JP2022125369A - Traveling system - Google Patents

Abstract

To improve conveyance efficiency of a wagon in a traveling system provided with a travel path including a junction.SOLUTION: A traveling system 1 comprises a track 4, a plurality of wagons 6 and an area controller 60. When receiving junction passing permission requests from a preceding wagon 6A and a following wagon 6B, the area controller 60 transmits junction passing permission responses to the preceding wagon 6A and the following wagon 6B when both types of the junction passing permission requests of the preceding wagon 6A and the following wagon 6B are a straight type. The area controller 60 transmits the junction passing permission response only to the preceding wagon 6A when a type of the junction passing permission request of the preceding wagon 6A is a curve type. The preceding wagon 6A, requiring the junction passing permission request of the curve type, performs processing to change a type of the requiring junction passing permission request to the straight type after passing a junction G from a curve route 43 and before passing a point P4 after joining.SELECTED DRAWING: Figure 18

Description

The present invention relates to traveling systems.

2. Description of the Related Art Conventionally, a traveling system is known that includes a predetermined traveling path, a plurality of trucks that can travel along the traveling path, and a controller that controls the plurality of trucks. For example, in the system described in Patent Document 1, when a new automatic guided vehicle is introduced into a section where other automatic guided vehicles are allowed to run, the system controller controls the new automatic guided vehicle and the other automatic guided vehicle. Revoke travel permission for other automatic guided vehicles to prevent interference with the vehicle.

Japanese Patent No. 4019231

In the traveling system as described above, the control of the trucks when two trucks are about to pass the merging point on the traveling road is not sufficiently considered, and there is room for improvement in terms of improving the transportation efficiency of the trucks. be.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to improve the transport efficiency of a trolley in a traveling system having a traveling path including a junction.

A traveling system according to the present invention includes a predetermined traveling path, a plurality of trucks that can travel along the traveling path, and a controller that controls the plurality of trucks, the traveling path being a first straight traveling path. and a first curved road that merges through a confluence in the middle of the first straight road. If it receives from the controller a confluence passage permission response indicating permission to pass the confluence, it will enter the confluence, and if it does not receive a confluence passage permission response from the controller, it will wait in front of the confluence. Then, the truck waiting in front of the confluence receives the confluence passage permission response from the controller after the truck that precedes the waiting truck and has passed the confluence passes the predetermined point. , the controller receives confluence passage permission requests from the first truck that is the preceding truck and the second truck that is the truck that follows the first truck, and receives requests from the first truck and the second truck. If the type of the merging point passage permission request being executed is a straight line type, which is the type of merging point passage permission request when proceeding from the first straight road to the merging point, the first and second trucks When a confluence passage permission response has been transmitted and confluence passage permission requests have been received from the first and second trucks, and the type of the confluence passage permission request received from the first truck is In the case of a curve type, which is the type of request for permission to pass a confluence when traveling from a 1-curve road to a confluence, the response for permission to pass the confluence is sent only to the first truck, and the curve type confluence passage is sent to the controller. After the first truck requesting the permission request has passed the junction from the first curved road and before passing the predetermined point, the type of the junction passage permission request to the controller is changed to the straight line type. At least one of a process of changing the confluence and a process of transmitting to the controller a signal for recognizing that the type of the confluence passage permission request received from the first truck is a straight line type is executed.

When another truck exists directly in front of the truck, as a normal specification, countermeasures against collision between these trucks are taken. Therefore, when both the first truck and the second truck enter the merging point from the first straight road, the merging point passage permission response is transmitted to both the first truck and the second truck. Here, since the first truck that has entered the confluence from the first curved road will travel on the first straight road after passing the confluence, it will enter the confluence from the first straight road. It exists directly in front of the second bogie. Therefore, in the present invention, the first truck that has passed the confluence changes the type of the confluence passage permission request to the controller to the straight line type before passing the predetermined point, and/or the type is Send a signal to the controller to recognize it as a straight line type. Thus, the second truck waiting before the merging point on the first straight traveling road can obtain the merging point passage permission response without waiting for the first truck to pass the predetermined point. As a result, it becomes possible to improve the transport efficiency of the trolley.

In the traveling system according to the present invention, when the controller receives a merging point passage permission request from the third truck, which is a truck following the second truck, in addition to the first truck and the second truck, If the types of the merging point passage permission requests received from the 1st, 2nd and 3rd trucks are all straight type, the merging point passage permission response to the 3rd truck in addition to the 1st and 2nd trucks. is sent, and a merging point passage permission request is received from the 3rd truck in addition to the 1st and 2nd trucks, and the merging received from the 1st, 2nd and 3rd trucks If at least one type of the point passage permission request is the curve type, the second vehicle that transmits the junction passage permission response only to the first truck and requests the controller for the curve type junction passage permission request. After passing the confluence from the first curved traveling road and before passing the predetermined point, the carriage requests the controller to change the type of the confluence passage permission request to the straight line type; and transmitting a signal to the controller for recognizing that the type of the confluence passage permission request received from the second truck is the curve type. As a result, when the third truck travels from the first curved road toward the confluence, the third truck can be made to stand by before the confluence to prevent the trucks from colliding with each other. In addition, the third truck waiting before the merging point on the first straight road can obtain the passage permission response without waiting for the second truck to pass the predetermined point. As a result, it becomes possible to improve the transport efficiency of the trolley.

In the traveling system according to the present invention, when the merging point passage permission request is received from the first truck and the second truck, the type of the merging point passage permission request received from the first truck is a straight line type. If there is, and the type of the merging point passage permission request received from the second truck is the curve type, the merging point passage permission response may be transmitted only to the first truck. According to this traveling system, when the second truck following the first truck advances from the first curved road to the confluence, the type of the confluence passage permission request of the first truck that has passed the confluence becomes the straight line type. However, the 2nd truck does not get a confluence passage permission response. Thereby, the collision between the first truck and the second truck can be prevented. As mentioned above, when there is another bogie directly in front of the bogie, countermeasures against collisions between these bogies are taken as a normal specification. It is not always the case that measures for collisions in the presence of another truck are taken. In the travel system, collisions between trucks can be prevented even if such countermeasures are not taken.

