JP3183080B2 - Transport system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for transporting small articles using a linear induction motor (hereinafter referred to as a linear motor).

[0002]

2. Description of the Related Art In hospitals, small articles such as prescriptions, medicines, specimens (blood, urine, etc.) are carried by nurses.
Most of the work of nurses is occupied by these transport operations. Under such circumstances, a transport system for transporting small articles instead of nurses has been introduced to hospitals so that nurses can concentrate on their primary bedside nursing tasks. As one of such transport systems, there is a linear motor-type transport system that uses a linear motor for a traveling drive unit of a carrier to transport small articles at high speed and quietly.

In such a transport system, stations for transmitting and receiving carriers are provided in each examination room and medical office. Each of these stations is connected to a main running track provided behind a ceiling or the like by a branch track, and can stop one or a plurality of carriers, respectively. In addition, each station is provided with an operation panel for inviting an empty carrier (a carrier on which a conveyed article is not mounted) or instructing a destination of an actual carrier (a carrier on which a conveyed article is mounted). When an operator instructs to fetch an empty carrier from a station, a control device for controlling the transport system causes the empty carrier to travel to the station. Then, when the operator mounts the small article on the empty carrier and inputs the station number of the travel destination, the carrier travels from the branch track to the target station via the main travel track.

[0004]

The above-described control device simultaneously detects the traveling positions of a plurality of carriers by a position sensor provided on the traveling track, and controls the traveling of each carrier based on the detection result. (Such running control is called tracking control). In addition, since each carrier runs at high speed (maximum speed: 5 m / s), the control device requires a CPU (Central Processing Unit) with a high processing speed and a large capacity memory. Therefore, when the size of the transport system is increased, the control device cannot sufficiently control each carrier, and there is a problem that the size of the transport system is restricted.

In such a transport system,
When a plurality of carriers run at the same time toward one station, the carriers that have overflowed from the number of stoppable carriers of the station, which is the travel destination, are stored in a standby buffer (a place where the carrier is temporarily stopped) provided on the main running track. ) To pause. Alternatively, even if an abnormality or the like occurs in the target station while the carrier is traveling toward the target station, the carrier is temporarily stopped in the standby buffer on the main traveling path. In such a case, there is a problem that these carriers suspended in the standby buffer hinder the traveling of other carriers.

Further, when the operator instructs the station to call in an empty carrier, if there is an actual carrier already traveling toward the station, the actual carrier and the empty carrier to which the instructing instruction has previously been issued are displayed. Will arrive at this station. In this case, it is possible to cause the actual carrier (already empty carrier) on which the transported object is unloaded at this station to perform the transport operation that the operator intends to perform. Therefore, the attracted empty carrier becomes unnecessary, and this empty carrier has traveled uselessly.

The present invention has been made in view of the above-described problems, and has as its object to provide a transport system capable of easily and flexibly constructing a large-scale transport system. Further, the present invention provides a transport system in which a carrier is temporarily stopped for a long time in a standby buffer provided on a main traveling track, so that the carrier does not obstruct traveling of another carrier. Is the other purpose. Still another object of the present invention is to provide a transport system capable of suppressing a useless traveling operation of a carrier.

[0008]

According to a first aspect of the present invention, there is provided a transport system comprising: a linear motor;
A carrier driven travel by a plurality of stations for instructing traveling operation of the carrier including the travel destination, the connecting between the stations, the running track of the position sensor for detecting the position of the carrier is arranged in plural numbers, this Running track
Is provided corresponding to the traveling block virtually divided,
A plurality of driving control means for controlling the travel of the carrier, 該制
Travel manager who manages carrier travel control by means
And a traveling control means , wherein the traveling control means comprises:
The travel block under its control based on the detection signal of the position sensor
It controls the traveling of the carrier in the lock and
When a destination outside the travel block under their control is specified
Is the carrier's identification number and the previous
Next, the travel information including the travel destination
The traveling block is transmitted to the traveling control means having jurisdiction, and
Equipment status information indicating the operation status of the station and running track
Information to the travel management means, and the travel management means
It is characterized in that the traveling control means is managed based on the state information .

