the identification unit.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a traveling vehicle system.

  There is known a traveling vehicle system that travels a traveling vehicle along a rail suspended from a ceiling and transports luggage near the ceiling (for example, Patent Document 1). The travel of the traveling vehicle used in the traveling vehicle system is controlled by wireless communication with the controller.

JP, 2006-53758, A

  In such a traveling vehicle system, when a large number of traveling vehicles are traveling, communication traffic between the controller and the traveling vehicle increases, and the traveling vehicle may not be controlled.

  Therefore, an object of the present invention is to provide a traveling vehicle system that can improve the reliability of traveling control in a traveling vehicle.

  A traveling vehicle system of the present invention includes a traveling vehicle that travels on a predetermined traveling route, a first strip that is arranged in a strip shape along the traveling route, and is switchable to a plurality of emission colors, And a controller that switches colors, and the traveling vehicle includes an identification unit that can identify the color of the first strip, and a control unit that controls the traveling of the traveling vehicle based on the color identified by the identification unit. .

  In this traveling vehicle system, the controller controls the color emitted by the first belt, and the traveling operation of the traveling vehicle is controlled by the control unit provided in the traveling vehicle based on the emission color identified by the identification unit. . Thereby, since the communication amount is reduced as compared with the case where communication for travel control is exchanged between the controller and the traveling vehicle, it is possible to suppress an increase in communication traffic. In addition, the traveling vehicle can be controlled without communicating with the traveling vehicle that moves. As a result, the reliability of the traveling control in the traveling vehicle can be improved.

  In the traveling vehicle system of the present invention, the first belt can be switched to at least three emission colors, and the control unit travels corresponding to each of at least three emission colors that can be identified by the identification unit. The vehicle may be stopped, run at the first speed, or run at the second speed faster than the first speed. In this traveling vehicle system, the traveling operation in the traveling vehicle of “stop”, “traveling at the first speed”, and “traveling at the second speed faster than the first speed” is controlled using the first belt-like body. Is possible. The speed here may be a maximum speed or an actual speed.

  The traveling vehicle system of the present invention may further include a second belt-like body that is arranged in a belt shape along the travel route and can emit light in a specific color or is colored in a specific color. In the traveling vehicle system having this configuration, for example, the reliability of the traveling control in a place where the traveling vehicle is desired to perform a specific traveling operation, such as low speed traveling in a curved section or slow traveling in a switching device, regardless of time or situation. Can be increased.

  In the traveling vehicle system of the present invention, the traveling vehicle may further include a display unit that displays the color identified by the identification unit. In the traveling vehicle system having this configuration, an operator or the like can grasp at a glance which color the traveling operation of the traveling vehicle is controlled.

  In the traveling vehicle system of the present invention, in a portion that branches from one upstream traveling route to two or more downstream traveling routes or merges from two upstream traveling routes to one downstream traveling route, It further includes a switch that selectively connects the upstream travel path and the downstream travel path, the first strip is disposed adjacent to the upstream side of the switch, and the controller An operation state indicating whether or not the device is in operation may be detected, and the emission color of the first strip may be controlled based on the operation state. In this traveling vehicle system, it is possible to improve the reliability of the avoidance operation for preventing the traveling vehicle from advancing to the operating switch.

  In the traveling vehicle system of the present invention, the controller may switch the color of the first strip to a predetermined color when an abnormality is detected in at least one of the traveling vehicle and the traveling route. In this traveling vehicle system, an operator or the like can grasp at a glance that an abnormality has occurred in the traveling vehicle and the traveling route.

  ADVANTAGE OF THE INVENTION According to this invention, the reliability of the traveling control in a traveling vehicle can be improved.