In the traveling system according to the present invention, each of the plurality of trucks may be provided with an inter-vehicle distance sensor that detects the distance from the preceding truck. This makes it possible to avoid collisions between the trucks also by the vehicle-to-vehicle distance sensor.

In the traveling system according to the present invention, the inter-vehicle distance sensor may be a linear sensor capable of detecting a bogie that exists directly ahead. As a result, when another truck exists directly in front of the truck, collision between these trucks can be avoided by the linear sensor.

In the traveling system according to the present invention, the traveling path includes the second straight traveling path and the second curved traveling path that branches off via a branch point in the middle of the second straight traveling path and continues to the first curved traveling path. , the truck transmits a branch point passage permission request requesting permission to pass the branch point to the controller before the branch point, and branches when receiving a branch point passage permission response indicating permission to pass the branch point from the controller. When the controller enters the point and does not receive a branch point passage permission response from the controller, it waits before the branch point, and the controller sends the preceding truck, the fourth truck, and the fourth truck, the fifth truck, which follows the fourth truck. and the type of the branch point passage permission request received from the fourth truck is a branch point passage permission request when proceeding from the branch point to the second curved road. and the type of the branch point passage permission request received from the fifth truck is a straight line type, which is the type of the branch point passage permission request when proceeding from the branch point to the second straight road. In some cases, a branch point passage permission response is transmitted only to the 4th truck, and when the 4 trucks reach a position where they do not interfere even if the 5th truck passes the branch point, the 5th truck is permitted to pass the branch point. You may send a response. As a result, when the fourth truck enters the second curved road from the junction and the fifth truck moves from the junction to the second straight road, the fifth truck can pass the junction at an early timing. It becomes possible.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to improve the conveyance efficiency of a trolley|bogie in the traveling system provided with the traveling path containing a junction.

FIG. 1 is a schematic plan view showing a traveling system according to one embodiment. FIG. 2 is a block diagram showing the functional configuration of the truck of FIG. FIG. 3 is a schematic front view of the truck of FIG. 1 as seen from the running direction. FIG. 4 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. 5 is a schematic plan view explaining processing of the area controller of FIG. FIG. 6(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 6(b) is a schematic plan view showing a continuation of FIG. 6(a). FIG. 6(c) is a schematic plan view showing a continuation of FIG. 6(b). FIG. 7(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 7(b) is a schematic plan view showing a continuation of FIG. 7(a). FIG. 7(c) is a schematic plan view showing a continuation of FIG. 7(b). FIG. 8 is a schematic plan view explaining processing of the area controller of FIG. FIG. 9(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 9(b) is a schematic plan view showing a continuation of FIG. 9(a). FIG. 9(c) is a schematic plan view showing a continuation of FIG. 9(b). 10 is a schematic plan view for explaining the processing of the area controller of FIG. 1. FIG. FIG. 11(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 11(b) is a schematic plan view showing a continuation of FIG. 11(a). FIG. 11(c) is a schematic plan view showing a continuation of FIG. 11(b). FIG. 12 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. 13(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 13(b) is a schematic plan view showing a continuation of FIG. 13(a). FIG. 13(c) is a schematic plan view showing a continuation of FIG. 13(b). FIG. 14 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. 15(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 15(b) is a schematic plan view showing a continuation of FIG. 15(a). FIG. 15(c) is a schematic plan view showing a continuation of FIG. 15(b). 16 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. 17 is a schematic plan view showing a continuation of FIG. 16. FIG. FIG. 18(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 18(b) is a schematic plan view showing a continuation of FIG. 18(a). FIG. 18(c) is a schematic plan view showing a continuation of FIG. 18(b). FIG. 19(a) is a schematic plan view showing a continuation of FIG. 18(b). FIG. 19(b) is a schematic plan view showing a continuation of FIG. 19(a). 20 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. 21 is a schematic plan view for explaining the processing of the area controller of FIG. 1; FIG. FIG. 22(a) is a schematic plan view for explaining the processing of the area controller in FIG. FIG. 22(b) is a schematic plan view showing a continuation of FIG. 22(a). FIG. 22(c) is a schematic plan view showing a continuation of FIG. 22(b).

A preferred embodiment of the present invention will be described in detail below with reference to the drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

As shown in FIGS. 1, 2 and 3, the travel system 1 constitutes a system for transporting articles 10. As shown in FIG. The article 10 is, for example, a container for storing a plurality of semiconductor wafers, but may be glass substrates, general parts, and the like. The travel system 1 includes a track 4 , a truck 6 and an area controller (controller) 60 .

The track 4 is a predetermined running path for running the carriage 6 . The track 4 is laid, for example, near the ceiling, which is the overhead space of the operator. The track 4 is suspended from the ceiling. The track 4 is supported by struts 48 . The track 4 has a plurality of routes 40 , a junction G where the plurality of routes 40 join, and a branch point B where one route 40 branches into a plurality of routes 40 . The layout of the track 4 (the configuration of the route 40 and the number of confluence points G and branch points B) is not particularly limited, and various layouts can be adopted.

The route 40 consists of a straight route (first straight road) 41 that extends straight, a straight route (second straight road) 42 that extends straight in parallel with the straight route 41 , and a road on the middle of the straight route 41 . and a curved route (first curved road, second curved road) 43 that merges through a confluence point G and branches off through a branch point B in the middle of the straight route 42 .

A stop point T (see FIG. 4) at which the carriage 6 is stopped is provided before (on the upstream side of) the junction G or the branch point B on the track 4 . The stop point T is a predetermined position. The stop points T can be set based on point marks P such as bar codes affixed in plurality along the track 4 at regular intervals. A stop point T is set for each of a plurality of confluence points G and branch points B. FIG. In addition, in the figure, the point mark P and the stop point T are indicated by circular marks on the track 4 for convenience of explanation.

A truck 6 can travel along the track 4 . A cart 6 conveys an article 10 . The cart 6 is configured to transfer the article 10 to a port (not shown). The truck 6 is an overhead traveling unmanned vehicle. The carriage 6 is also called, for example, a traveling vehicle, a carriage, an overhead traveling carriage (overhead traveling carriage), or a carriage (transportation carriage). The number of trucks 6 provided in the traveling system 1 is not particularly limited, and is plural.