[0009]

[0010] conveying system according to claim 2 wherein the claim 1
In the invention described in the description, when a travel request exceeding the number of carriers that can be stopped is issued to one station, the travel management means controls the station that has requested travel that exceeds the number of carriers that can be stopped. To stop the start of the carrier.

[0011] conveying system according to claim 3, wherein the claim 1
In the invention described in (2) or (3 ), when an abnormality occurs in a device at a traveling destination of the traveling carrier,
An instruction is output to change the traveling destination of the carrier to a standby track provided on the traveling track.

[0012] conveying system according to claim 4, wherein the claim 1
In any one of the inventions described in any one of (3) to (3) , when a travel request for a carrier on which an object is not loaded is instructed from the station, there is a carrier traveling toward the station. In some cases, running is not permitted in response to the running request.

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

According to the transport system of the present invention, the traveling path on which the carrier travels is divided into a plurality of virtual traveling blocks in advance. Also, the control means controls the traveling of only the carrier in the traveling block under its control, and when another traveling block is instructed as the traveling destination of the carrier, the identification number of the carrier and the device number indicating the traveling destination are displayed. Is transmitted to the control means that has jurisdiction over the traveling block on which the carrier travels next. For example, when the carrier travels from a first station in a first travel block to a second station in an adjacent second travel block, the first control unit that controls the first travel block includes: The carrier travels toward the second travel block based on the travel destination of the carrier specified by the first station and the carrier position information obtained from the position sensor. Then, the first control means transmits the identification number of the carrier and the equipment number of the travel destination to the second control means which controls the second travel block,
The traveling control of the carrier is taken over by the second control means.
The second control unit is configured to control the position of the carrier in the second travel block based on the travel destination and the identification number of the carrier and the position information of the carrier obtained from the position sensor provided on the travel path in the second travel block. The traveling of the carrier in is controlled. That is, the traveling control of the carrier is successively taken over by the control means that controls the traveling block in the traveling direction of the carrier, so that the carrier travels between the plurality of traveling blocks to perform the transport operation.

Therefore, when an attempt is made to construct a large-scale transport system having a long running track, a large-scale transport system can easily be constructed by increasing the number of travel blocks and increasing the number of control means in accordance with the number of additional travel blocks. Can be built. Further, even when the scale of the transport system is to be reduced, the scale of the transport system can be easily reduced by deleting unnecessary traveling blocks and deleting corresponding control means. Therefore, the transport system can be flexibly constructed according to the required scale. Also, since each control means only needs to control the travel of the carrier in the corresponding travel block, the travel control of the control means is less than the case where one control means controls the travel of the carrier of the entire transport system. The associated load is reduced.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the transport system of the present invention is applied to a system for transporting small articles in a hospital will be described below with reference to the drawings. FIG. 2 is a diagram illustrating the configuration of the transport path in the present embodiment. In the figure, reference numeral 1
a to 1d are carriers, 2 is a main running track, 3a to 3c are branch tracks, 4a to 4c are stations, 5a to 5g are branching devices, 6a to 6g are standby buffers, and 7a and 7b are storage buffers. . Carriers 1a to 1d are:
It has a container for storing the transported object and a secondary-side conductor (not shown) of the linear motor, and transports the transported object by traveling along the main traveling track 2 and the branch track 3a to 3c. The main running track 2 includes the stations 4a to 4c
It is a running track that connects between, and is attached to the back of the ceiling or the like. The branch tracks 3a to 3c are running tracks connecting the main running track 2 and the stations 4a to 4c, respectively. A primary coil (not shown) of a linear motor and position sensors (not shown) for detecting the positions of the carriers 1a to 1d are arranged at regular intervals on these running tracks. The primary coil and the secondary conductor fixed to the carriers 1a to 1d form a linear motor, and the carrier 1a
.About.1d are driven to run by a current flowing through the primary coil.