It is a perspective view which shows the traveling vehicle and shelf contained in the traveling vehicle system which concern on one Embodiment. It is the schematic which shows the driving | running route of the traveling vehicle system of FIG. It is the schematic which shows the driving | running route of the traveling vehicle system of FIG. It is the perspective view which showed the driving | running | working part vicinity of the traveling vehicle system of FIG. It is the functional block diagram which showed the function structure of the traveling vehicle system of FIG. 6A to 6C are diagrams illustrating an example of the control of the first switch and the first belt in the traveling vehicle system.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. Note that the upstream side and the downstream side used in the description of the present embodiment are based on one direction in which the traveling vehicle 8 travels in the circulation area A1.

  The traveling vehicle system 1 is a system for transporting luggage using a traveling vehicle 8 traveling on a rail 3. In the traveling vehicle system 1, the plurality of traveling vehicles 8 travel along the rails 3 and transfer loads between the shelves S 1, S 2, S 3. As shown in FIGS. 1 and 2, the traveling vehicle system 1 includes shelves S1, S2, and S3, a rail 3, a first strip 4, a second strip 5, a drop lift 7, and a plurality of A traveling vehicle 8 and a host controller (controller) 9 are provided.

  The shelves S1, S2, and S3 are provided along the rail 3. The shelves S1, S2, and S3 are facilities that can store luggage along the traveling direction and the vertical direction in which the traveling vehicle 8 travels. In the shelves S1, S2, and S3, placing members on which luggage can be placed are provided side by side in the direction along the traveling direction and in the vertical direction.

  The rail 3 forms a travel route of the traveling vehicle 8. As shown in FIG. 1, the rail 3 has an H-shaped section including a flange (lower flange 3 a and upper flange 3 b) and a web 3 c in a cross section perpendicular to the traveling direction, and is laid on the ceiling. . In the present embodiment, the rail 3 is maintained by a lap area A1 where the traveling vehicle 8 travels in one direction clockwise, and a first switch (switch) 31 and a second switch (switch) 32 branch off. Area A2 is formed. The first switch 31 is a device that selectively connects an upstream travel route and a downstream travel route at a portion that branches from one upstream travel route to two or more downstream travel routes. . The second switch 32 is a device that selectively connects the upstream travel route and the downstream travel route at a portion where two or more upstream travel routes merge into one downstream travel route. . The switching of the first switch 31 and the second switch 32 is controlled by the host controller 9.

  For example, as shown in FIGS. 2 and 3, the first switch 31 selectively switches the course by sliding the two movable rails 31 </ b> A and 31 </ b> B in a direction D orthogonal to the traveling direction. That is, FIG. 2 shows a state where the movable rail 31A is selected and the traveling vehicle 8 is switched so as to go straight in the lap area A1, and FIG. 3 shows that the movable rail 31B is selected and the traveling vehicle 8 Shows a state that is switched to enter the maintenance area A2.

  For example, as shown in FIGS. 2 and 3, the second switch 32 selectively switches the course by sliding the two movable rails 32 </ b> A and 32 </ b> B in a direction D orthogonal to the traveling direction. That is, FIG. 2 shows a state where the movable rail 32A is selected and the traveling vehicle 8 is switched so as to go straight in the lap area A1, and FIG. 3 shows that the movable rail 32B is selected and the traveling vehicle 8 Shows a state that is switched to leave the maintenance area A2.

  The drop lift 7 is disposed at the end of the rail 3 in the maintenance area A2. The drop lift 7 is a lift device for lowering the traveling vehicle 8 from the ceiling to the ground. The drop lift 7 is provided so as to be movable in the vertical direction in a state in which the traveling vehicle 8 enters the rail 3 forming the drop lift 7.

  The 1st strip | belt-shaped body 4 is a strip | belt-shaped body which is formed in a strip | belt shape along a path | route, and can be switched to several luminescent color. The first strip 4 is adjacent to the first section R1 upstream of the section configuring the first switch 31, the second section R2 configuring the first switch 31, and the second section R2 in the maintenance area A2. The third section R3, the fourth section R4 adjacent to the third section R3 and upstream of the section constituting the droplift 7, the fifth section R5 constituting the droplift 7, and the second switch 32 The sixth section R6 on the upstream side of the section to be configured, the seventh section R7 that forms the second switch 32, and the eighth section R8 that is adjacent to the seventh section R7 in the maintenance area A2.