The carriage 6 has a traveling section 18 and a power receiving/communicating section 20 . The traveling unit 18 causes the carriage 6 to travel along the track 4 . The power receiving communication unit 20 receives power from the track 4 side, for example, by contactless power feeding. The carriage 6 includes a θ drive 26 , a lateral feed section 24 for laterally feeding the portion below it with respect to the track 4 , an elevation drive section 28 , and an elevation table 30 . The .theta. drive 26 controls the attitude of the article 10 by rotating the elevation drive unit 28 in the horizontal plane. The elevation drive unit 28 raises and lowers the elevation table 30 holding the article 10 . The lifting table 30 is provided with a chuck so that the article 10 can be freely grasped or released. Note that the lateral feeding section 24 and the .theta. drive 26 may not be provided.

The carriage 6 is equipped with a linear sensor 8 . The linear sensor 8 is a vehicle-to-vehicle sensor that detects the distance from the bogie 6 in front. The linear sensor 8 is a sensor capable of detecting the carriage 6 that exists directly ahead. The linear sensor 8 emits a laser beam toward the front of its own truck 6 (the truck 6 equipped with the linear sensor 8), and detects the reflected light reflected by the reflector of the truck 6 in front. is detected. The linear sensor 8 is arranged, for example, on the fall prevention cover 33 on the front side of the carriage 6 . The linear sensor 8 transmits the detection result to the carriage controller 50 which will be described later. The truck 6 does not have a curve sensor, which is a sensor capable of detecting the truck 6 that is present in front and runs on a curved route.

The truck 6 has a position acquisition unit (not shown) that acquires position information about the position of the truck 6 on the track 4 . The position acquisition unit is composed of a reading unit for reading the point marks P on the track 4, an encoder, and the like. The positional information of the truck 6 includes, for example, information on the point mark P obtained by the reading unit and information on the traveling distance after passing the point mark P.

The truck 6 includes a truck controller 50 . The truck controller 50 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The truck controller 50 can be configured as software in which, for example, a program stored in a ROM is loaded onto a RAM and executed by a CPU. The carriage controller 50 may be configured as hardware such as an electronic circuit. The carriage controller 50 may be composed of one device, or may be composed of a plurality of devices. When a plurality of devices are configured, they are connected to each other to logically construct one truck controller 50 .

The truck controller 50 controls various operations of the truck 6 . The carriage controller 50 controls the travel section 18 , the lateral feed section 24 , the θ drive 26 , the elevation drive section 28 and the elevation platform 30 . The carriage controller 50 communicates with the area controller 60 using the feeder line of the track 4 or the like. Alternatively, the carriage controller 50 may communicate with the area controller 60 via a communication line (feeder line) provided along the track 4 in addition to the feeder line.

When receiving a status inquiry from the area controller 60 , the truck controller 50 transmits a status report of its own truck 6 (the truck 6 including the truck controller 50 ) to the area controller 60 . The status report includes the positional information of the own trolley 6 and the like. Based on the detection result of the linear sensor 8, the truck controller 50 determines whether or not the inter-vehicle distance between its own truck 6 and another truck 6 in front thereof is equal to or less than a specified distance. The truck controller 50 decelerates or stops its own truck 6 when the inter-vehicle distance is equal to or less than a specified distance.

When the own truck 6 is about to pass through the confluence G, the carriage controller 50 transmits a state report including a confluence passage permission request to the area controller 60 before the confluence G. - 特許庁The confluence passage request is a signal requesting permission to pass the confluence G. FIG. The truck controller 50 causes its own truck 6 to enter the junction G when receiving the confluence passage permission response from the area controller 60 . The confluence passage permission response is a signal indicating that the confluence G is permitted to pass. When the carriage controller 50 does not receive the confluence passage permission response from the area controller 60, the carriage controller 50 stops its own carriage 6 at the stop point T before the confluence G and makes it wait.

When the own truck 6 is about to pass through the branch point B, the truck controller 50 transmits a branch point passage permission request to the area controller 60 before the branch point B, including the branch point passage permission request in the state report. The branch point passage request is a signal requesting permission to pass through the branch point B. FIG. The truck controller 50 causes its own truck 6 to enter the branch point B when receiving the branch point passage permission response from the area controller 60 . The branch point passage permission response is a signal indicating permission to pass the branch point B. FIG. When the carriage controller 50 does not receive the branch point passage permission response from the area controller 60, the carriage controller 50 stops its own carriage 6 at the stop point T before the branch point B and makes it wait.

The carriage controller 50 of the carriage 6 waiting at the stop point T before the confluence G determines that the carriage 6 that precedes the waiting carriage 6 and has passed the confluence G is downstream of the confluence G. After passing the post-confluence point (predetermined point), which is the point (point on the track 4), a confluence passage permission response is received from the area controller 60. FIG. The truck controller 50 of the truck 6 waiting at the stop point T before the branch point B determines that the truck 6 that precedes the waiting truck 6 and has passed the branch point B is downstream of the branch point B. After passing through any one of the first to third post-branch points, a branch point passage permission response is received from the area controller 60 .

The area controller 60 is an electronic control unit comprising a CPU, ROM, RAM and the like. The area controller 60 can be configured, for example, as software in which a program stored in a ROM is loaded onto a RAM and executed by a CPU. The area controller 60 may be configured as hardware such as an electronic circuit. The area controller 60 may be composed of one device or may be composed of a plurality of devices. When configured with a plurality of devices, one area controller 60 is logically constructed by connecting these via a communication network such as the Internet or an intranet.

The area controller 60 communicates with a plurality of trucks 6 within its own jurisdiction area and controls the plurality of trucks 6 within its own jurisdiction area. The area controller 60 communicates by wire or wirelessly with an upper controller (not shown).

The area controller 60 periodically communicates with a plurality of trucks 6 within its own area of jurisdiction. For example, the area controller 60 transmits a status inquiry to the trucks 6 within its area of jurisdiction, and the truck 6 that receives the status inquiry transmits a status report to the area controller 60 . By sequentially and periodically performing such communication with a plurality of trucks 6 within its jurisdiction area, the area controller 60 grasps the states of the plurality of trucks 6 within its jurisdiction area.