The stations 4a to 4c are provided in each examination room and medical office, and one stop berth (carrier stop position) is set. In addition to the dead-end stations 4a to 4c as shown in FIG. 2, there is also a pass-type station provided in the middle of a branch track having an entrance and an exit. A plurality of stop berths are provided in such a passing station. Each station 4
Operation panels a to 4c are provided respectively for instructing a transfer operation. FIG. 3 is a diagram illustrating an example of the operation panel. As shown in the figure, the operation panel 4-1 is provided with the following operation buttons. Call button 4-1a for instructing carrier call Return button 4-1b for instructing carrier return Start button 4-1c for instructing carrier start Numeric button 4-1d for inputting the device number of the destination of the carrier Close button 4-1e for instructing the closing of the station The operation panel 4-1 is provided with a liquid crystal display 4-2 for displaying various messages related to the transport operation. Each of the stations 4a to 4c can close the station as required by operating the operation panel 4-1. Further, in each of the stations 4a to 4c, an interphone (not shown) connecting the stations 4a to 4c is installed, respectively, so that communication between the stations 4a to 4c can be established.

The branching devices 5a to 5g move the carriers 1a to 1d in a traveling direction from the main traveling track 2 to the branch track 3a to 3c or from the branch track 3a to 3c by moving a part of the track. This is a device for switching to 2.
Note that the branching devices 5a to 5g change the traveling direction of the carriers 1a to 1d by moving a part of the track horizontally (horizontal shifter), and the branching devices 5a to 5g vertically move a part of the track. There is a type that changes the traveling direction of the carriers 1a to 1d vertically (vertical shifter). The standby buffers 6a to 6g are temporary stop points of the carriers 1a to 1d, and are provided before and after the branching devices 5a to 5g. The storage buffers 7a and 7b are provided in a bypass shape with respect to the main traveling track 2 and are standby places for empty carriers. Although not shown, the storage buffers 7a and 7b are provided with a large number of standby buffers, each of which can hold a plurality of empty carriers.

Here, the main traveling track 2 is provided with branching devices 5a to 5a.
It is virtually divided into a plurality of traveling zones with the boundary before and after g. The branch track 3a forms one travel zone together with the connected station 4a, the branch track 3b forms one travel zone together with the station 4b, and the branch track 3c forms one travel zone together with the station 4c. Then, three traveling blocks A to C as shown in the drawing are configured by several traveling zones adjacent to each other. The traveling blocks A to C are provided corresponding to control units A ′ to C ′ described below.

FIG. 1 is a control block diagram of the transport system according to the present embodiment. In the figure, reference signs A ′ to C ′
Is a control unit. These control units A 'to C'
Are provided corresponding to the traveling blocks A to C, respectively. The control units A ′ to C ′ are control units that control the traveling of the carrier staying in the corresponding traveling blocks A to C. The control unit A ′ is configured by the devices in the traveling block A described above, the local controller 10a, and the driver 11a. The local controller 10a stays in the travel block A by controlling the driver 11a and the branching device 5a based on various transport instructions input from the station 4a and detection signals of position sensors provided on the travel path. Controls carrier travel. The local controller 10a also monitors the operation state of each device in the control unit A '. The driver 11a directly controls the traveling of the carriers 1a to 1d by controlling the current flowing through each primary coil in the traveling block A. The configuration of the control units B ′ and C ′ is the same as the configuration of the control unit A described above.

Each of the local controllers 10a to 10c
Are connected to each other by the optical communication line 12, and when the carriers 1a to 1d travel toward another traveling block, the identification number of the carrier and the device number indicating the traveling destination (predetermined for each device) ) And the traveling blocks A to which the carriers 1a to 1d will travel next.
Local controllers 10a to 10c that control C
Send to In addition, each of the local controllers 10a to 10a
0c is connected to the central controller 14 via the communication line 13, and periodically transmits the operating state of each device under its control to the central controller 14 as device state data. The central controller 14 controls the carriers 1a to 1 throughout the transport system based on the device status data.
The running management of d is performed. The device status data is information such as whether each device is operating normally, whether there is an empty stop berth at each station, and whether the station is closed.