  For example, an LED (Light Emitting Diode) may be employed as the first strip 4. The first strip 4 of the present embodiment can emit light of three colors of green, yellow, and red, and the color switching is controlled by the host controller 9. The first strip 4 and the host controller 9 are provided so that they can communicate with each other by wire or wirelessly. The 1st strip | belt-shaped body 4 is installed in the lower flange 3a in the rail 3, and is provided so that it can visually recognize from the worker who walks a floor.

  The 2nd strip | belt-shaped body 5 is a strip | belt-shaped body which is formed in a strip | belt shape along a path | route, can be light-emitted in a single color, or was colored in a single color. The second strip 5 of this embodiment is a yellow colored tape. The 2nd strip | belt-shaped body 5 is arrange | positioned at curve area R9 in the circumference area A1. Similarly to the first strip 4, the second strip 5 is also installed on the lower flange 3 a of the rail 3 and is provided so as to be visible from an operator walking on the floor.

  The traveling vehicle 8 travels along the rail 3 while hanging from the rail 3. The traveling vehicle 8 includes a traveling unit 81, an elevating unit 84, a transfer device 85, an identification unit 86, and a control unit 89.

  The traveling unit 81 travels along the rail 3 by receiving power supply from the high-frequency current line laid along the rail 3 in a non-contact manner. As shown in FIG. 4, the traveling unit 81 includes a first carriage 82 and a second carriage 83. The first carriage 82 and the second carriage 83 are fixed to the base portion 81A.

  The first carriage 82 has a first base 82A, a first wheel 82B, and a first guide roller 82C. 82 A of 1st base | substrates are being fixed to 81 A of base parts, and support the 1st wheel 82B and the 1st guide roller 82C. The first wheel 82B is provided to be in contact with the rail 3 and to be rotatable. Note that a drive source is not connected to the first wheel 82B, and the first wheel 82B functions as a driven wheel. The first guide roller 82 </ b> C is a member that regulates the position of the first carriage 82 in the left-right direction (rail width direction), and rotates while being in contact with the web 3 c of the rail 3.

  The second carriage 83 has a second base 83A, a second wheel 83B, a second guide roller 83C, and a drive unit 83D. The second base 83A is fixed to the base portion 81A and supports the second wheel 83B and the second guide roller 83C. The second wheel 83B is provided to contact the rail 3 and to be rotatable. The drive unit 83D is a device such as a motor that rotationally drives the second wheel 83B. The drive unit 83D causes the traveling vehicle 8 to travel along the rail 3 by rotating the second wheel 83B.

  As shown in FIG. 1, the elevating unit 84 raises and lowers the transfer device 85 to a predetermined height by feeding or winding a plurality of belts 84 </ b> A each having a transfer device 85 attached to the lower end. The operation of the elevating unit 84 is controlled by the operation control unit 89C of the control unit 89. The transfer device 85 transfers packages between the shelves S1, S2, and S3. The operation of the transfer device 85 is controlled by the operation control unit 89C of the control unit 89.

  The identification unit 86 identifies the color of the first strip 4. The example of the identification part 86 is a well-known color sensor, for example, can identify red, yellow, and green. As shown in FIG. 4, the identification portion 86 is disposed so as to face the lower flange 3 a of the rail 3 in the base portion 81 </ b> A that forms the traveling portion 81. The identification unit 86 outputs the acquired information (red, yellow, or green) to the upper controller 9 via the control unit 89.

  As shown in FIG. 5, the control unit 89 controls each part in the traveling vehicle 8 to control the transfer of luggage, to control the traveling of the traveling vehicle 8, and to control communication with the host controller 9. Or The control unit 89 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. In the control unit 89, the route search unit 89A, the switching request unit 89B, and the operation control unit 89C shown below are performed by cooperation of hardware such as a CPU, a RAM, and a ROM, and software such as a program. It is formed.