The area controller 60 executes the following blocking control when the truck 6 passes through the junction G. Specifically, when the area controller 60 receives a confluence passage request related to the confluence G from the truck 6, the area controller 60 prohibits entry into the area including the confluence G (see FIG. 13(b)). ) is not set, a merging point passage permission response is transmitted to the truck 6 to permit the truck 6 to pass through the merging point G, and a lock area RG is set. The lock area RG is released after the carriage 6 that has passed the confluence G passes the post-confluence point, which is a point on the downstream side of the confluence G on the track 4. - 特許庁When the area controller 60 receives a confluence passage request for the confluence G from the truck 6, the lock area RG is set, and the series traveling of the plurality of trucks 6, which will be described later, is established. If not, the merging point passage permission response is not transmitted to the truck 6, and the truck 6 is made to wait at the stop point T.例文帳に追加

When the truck 6 passes through the branch point B, the area controller 60 executes the following blocking control. Specifically, when the area controller 60 receives a branch point passage request for the branch point B from the carriage 6, the area controller 60 prohibits entry into the area including the branch point B (see FIG. 6B). ) is not set, a branch point passage permission response is transmitted to the truck 6 to permit the truck 6 to pass through the branch point B, and a lock area RB is set. After the truck 6 passing through the branch point B passes through any of the first to third post-branch points, which are points on the downstream side of the branch point B on the track 4, the lock area RB is released. When the area controller 60 receives a branch point passage request for the branch point B from the carriage 6, the lock area RB is set, and the series running of the plurality of carriages 6, which will be described later, is established. When not, the branch passage permission response is not transmitted to the truck 6, and the truck 6 is made to wait at the stop point T.例文帳に追加

Next, processing of the area controller 60 of this embodiment will be described in detail below.

In the following, the preceding truck 6 is referred to as a preceding truck 6A. The truck 6 following the preceding truck 6A (the truck 6 predicted to pass the junction G or the branch point B next to the preceding truck 6A) is defined as the succeeding truck 6B. Each of the Junction Passing Grant Request and Junction Passing Request Type includes the type of request. The types of the confluence passage permission request include "straight type", which is the type when proceeding from the straight route 41 to the confluence point G, and "curve type", which is the type when proceeding from the curved route 43 to the confluence point G. include. The type of the branch point passage permission request includes "straight type", which is the type when proceeding to the straight route 42 from the branch point B, and "curved type", which is the type when proceeding to the curved route 43 from the branch point B. include.

As shown in FIG. 4, when the area controller 60 receives the branch point passage permission request S1 from the preceding carriage 6A and the following carriage 6B, the branch point passing permission request S1 received from the preceding carriage 6A and the following carriage 6B is received. When both of the point passage permission requests S1 are of the straight line type (when a plurality of trucks 6 run in series), a junction passage permission response S2 is transmitted to each of the preceding truck 6A and the following truck 6B. As a result, both the preceding truck 6A and the succeeding truck 6B pass through the lock area RB including the branch point B without stopping, and travel along the straight route 42. FIG.

As shown in FIG. 5, when the area controller 60 receives the branch point passage permission request S1 from the preceding truck 6A and the following truck 6B, the branch point passage permission request received from the preceding truck 6A When the type of S1 is the curve type and the type of the branch point passage permission request S1 received from the following truck 6B is the straight line type or the curve type, the branch point passage permission response S2 is transmitted only to the preceding truck 6A. . As a result, the preceding truck 6A passes through the lock area RB including the branch point B without stopping, and travels along the straight route 42 . The following truck 6B stops at a stop point T before the branch point B and waits.

For example, as shown in FIG. 6A, the area controller 60 receives branch point passage permission requests S1 from both the preceding truck 6A and the following truck 6B approaching the branch point B. As shown in FIG. The type of the branch point passage permission request S1 for the preceding truck 6A is a curve type, and the type of the branch point passage permission request S1 for the following truck 6B is a curve type. The area controller 60 does not set the lock area RB, and transmits a junction passage permission response S2 to the preceding truck 6A. As a result, the preceding truck 6A passes through the branch point B as shown in FIG. 6(b). Along with this, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not transmit the branch point passage permission response S2 to the following truck 6B, and the following truck 6B stops before the branch point B.

As shown in FIG. 6(c), the preceding truck 6A proceeds from the branch point B to the curved route 43, proceeds to the straight route 41, and after passing the first post-branch point P1, the area controller 60 controls the lock area RB. cancel the setting. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following truck 6B, and the following truck 6B can pass through the branch point B. In the illustrated example, the first post-branch point P1 is the position of the point mark P immediately after the junction G. FIG. The first post-branch point P1 is not particularly limited. The first post-branch point P1 may be at various positions as long as it is sufficiently far from the branch point B. FIG.

For example, as shown in FIG. 7A, the area controller 60 receives branch point passage permission requests S1 from both the leading truck 6A and the trailing truck 6B approaching the branch point B. FIG. The type of the branch point passage permission request S1 for the preceding truck 6A is a curve type, and the type of the branch point passage permission request S1 for the following truck 6B is a straight line type. The area controller 60 does not set the lock area RB, and transmits a junction passage permission response S2 to the preceding truck 6A. As a result, the preceding truck 6A passes through the branch point B as shown in FIG. 7(b). Along with this, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not transmit the branch point passage permission response S2 to the following truck 6B, and the following truck 6B stops before the branch point B.

As shown in FIG. 7(c), the preceding truck 6A advances from the branch point B to the curved route 43, and after passing the second post-branch point P2, the area controller 60 cancels the setting of the lock area RB. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following truck 6B, and the following truck 6B can pass through the branch point B. In the illustrated example, the second after-branch point P2 is a position where the trailing truck 6B does not interfere even if the preceding truck 6A passes through the branch point B, for example, the downstream position on the curved route 43 . The second post-branch point P2 is not particularly limited. The second after-branch point P2 may be at various positions as long as the preceding truck 6A does not interfere with the succeeding truck 6B even if the preceding truck 6A passes through the branch point B. The second post-branch point P2 may be located upstream of the first post-branch point P1.