Here, each local controller 10
a to 10c store the following data used for the traveling control of the carriers 1a to 1d in the internal memory, in addition to the device state data described above. (1) Map data This is data indicating the device numbers of the devices included in the control units A 'to C' under their control, and the distance between the devices indicated by the device numbers. For example, for the traveling block A, data such as the device numbers of the station 4a, the branching device 5a, and the standby buffers 6a and 6b, the distance from the station 4a to the branching device 5a, the distance from the branching device 5a to the standby buffer 6a, and the like. is there. (2) Travel pattern data This is data that is stored for each travel zone and indicates the travel speed pattern of the carrier traveling in each travel zone.
For example, when the carrier 1a travels toward the standby buffer 6b in the travel zone from the branching device 5a to the standby buffer 6b, the travel pattern data when the carrier 1a passes through the standby buffer 6b at a constant speed, and the standby buffer 6
b, there is running pattern data for stopping the carrier 1a.

Each of the local controllers 10a to 10c
When a device number indicating the traveling destination of the carriers 1a to 1d is input, the vehicle is controlled so that the carriers 1a to 1d travel in a predetermined direction corresponding to the device number based on the map data. The traveling speed of the carriers 1a to 1d is controlled based on the pattern data. Note that each of the local controllers 10a to 10c
ＣC, each carrier 1a to 1d is controlled so that two or more carriers do not run at the same time and only one carrier runs.

Next, the operation of the transport system will be described in detail. The case where the empty carrier (carrier 1a) after the transfer operation is stopped at the stop berth at the station 4a and the carrier 1a travels from the station 4a to the station 4c will be described. When the operator inputs the equipment number of the station 4c as the travel destination of the carrier 1a from the operation panel 4-1, the local controller 10a transmits the identification number of the carrier 1a and the equipment number of the station 4c to the central controller 14. Here, the local controller 10a stores this identification number from the previous traveling data of the carrier 1a. The central controller 14 confirms the following points based on the device status data periodically transmitted from each of the local controllers 10a to 10c. (1) Whether each device in the traveling zone of the station 4c is operating normally. (2) Whether each device between the station 4a and the station 4c operates normally. (3) Is there a vacancy in the stop berth of station 4c? (4) Whether there is a carrier already traveling toward the station 4c. (5) Is station 4c closed? As a result, when it is determined that the carrier 1a may be caused to travel toward the station 4c, the central controller 14
Transmits a travel permission signal to the local controller 10a.

When receiving the traveling permission signal, the local controller 10a displays on the liquid crystal display 4-2 that the transport is permitted. When the operator confirms this display and presses the start button 4-1f, the local controller 10a starts running control of the carrier 1a. When the central controller 14 determines that the traveling cannot be permitted, the central controller 14 transmits a traveling non-permission signal to the local controller 10a. In this case, the local controller 10a displays on the liquid crystal display 4-2 that the carrier cannot travel. In this case, the operator can use the interphone provided at the station 4a to contact the operator at the station 4c, thereby instructing the operator to remove the cause for which the start is not permitted.

Next, the local controller 10a determines to move the carrier 1a from the branching device 5a to the standby buffer 6b based on the above-described map data and the device number of the station 4c as the travel destination. Then, an entry request signal including the device number of the station 4c, to which the carrier 1a travels, and the identification number of the carrier 1a is output to the local controller 10b that controls the next traveling block B. Then, predetermined traveling pattern data is selected from the traveling pattern data stored in the internal memory according to the content of the answer signal to the entry request signal. That is, when the entry permission signal is received, the local controller 10a
With respect to the traveling zone, traveling pattern data for stopping the carrier 1a by the branching device 5a is selected. For the traveling zone from the branching device 5a to the standby buffer 6b, traveling pattern data that passes through the standby buffer 6b at a constant traveling speed is selected. When receiving the no-entry signal, the local controller 10a selects traveling pattern data for stopping the carrier 1a in the standby buffer 6b.