  The route search unit 89A receives a loading / unloading instruction or a maintenance instruction from the host controller 9 and determines a traveling route on which the traveling vehicle 8 travels.

  The switching request unit 89B requests the host controller 9 to switch the first switch 31 and the second switch 32 based on the travel route determined by the route search unit 89A. The host controller 9 that has received the switching request of the first switching device 31 and the second switching device 32 from the switching request unit 89B sets the first switching device 31 and the second switching device 32 so as to be in a switching state according to the request. Control.

  The operation control unit 89C controls the traveling of the traveling vehicle 8. That is, the operation control unit 89C causes the traveling vehicle 8 to travel in a preset speed mode (for example, the second speed mode) according to the travel route determined by the route search unit 89A, or the shelf S1 that has been instructed to load and unload. , S2 and S3, and the communication between the control unit 89 and the host controller 9 is controlled.

  The operation control unit 89 </ b> C controls the traveling of the traveling vehicle 8 based on the color of the first strip 4 identified by the identifying unit 86. The operation control unit 89C controls the traveling vehicle 8 corresponding to each of the three emission colors that can be identified by the identifying unit 86 to stop the traveling vehicle 8, or the speed at which the maximum speed becomes the first speed V1. Traveling in a range (hereinafter referred to as “running in the first speed mode”) or traveling in a speed range in which the maximum speed is the second speed V2 higher than the first speed V1 (hereinafter referred to as “first speed mode”). It is abbreviated as “running in the two-speed mode”). In other words, the operation control unit 89 </ b> C changes the maximum speed setting parameter when the traveling vehicle 8 travels by identifying the color of the first strip 4.

  In the present embodiment, the operation control unit 89C stops the traveling vehicle 8 when red is identified by the identifying unit 86, and causes the traveling vehicle 8 to travel in the first speed mode when yellow is identified by the identifying unit 86. When green is identified by the identification unit 86, the traveling vehicle 8 is caused to travel in the second speed mode. Note that the operation control unit 89C causes the traveling vehicle 8 to travel in the second speed mode when the identifying unit 86 does not identify any of red, yellow, and green. The operation control unit 89C may immediately control the traveling vehicle 8 when the identification unit 86 identifies red, yellow, or green, or may control the traveling vehicle 8 after traveling a predetermined traveling distance. .

  The host controller 9 controls the first switch 31, the second switch 32, the first strip 4 and the traveling vehicle 8, and controls communication with each traveling vehicle 8. The host controller 9 has a CPU, RAM, ROM and the like. In the host controller 9, hardware such as a CPU, RAM, and ROM and software such as a program cooperate with each other to switch the switch controller 91, the belt-like body controller 92, and the traveling vehicle controller 93 shown below. And are formed.

  The switch control unit 91 controls switching of the first switch 31 and the second switch 32 based on a request from the switch request unit 89B. Moreover, the switch control part 91 detects the operation state whether the 1st switch 31 and the 2nd switch 32 are operating.

  The strip-shaped body control unit 92 switches the color emitted by the first strip-shaped body 4. In the present embodiment, the switching of the emission color of the first strip 4 that can emit three colors of green, yellow, and red is controlled. For example, the belt-shaped body control unit 92 switches to emit light in a color instructed by an operator operation such as a switch operation or a touch panel operation, or whether the first switch 31 or the second switch 32 is in operation. And the emission color of the first strip 4 is automatically controlled based on the detected operation state.

  Furthermore, when detecting an abnormality in at least one of the traveling vehicle 8 and the travel route, the belt-shaped body control unit 92 may switch the color of all the first belt-shaped bodies 4 to red (predetermined color). The abnormality of the traveling vehicle 8 includes, for example, a failure of the drive system or an emergency stop due to contact with another object, and the abnormality of the traveling route includes, for example, a failure of the first switch 31 or the second switch 32. Etc. are included. Abnormality of the traveling vehicle 8 is detected by the host controller 9 or the control unit 89 built in the traveling vehicle 8, and the strip-shaped body control unit 92 switches the color of the first strip-shaped body 4 to red based on these detection results. . In addition, the abnormality in the travel route switches the color of the first strip 4 to red based on the detection result detected by the switch controller 91.