As shown in FIG. 8, when the area controller 60 receives the branch point passage permission request S1 from the preceding truck 6A and the following truck 6B, the branch point passage permission request received from the preceding truck 6A When the type of S1 is a straight line type and the type of the branch point passage permission request S1 received from the following truck 6B is a curve type, the branch point passage permission response S2 is transmitted only to the preceding truck 6A. As a result, the preceding truck 6A passes through the lock area RB including the branch point B without stopping, and travels along the straight route 42 . The following truck 6B stops at a stop point T before the branch point B and waits.

For example, as shown in FIG. 9A, the area controller 60 receives branch point passage permission requests S1 from both the preceding truck 6A and the following truck 6B approaching the branch point B. As shown in FIG. The type of the branch point passage permission request S1 for the preceding truck 6A is a straight line type, and the type of the branch point passage permission request S1 for the following truck 6B is a curve type. The area controller 60 does not set the lock area RB, and transmits a junction passage permission response S2 to the preceding truck 6A. As a result, the preceding truck 6A passes through the branch point B as shown in FIG. 9(b). Along with this, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not transmit the branch point passage permission response S2 to the following truck 6B, and the following truck 6B stops before the branch point B.

As shown in FIG. 9(c), the preceding truck 6A proceeds from the branch point B to the straight route 42, and after passing the third post-branch point P3, the area controller 60 cancels the setting of the lock area RB. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following truck 6B, and the following truck 6B can pass through the branch point B. In the illustrated example, the third post-branch point P3 is the position of the point mark P immediately after the branch point B. FIG. The point P3 after the third branch is not particularly limited. The third post-branch point P3 may be at various positions as long as it is sufficiently far from the branch point B. FIG.

As shown in FIG. 10, when the area controller 60 has received the merging point passage permission request S3 from the preceding carriage 6A and the following carriage 6B, the confluence received from the preceding carriage 6A and the following carriage 6B When the types of the point passage permission requests S3 are both of the straight line type (when a plurality of trucks 6 run in series), the merging point passage permission responses S4 are transmitted to each of the preceding truck 6A and the following truck 6B. As a result, both the preceding truck 6A and the succeeding truck 6B pass through the lock area RG including the junction G without stopping, and travel along the straight route 41. FIG.

For example, as shown in FIG. 11(a), the area controller 60 receives confluence passage permission requests S3 from both the preceding carriage 6A and the following carriage 6B approaching the confluence G. As shown in FIG. The type of the merging point passage permission request S3 for the preceding truck 6A is the linear type, and the type of the merging point passage permission request S3 for the following truck 6B is the linear type. Therefore, the area controller 60 transmits a merging point passage permission response S4 to the preceding truck 6A, and sets the area of the merging point G as the lock area RG. The area controller 60 also transmits a merging point passage permission response S4 to the following truck 6B. As a result, as shown in FIG. 11(b), the preceding truck 6A and the succeeding truck 6B pass through the lock area RG including the junction G without stopping.

As shown in FIG. 11(c), after the trailing truck 6B advances from the junction G to the straight route 41 and passes the post-junction point P4, the area controller 60 cancels the setting of the lock area RG. As a result, other trucks 6 can pass through the confluence point G. In the illustrated example, the post-confluence point P4 is a position where a plurality of point marks P exist between the confluence point G and the confluence point P4. The post-confluence point P4 is not particularly limited. The post-confluence point P4 may be at various positions as long as it is sufficiently far away from the confluence point G. After the merging point P4, the truck 6 that has entered the straight route 41 from the curved route 43 via the merging point G is determined even if various factors (variation in posture of the truck 6 when in the same position, etc.) are fully considered. This is the point at which it is possible to face the direction along the straight route 41 completely and with a margin.

As shown in FIG. 12, when the area controller 60 receives the confluence passage permission request S3 from the preceding carriage 6A and the following carriage 6B, the confluence passage permission request received from the preceding carriage 6A When the type of S3 is a straight line type and the type of the junction passage permission request S3 received from the following truck 6B is a curve type, the junction passage permission response S4 is transmitted only to the preceding truck 6A. As a result, the preceding truck 6A passes through the lock area RG including the junction G without stopping, and travels along the straight route 41 . The following truck 6B stops at a stop point T before the junction G and before the branch point B and waits.

For example, as shown in FIG. 13( a ), the area controller 60 receives junction passage permission requests S<b>3 from both the leading truck 6</b>A and the trailing truck 6</b>B approaching the junction G. As shown in FIG. The type of the merging point passage permission request S3 for the preceding truck 6A is a straight line type, and the type of the merging point passage permission request S3 for the following truck 6B is a curve type. Therefore, the area controller 60 transmits the merging point passage permission response S4 only to the preceding truck 6A. As a result, the preceding truck 6A passes through the junction G as shown in FIG. 13(b). Along with this, the area controller 60 sets the area of the junction G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the following truck 6B, and the following truck 6B stops before the junction G and before the branch point B. As shown in FIG. 13(c), the preceding truck 6A advances from the merging point G to the straight route 41, and after passing the post-merging point P4, the area controller 60 cancels the setting of the lock area RG. As a result, the area controller 60 transmits a confluence passage permission response S4 to the following truck 6B, and the following truck 6B can pass through the confluence G.

As shown in FIG. 14, when the area controller 60 has received the junction passage permission request S3 from the preceding truck 6A and the following truck 6B, the area controller 60 receives the junction passage permission request from the preceding truck 6A. When the type of S3 is the curve type and the type of the junction passage permission request S3 received from the following truck 6B is the curve type, the junction passage permission response S4 is transmitted only to the preceding truck 6A. As a result, the preceding truck 6A passes through the lock area RG including the junction G without stopping, and travels along the straight route 41 . The following truck 6B stops at a stop point T before the junction G and before the branch point B and waits.