  The traveling vehicle control unit 93 outputs a loading / unloading instruction or a maintenance instruction to the control unit 89 of the traveling vehicle 8.

  Next, the operation when the traveling vehicle 8 travels on the rail 3 having the layout shown in FIGS. 2 and 3 in the traveling vehicle system 1 of the present embodiment will be described. In the traveling vehicle system 1, when the route search unit 89 </ b> A receives a loading / unloading instruction or a maintenance instruction from the host controller 9, it determines a traveling route on which the traveling vehicle 8 travels. The operation control unit 89C starts traveling of the traveling vehicle 8 and causes the traveling vehicle 8 to travel in the second speed mode. Then, when the traveling vehicle 8 enters the curved section R9, the identification unit 86 detects the color of the second strip 5. When the identifying unit 86 identifies that the color is yellow, the operation control unit 89C causes the traveling vehicle 8 to travel in the first speed mode. When the traveling vehicle 8 passes through the curved section R9, the identification unit 86 does not identify any of red, yellow, or green, so the operation control unit 89C causes the traveling vehicle 8 to travel again in the second speed mode.

  The switching request unit 89B requests the host controller 9 to switch the first switch 31 based on the travel route determined by the route search unit 89A. Here, as shown in FIG. 2 or FIG. 6 (A), the switching request unit 89B causes the host controller 9 to switch the state of the first switch 31 so that the traveling vehicle 8 can go around the turning area A1. To request. The host controller 9 (switching unit control unit 91) that has received the switching request for the first switching unit 31 from the switching request unit 89B controls the first switching unit 31 so as to be in a switching state according to the request. In addition, the switch control part 91 does not need to perform switching control, when the 1st switch 31 is already in the state of a switching request | requirement.

  The strip-shaped body control unit 92 acquires an operation state indicating whether or not the first switch 31 is operating from the switch controller 91. When acquiring the operation state that the first switch 31 is not in operation, the strip-shaped body control unit 92 changes the emission color of the first strip 4 disposed in the first section R1 and the second section R2 to green (FIG. 6 ( The oblique hatching of A) indicates that the first strip 4 emits green light.) As a result, the traveling vehicle 8 enters the first switch 31 in the second speed mode and continues to travel in the lap area. In addition, in order to explicitly show the travel route of the traveling vehicle 8, the strip-shaped body control unit 92 changes the light emission color of the first strip-shaped body 4 disposed in the movable rail 31B in the second section R2 and the third section R3 to red. (The cross hatching in FIG. 6 (A) may indicate that the first strip 4 emits red light).

  Next, a case will be described in which the host controller 9 (switch control unit 91) controls the first switch 31 so as to be in a switching state according to a request. For example, as shown in FIG. 6B and FIG. 6C, a case will be described in which the first switch 31 is switched so that entry into the maintenance area A2 is possible. The first switch 31 allows the traveling vehicle 8 to enter the maintenance area A2 by moving the movable rail 31B in the arrow direction D and being connected to the rail 3 laid in the maintenance area A2.

  The switching request unit 89B requests the host controller 9 to perform switching so that the traveling vehicle 8 is in the state of the first switch 31 that allows entry into the maintenance area A2. The host controller 9 (switching unit control unit 91) that has received the switching request for the first switching unit 31 from the switching request unit 89B controls the first switching unit 31 so as to be in a switching state according to the request.

  The strip-shaped body control unit 92 acquires an operation state indicating whether or not the first switch 31 is operating from the switch controller 91. For example, as illustrated in FIG. 6B, the band-shaped body control unit 92 is arranged in the first section R1 and the second section R2 when acquiring the operation state that the first switch 31 is operating. The emission color of the first strip 4 is switched to red (the cross-hatching in FIG. 6B indicates that the first strip 4 emits red). Thereby, the traveling vehicle 8 enters the first section R1 and stops. In addition, the switch control part 91 may switch the light emission color of the 1st strip | belt shaped object 4 arrange | positioned in 3rd area R3 to red. Moreover, the strip | belt-shaped body control part 92 switches the light emission color of the 1st strip | belt-shaped body 4 arrange | positioned in 1st area R1 and 2nd area R2 to yellow, and the time until the traveling vehicle 8 approachs into the 1st switch 31 is shown. You may earn.

  When the strip-shaped body control unit 92 acquires the operation state (the state where the switching is completed) that the first switch 31 is not operating from the switch controller 91, the first section R1, the second section R2, and the third section R3. The light emission color of the first strip 4 disposed in (1) is switched to yellow (the oblique hatching in FIG. 6C indicates that the first strip 4 emits yellow). Thereby, the traveling vehicle 8 starts traveling, enters the first switch 31 in the first speed mode, and enters the maintenance area A2.

  The strip-shaped body control unit 92 can also perform the entry control to the second switch 32 as in the case of the entry control to the first switch 31. That is, when the second switch 32 is operating, the emission color of the first strip 4 disposed in the sixth section R6 and the eighth section R8 is controlled to red, and the first switch 31 is reached. It is possible to prevent the traveling vehicle 8 from entering.

  The strip-shaped body control unit 92 can also perform the entry control to the drop lift 7 in the same manner as the entry control to the first switch 31. That is, when the drop lift 7 is operating, the light emission color of the first strip 4 disposed in the fourth section R4 is controlled to be red to prevent the traveling vehicle 8 from entering the drop lift 7. be able to.

  Next, the effect of the traveling vehicle system 1 of this embodiment is demonstrated. In the traveling vehicle system 1 of the above embodiment, the color emitted from the first strip 4 is controlled by the host controller 9, and the traveling operation of the traveling vehicle 8 is controlled based on the emission color identified by the identification unit 86. . Thereby, compared with the case where communication for driving | running | working control is exchanged between the high-order controller 9 and the traveling vehicle 8, since communication amount reduces, it can suppress that communication traffic increases. Further, the traveling vehicle 8 can be controlled without communicating with the traveling vehicle 8 that moves. As a result, the reliability of the traveling control in the traveling vehicle 8 can be improved.

  In the traveling vehicle system 1 of the above embodiment, the first strip 4 is formed to be switchable to at least three emission colors, and the host controller 9 has three emission colors that can be identified by the identification unit 86. Corresponding to each, the traveling vehicle 8 is controlled to stop the traveling vehicle 8, travel in the first speed mode, or travel in the second speed mode. In this traveling vehicle system 1, it is possible to control the traveling operation in the traveling vehicle of “stop”, “traveling in the first speed mode”, and “traveling in the second speed mode” using the first belt 4. become.

  In the traveling vehicle system 1 of the above-described embodiment, the vehicle further includes the second belt-like body 5 that is arranged in a belt shape along the travel route and colored in a specific color. Regardless of time or circumstances, such as slow traveling in the vessel 31, the reliability of the traveling control in a place where the traveling vehicle 8 wants to perform a specific traveling operation can be enhanced.

  In the traveling vehicle system 1 of the said embodiment, the 1st strip | belt-shaped body 4 is arrange | positioned adjacent to the upstream of the 1st switching device 31, and the high-order controller 9 is whether the 1st switching device 31 is operating. Based on the operation state, the emission color of the first strip 4 is controlled. In this traveling vehicle system, it is possible to improve the reliability of the operation for preventing the traveling vehicle 8 from entering the operating first switch 31.

  Although one embodiment has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.