For example, as shown in FIG. 15(a), the area controller 60 receives confluence passage permission requests S3 from both the preceding carriage 6A and the following carriage 6B approaching the confluence G. As shown in FIG. The type of the merging point passage permission request S3 for the preceding truck 6A is a curve type, and the type of the merging point passage permission request S3 for the following truck 6B is a curve type. Therefore, the area controller 60 transmits the merging point passage permission response S4 only to the preceding truck 6A. As a result, the preceding truck 6A passes through the junction G as shown in FIG. 15(b). Along with this, the area controller 60 sets the area of the junction G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the following truck 6B, and the following truck 6B stops before the junction G and before the branch point B. As shown in FIG. 15(c), the preceding truck 6A proceeds from the confluence point G to the straight route 41, and after passing the post-confluence point P4, the area controller 60 cancels the setting of the lock area RG. As a result, the area controller 60 transmits a confluence passage permission response S4 to the following truck 6B, and the following truck 6B can pass through the confluence G.

As shown in FIG. 16, when the area controller 60 receives the confluence passage permission request S3 from the preceding carriage 6A and the following carriage 6B, the area controller 60 receives the confluence passage permission request from the preceding carriage 6A. When the type of S3 is curve type and the type of confluence passage permission request S3 received from following truck 6B is straight line type, confluence passage permission response S4 is transmitted only to preceding truck 6A. As a result, the preceding truck 6A passes through the lock area RG including the junction G without stopping, and travels along the straight route 41 . The trailing truck 6B stops at a stop point T before the junction G and waits.

Here, as shown in FIG. 17, the preceding truck 6A requests the area controller 60 for permission to pass the junction after passing the junction G from the curved route 43 and before passing the post-junction point P4. A process is executed to change the type of request (that is, the type of junction passage permission request included in the status report communicated from the truck controller 50 (see FIG. 2) to the area controller 60) to the straight line type.

The point after passing the confluence G and before passing the post-confluence point P4 is not particularly limited. The point after passing the merging point G and before passing the post-merging point P4 is, for example, the position of the point mark P immediately after the merging point G on the straight route 41 . The point after passing the junction G and before passing the post-junction point P4 may be a position between the junction G and the post-junction point P4 on the straight route 41 . The point after passing the merging point G and before passing the post-merging point P4 is the position where the preceding truck 6A is oriented along the traveling direction of the straight route 41. FIG.

As a result, the type of the merging point passage permission requests S3 received from the preceding carriage 6A and the following carriage 6B are both of the straight line type, so that the area controller 60 receives merging point passages not only for the preceding carriage 6A but also for the following carriage 6B. Immediately transmit a passage permission response S4. As a result, in addition to the preceding truck 6A passing through the lock area RG including the junction G, the following truck 6B on standby also passes through the lock area RG and travels along the straight route 41. - 特許庁

For example, as shown in FIG. 18( a ), the area controller 60 receives junction passage permission requests S<b>3 from both the leading truck 6</b>A and the trailing truck 6</b>B approaching the junction G. As shown in FIG. The type of the merging point passage permission request S3 for the preceding truck 6A is a curve type, and the type of the merging point passage permission request S3 for the following truck 6B is a straight line type. Therefore, the area controller 60 transmits the merging point passage permission response S4 only to the preceding truck 6A. As a result, the preceding truck 6A passes through the junction G as shown in FIG. 18(b). Along with this, the area controller 60 sets the area of the junction G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the following carriage 6B, and the following carriage 6B stops before the merging point G.

As shown in FIG. 18(c), after the preceding truck 6A enters the straight route 41 from the confluence point G, the timing before reaching the post-confluence point P4 (here, after passing the first point mark P timing), the area controller 60 receives a straight-line type junction passage permission request S3 from the preceding truck 6A. As a result, the types of the merging point passage permission requests S3 of the preceding truck 6A and the following truck 6B are both of the straight line type, and the area controller 60 transmits the merging point passage permission response S4 to the succeeding truck 6B in addition to the preceding truck 6A. . As shown in FIG. 19( a ), the stopped following truck 6</b>B starts traveling, passes through the lock area RG including the junction G, and travels along the straight route 41 . Then, as shown in FIG. 19(b), the area controller 60 cancels the setting of the lock area RG after the following truck 6B has passed the merging point P4. As a result, other trucks 6 can pass through the confluence point G.

By the way, in the traveling system 1, when another truck 6 exists directly in front of the truck 6, measures against collision (rear-end collision) between these trucks are taken as usual specifications (various known techniques). there is Therefore, when both the preceding truck 6A and the succeeding truck 6B enter the junction G from the straight route 41, the junction passage permission response S4 is transmitted to both the preceding truck 6A and the succeeding truck 6B. Here, the preceding bogie 6A that has entered the confluence point G from the curved route 43 travels on the straight route 41 after passing through the confluence point G. It will exist directly in front of 6B. Therefore, in the traveling system 1, before the preceding vehicle 6A that has passed the merging point G passes through the point P4 after merging, the type of the merging point passage permission request S3 requested to the area controller 60 is changed to a straight line type. to run. As a result, the trailing truck 6B waiting before the merging point G on the straight route 41 can obtain the merging point passage permission response without waiting for the preceding truck 6A to pass through the post-merging point P4. . The timing at which the following truck 6B on standby is started can be brought forward. The waiting time of the following truck 6B that is waiting can be reduced. As a result, it becomes possible to improve the transport efficiency of the cart 6 . It should be noted that such processing of the traveling system 1 does not require changing the layout of the track 4 .

In the traveling system 1, the merging point passage permission request S3 is received from the preceding truck 6A and the following truck 6B, and the type of the merging point passage permission request S3 received from the preceding truck 6A is a straight line type. And, when the type of the junction passage permission request S3 received from the trailing truck 6B is the curve type, the junction passage permission response S4 is transmitted only to the preceding truck 6A. According to the travel system 1, when the trailing truck 6B advances from the curve route 43 to the junction, even if the type of the junction passage permission request of the leading truck 6A that has passed the junction G is changed to the straight line type, the trailing truck 6B does not get a Junction Pass Clearance response. Thereby, the collision between the preceding truck 6A and the following truck 6B can be prevented.