  In the said embodiment, although the example which the 1st strip | belt-shaped body 4 was arrange | positioned along a part of the rail 3 was given and demonstrated, you may arrange | position along the rail 3 whole. Moreover, the structure by which the 2nd strip | belt-shaped body 5 is not arrange | positioned may be sufficient.

  Although the first belt-like body 4 of the above embodiment has been described with reference to an example that can be switched to three colors, it may be switchable to two colors, or may be switchable to four or more colors. In this case, the operation control unit 89 </ b> C of the traveling vehicle 8 may be controlled by the operation of the traveling vehicle 8 corresponding to these colors. Further, the first strip 4 may employ liquid crystal instead of the LED.

  As shown in FIG. 1, the traveling vehicle 8 according to the embodiment or the modification may further include a display unit 88 that displays the color identified by the identification unit 86 on the base unit 81 </ b> A of the traveling unit 81. Good. In the traveling vehicle system 1 having this configuration, an operator or the like can grasp at a glance which color the traveling operation of the traveling vehicle 8 is controlled.

  In the said embodiment, although the example which has arrange | positioned the 2nd strip | belt-shaped body 5 colored yellow in all the curve area R9 was given and demonstrated, the 2nd strip | belt-shaped body 5 from which a color differs according to the curvature of the curve area R9, for example was demonstrated. May be arranged. Thereby, the traveling vehicle 8 can be passed at an optimal speed in the curve section.

  In the above embodiment or the modification, the traveling vehicle provided movably along the rails laid on the ceiling has been described as an example. For example, a magnetic induction system that travels in a predetermined direction along the magnetic tape is described. The present invention can also be applied to a traveling vehicle or a traveling vehicle provided so as to be movable along a rail laid on the ground.

  In the above-described embodiment or modification, an example of a traveling vehicle system having a traveling vehicle that moves in one direction has been described, but the present invention can also be applied to a traveling vehicle system that has a traveling vehicle that reciprocates. .

  DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle system, 3 ... Rail, 4 ... 1st strip | belt body, 5 ... 2nd strip | belt body, 7 ... Drop lift, 8 ... Traveling vehicle, 9 ... High-order controller, 31 ... 1st switch (switch), 32 ... second switch (switch), 86 ... identification unit, 88 ... display unit, 89 ... control unit, 89A ... route search unit, 89B ... switching request unit, 89C ... operation control unit, 91 ... switch control unit , 92... Strip-shaped body control unit, 93... Traveling vehicle control unit, A 1.

Claims (6)

A traveling vehicle traveling along a predetermined traveling route;
A first strip that is arranged in a strip shape along the travel route and is switchable to a plurality of emission colors;
A controller for switching the color of the first strip,
The traveling vehicle system includes: an identification unit that can identify a color of the first belt-like body; and a control unit that controls traveling of the traveling vehicle based on the color identified by the identification unit. The strip can be switched to at least three emission colors,
The control unit stops the traveling vehicle, travels at a first speed, or travels at a second speed faster than the first speed, corresponding to each of at least three emission colors that can be identified by the identification unit. The traveling vehicle system according to claim 1.   The traveling vehicle system according to claim 1, further comprising a second belt-like body that is arranged in a belt shape along the travel route and can emit light in a specific color or is colored in a specific color.   The said traveling vehicle is a traveling vehicle system as described in any one of Claims 1-3 which further has a display part which displays the color identified by the said identification part. The upstream travel route and the downstream side are branched from one upstream travel route into two or more downstream travel routes, or in a portion where two upstream travel routes merge into one downstream travel route. Further comprising a switch for selectively connecting the travel route of
The first strip is disposed adjacent to the upstream side of the switch,
5. The controller according to claim 1, wherein the controller detects an operation state indicating whether or not the switch is in operation, and controls a light emission color of the first strip based on the operation state. 6. Traveling vehicle system.   The travel according to any one of claims 1 to 5, wherein when the controller detects an abnormality in at least one of the travel vehicle and the travel route, the color of all the first strips is switched to a predetermined color. Car system.

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