In the traveling system 1, each of the plurality of trucks 6 includes a straight line sensor 8 as a vehicle-to-vehicle distance sensor. As a result, collisions between the trucks 6 can be avoided also by the linear sensor 8 . In particular, when there is another truck 6 directly in front of the own truck 6, collision between these trucks 6 can be avoided. If there is another truck 6 diagonally in front of one's own truck 6, collision between these trucks 6 can be avoided by the above-described processing of the area controller 60 (control regarding the preceding truck 6A and the following truck 6B). becomes possible. Therefore, the cost can be reduced as compared with, for example, the case where a curve sensor is mounted.

In the traveling system 1, the area controller 60 receives the branch point passage permission request S1 from the preceding truck 6A and the following truck 6B, and the type of the branch point passage permission request S1 of the preceding truck 6A is the curve type. Yes, and when the branch point passage permission request S1 of the trailing truck 6B is of the straight line type, the branch point passage permission response S2 is transmitted only to the preceding truck 6A. When the preceding truck 6A reaches a second after-branch point P2 where the succeeding truck 6B does not interfere when the succeeding truck 6B passes through the junction B, the area controller 60 transmits a branch point passage permission response S2 to the succeeding truck 6B. . As a result, when the preceding truck 6A advances from the branch point B to the curved route 43 and the following truck 6B advances from the branch point B to the straight route 42, the following truck 6B can pass through the branch point B at an early timing. Become.

Next, an example in which there is another following truck that is the following truck 6 following the following truck 6B (the truck 6 that is expected to pass the junction G next to the following truck 6B) will be described.

As shown in FIG. 20, when the area controller 60 receives the junction passage permission request S3 from the preceding truck 6A, the succeeding truck 6B, and the other succeeding truck 6C, the preceding truck 6A and the succeeding truck 6B and when the types of the merging point passage permission requests S3 received from the other following trucks 6C are both of the straight line type (when a plurality of trucks 6 are running in series), the merging point passage permission responses S4 are sent to each of these. Send. As a result, the preceding truck 6A, the succeeding truck 6B, and the other succeeding truck 6C all pass through the lock area RG including the junction G without stopping and travel along the straight route 41.

Further, as shown in FIG. 21, when the area controller 60 receives the merging point passage permission request S3 from the preceding truck 6A, the succeeding truck 6B, and the other succeeding truck 6C, When the type of the merging point passage permission request S3 received from the truck 6B is the straight line type and the type of the merging point passage permission request S3 received from the other following truck 6C is the curve type, the preceding truck 6A And the merging point passage permission response S4 is transmitted only to the following truck 6B. As a result, the preceding carriage 6A and the following carriage 6B pass through the lock area RG including the confluence G without stopping, and travel along the straight route 41 . Another following truck 6C stops at a stop point T before the junction G and before the branch point B and waits.

For example, the area controller 60 receives confluence passage permission requests S3 from the preceding carriage 6A, the following carriage 6B, and the other following carriage 6C approaching the confluence G. The type of the merging point passage permission request S3 for the leading truck 6A and the trailing truck 6B is the straight line type, and the type of the merging point passage permission request S3 for the other trailing truck 6C is the curve type. Therefore, the area controller 60 transmits the junction passage permission response S4 only to the preceding truck 6A and the following truck 6B. As a result, the leading vehicle 6A and the following vehicle 6B pass through the junction G as shown in FIGS. 22(a) and 22(b). Along with this, the area controller 60 sets the area of the junction G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the other following truck 6C, and the other following truck 6C stops before the junction G and before the branch point B. As shown in FIG. 22(c), after the trailing truck 6B advances from the junction G to the straight route 41 and passes the post-junction point P4, the area controller 60 cancels the setting of the lock area RG. As a result, the area controller 60 transmits the merging point passage permission response S4 to the other following truck 6C, thereby enabling the other following truck 6C to pass through the merging point G.

Further, when the area controller 60 receives the confluence passage permission request S3 from the preceding carriage 6A, the following carriage 6B, and the other following carriage 6C, the confluence passage permission request received from the following carriage 6B If the type of S3 is a curved line type and the type of the merging point passage permission request S3 received from the preceding truck 6A and the other following truck 6C is a straight line type, the merging point passage permission response S4 is sent only to the preceding truck 6A. to send. Thereafter, after the preceding truck 6A has passed the post-merging point P4, the area controller 60 transmits a merging point passage permission response S4 only to the succeeding truck 6B. As a result, the other following truck 6C stops at the stop point T of the junction G and waits. After passing the junction G from the curve route 43 and before passing the post-junction point P4, the following truck 6B changes the type of the junction passage permission request S3 to the area controller 60 to the straight line type. to run. As a result, the type of the merging point passage permission request S3 received from the following truck 6B and the other following truck 6C is both of the straight line type, so that the area controller 60 receives not only the following truck 6B but also the other following truck 6C. Also, the confluence crossing permission response S4 is transmitted to . As a result, in addition to the preceding truck 6A and the succeeding truck 6B passing through the lock area RG including the junction G, the other following truck 6C waiting also passes through the lock area RG and travels along the straight route 41. It will be.

As described above, in the traveling system 1, the area controller 60 receives the confluence passage permission request S3 from the other following truck 6C, and the type of the confluence passage permission request S3 of the trucks 6A to 6C is If both are of the straight type, a merging point passage permission response is transmitted to the trucks 6A to 6C. When at least one type of the merging point passage permission request S3 of the trucks 6A to 6C is the curve type, the area controller 60 transmits the merging point passage permission response only to the preceding truck 6A. The following truck 6B requesting the curve-type confluence passage permission request S3 requests the area controller 60 after passing the confluence G from the curve route 43 and before passing the post-confluence point P4. A process for changing the type of the junction passage permission request S3 to a straight line type is executed. As a result, when the other following truck 6C travels from the curved route 43 toward the junction G, the other following truck 6C can be made to wait in front of the junction G to prevent the trucks 6 from colliding with each other. can. Further, the other following truck 6C waiting before the merging point G on the straight route 41 can obtain the merging point passage permission response S4 without waiting for the succeeding truck 6B to pass the post-merging point P4. can. As a result, it becomes possible to improve the transport efficiency of the cart 6 .

In the above, the preceding truck 6A constitutes the first truck and the fourth truck. The trailing truck 6B constitutes a second truck and a fifth truck. Another following truck 6C constitutes a third truck.

Although one embodiment of the present invention 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 scope of the invention.

In the above-described embodiment, the preceding truck 6A or the succeeding truck 6B requests the area controller 60 to However, in place of or in addition to the process of changing the type of the confluence passage permission request S3 to the straight line type, the area controller 60 changes the preceding carriage 6A or the following carriage 6B. A process of transmitting a signal to the area controller 60 to recognize that the type of the confluence passage permission request S3 received from is a straight line type may be executed. In this case as well, as a result, both types of merging point passage permission requests received from the preceding truck 6A and the following truck 6B are set to the straight type, or merge requests received from the succeeding truck 6B and the other succeeding truck 6C. The type of the point pass permission request can both be a straight line type.

In the above embodiment, an overhead traveling automatic guided vehicle is used as the carriage 6, but the carriage 6 is not particularly limited. The carriage 6 may be an overhead traveling shuttle. The trolley 6 may be a track-guided unmanned trolley capable of traveling along a track on the floor. The carriage 6 may be a magnetically guided automatic guided vehicle that can travel along a route made of magnetic tape or the like. The trolley 6 may be a laser-guided unmanned transport trolley that can travel along a predetermined route by being guided by a laser beam.

In the above embodiments, one or more separate controllers relaying between the area controller 60 and the truck 6 may be provided. Various materials and shapes can be applied to each configuration of the above-described embodiments without being limited to the materials and shapes.

DESCRIPTION OF SYMBOLS 1... Traveling system, 4... Track (running path), 6... Truck, 6A... Leading truck (first truck, fourth truck), 6B... Trailing truck (second truck, fifth truck), 6C... Other following truck Truck (third truck), 8 straight sensor (inter-vehicle distance sensor), 41 straight route (first straight running path), 42 straight route (second straight running path), 43 curved route (first curved running path) , second curved road), 60... Area controller (controller), B... Branch point, G... Junction point, P4... Post-merge point (predetermined point), S1... Junction passage permission request, S2... Junction passage permission Response, S3... Junction passage permission request, S4 ... Junction passage permission response.

Claims (6)

A predetermined travel path, a plurality of trucks capable of traveling along the travel path, and a controller for controlling the plurality of trucks,
The travel path includes a first straight travel path and a first curved travel path that joins the first straight travel path through a junction in the middle of the first straight travel path;
The truck transmits to the controller a confluence passage permission request requesting permission to pass the confluence before the confluence, and receives a confluence passage permission response indicating permission to pass the confluence from the controller. If the controller does not receive the confluence passage permitting response from the controller, it waits in front of the confluence,
The truck waiting in front of the junction is permitted to pass through the junction by the controller after the truck that has passed the junction passes a predetermined point immediately before the truck that is waiting. receive the response,
The controller is
A case where the merging point passage permission request is received from a first truck that is the preceding truck and a second truck that is the truck that follows the first truck, wherein the first truck and the second truck If the type of the junction passage permission request received from the Sending the confluence passage permission response to the first truck and the second truck,
A case where the junction passage permission request received from the first truck and the second truck is received from the first truck, and the type of the junction passage permission request received from the first truck is the first curve travel. if it is a curve type, which is the type of the confluence passage permission request when proceeding from the road to the confluence, transmitting the confluence passage permission response only to the first truck;
After passing through the merging point from the first curved road and before passing through the predetermined point, the first truck requesting the controller for permission to pass through the merging point of the curve type is: a process for changing the type of the confluence passage permission request issued to the controller to the straight line type; A traveling system that performs at least one of sending a signal to the controller to recognize that it is there. The controller is
In addition to the first truck and the second truck, when the confluence passage permission request is received from the third truck that is the truck following the second truck, the first truck, the second truck, and the second truck When the types of the merging point passage permission requests received from the 2nd truck and the 3rd truck are both the straight line type, the merging point is sent to the 3rd truck in addition to the 1st truck and the 2nd truck. send a pass-through response,
A case where the junction passage permission request is received from the third truck in addition to the first truck and the second truck, and the request for permission to pass through the junction is received from the first truck, the second truck, and the third truck. if at least one type of the confluence passage permission request is the curve type, transmitting the confluence passage permission response only to the first truck;
After passing through the junction from the first curved road and before passing through the predetermined point, the second truck requesting the controller for permission to pass through the junction of the curve type: A process for changing the type of the confluence passage permission request requested to the controller to the straight line type, and the type of the confluence passage permission request received from the second truck by the controller is the curve type. 2. The traveling system according to claim 1, which performs at least one of processing of transmitting a signal to the controller to recognize that there is. a case where the junction passage permission request received from the first truck and the second truck is received from the first truck, and the type of the junction passage permission request received from the first truck is the straight line type; and when the type of the request for permission to pass through the junction received from the second truck is the curve type, the response for permission to pass through the junction is transmitted only to the first truck. The traveling system described in . The travel system according to any one of claims 1 to 3, wherein each of the plurality of trucks includes a vehicle-to-vehicle distance sensor that detects a distance from the truck in front. 5. The travel system according to claim 4, wherein the inter-vehicle distance sensor is a linear sensor capable of detecting the bogie that exists directly ahead. The travel path includes a second straight travel path and a second curved travel path that branches off via a branch point in the middle of the second straight travel path and continues to the first curved travel path,
Before the branch point, the truck transmits a branch point passage permission request requesting permission to pass the branch point to the controller, and receives a branch point passage permission response indicating permission to pass the branch point from the controller. if the controller does not receive the branch point passage permission response from the controller, it waits before the branch point;
The controller is
A case where the branch point passage permission request is received from the fourth truck that is the preceding truck and the fifth truck that is the truck following the fourth truck, and the request is received from the fourth truck. The type of the branch point passage permission request is a curve type that is the type of the branch point passage permission request when proceeding from the branch point to the second curved traveling road, and the branch received from the fifth bogie. If the type of the point passage permission request is a straight line type that is the type of the branch point passage permission request when traveling from the branch point to the second straight road, only the fourth truck is allowed to pass the branch point. send an authorization response,
6. The branch point passage permission response is transmitted to the fifth truck when the four trucks reach a position where they do not interfere with the fifth truck passing through the branch point. A traveling system according to paragraph.

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