Assuming that the entry permission signal has been received, the local controller 10a sends the carrier 1 to the driver 11a.
a is traveled from the station 4a to the branching device 5a, and a traveling instruction to stop at the branching device 5a is output. Upon receiving this instruction, the driver 11a switches the switching order of the AC voltage applied to the primary coil disposed on the branch track 3a so that the carrier 1a runs toward the branching device 5a. At the same time, the driver 11a
The traveling speed of the carrier 1a is controlled by changing the level of the current applied to each primary coil. When the local controller 10a detects that the carrier 1a has reached the branching device 5a by the position sensor, the local controller 10a operates the branching device 5a to move the carrier 1a from the branch track 3a to the main traveling track 2 side. And career 1
The driver 11 instructs the driver 11 to travel the vehicle 11a toward the standby buffer 6b and to travel at a constant speed to the standby buffer 6b.
output to a. According to this instruction, the driver 11a
As described above, the current flowing through the primary coil is controlled so that the carrier 1a runs toward the standby buffer 6b.

Next, when the local controller 10a confirms that the carrier 1a has left the traveling block A by the position sensor, the local controller 10a transmits an advance notice signal of the carrier 1a to the local controller 10b. Here, the local controller 10b first sends the local controller 1
When the access permission signal is transmitted to 0a, the identification number of the carrier 1a and the equipment number of the travel destination (the equipment number of the station 4c) are stored in an internal memory, and the apparatus waits for an advance notice signal. Has become. When the local controller 10b receives the entry notice signal and confirms that the traveling destination of the carrier 1a is not a device in the traveling block B, the local controller 10b gives the identification number of the carrier 1a to the local controller 10c that controls the traveling block C. And an access permission signal including the device number of the station 4c.

When the local controller 10b confirms that the carrier 1a has entered the travel block B by the position sensor, the local controller 10a
To transmit an entry report signal. When receiving the entry report signal, the local controller 10a ends the traveling control operation for the carrier 1a, and the traveling control of the carrier 1a is taken over by the local controller 10b.
Then, the local controller 10a enters a standby state waiting for the next transport request.

The local controller 10b selects traveling pattern data of the carrier 1a in the traveling block B based on a response signal to the entry permission signal transmitted to the local controller 10c. Then, the driver 11b is controlled based on the selected traveling pattern data to cause the carrier 1a to travel toward the traveling block C. Thereafter, the operations of the local controllers 10b and 10c are the same as the operations of the local controllers 10a and 10b described above. The station 4c where the carrier 1a travels is a station controlled by the local controller 10c. Local controller 10
When c confirms this, c selects running pattern data for stopping the carrier 1a at the station 4c.
Then, the driver 11c is controlled based on the traveling data to stop the carrier 1a at the stop berth of the station 4c.

According to such a transport system of the present embodiment, each station is provided with an intercom, so that station operators can communicate with each other. Therefore, in the case where an urgent transport operation occurs, when there is a carrier that has completed the transport operation at the stop berth of the carrier destination station, the source operator uses the intercom to notify the destination operator of the transport operation. Can be instructed to expel the completed carrier to a storage buffer or the like. In this way, it is possible to reliably transport the transported goods in an emergency.

In the above embodiment, the transport system constituted by three traveling blocks has been described. However, the number of traveling blocks may be larger. By providing the control unit corresponding to the increased traveling block, the traveling control of the carrier described above can be performed. Further, the transport system according to the present invention is not limited to the above-described embodiment, and the following systems are also included in the scope of the present invention. (1) When a request for transporting a carrier that is higher than the stop berth of this station occurs at substantially the same time for one station, the central controller issues a travel disapproval signal to the station that has requested the transport beyond the stop berth. Output. For example, when a transfer request from the station 4b to the station 4c occurs within a short time after the station 4a, the central controller 12 does not permit the transfer request of the station 4b generated later,
The fact that the permission is not permitted is displayed on the liquid crystal display of the station 4b, and the reason is displayed. According to such a control method, it is possible to prevent the carrier traveling on the main traveling path from being temporarily stopped in the standby buffer, thereby preventing the other carriers from traveling.

(2) When the central controller confirms from the device status data periodically transmitted from the local controller that an abnormality has occurred in the target station of the traveling carrier, the central controller determines the traveling destination of the carrier. An instruction to change the storage buffer from the destination station is transmitted to the local controller controlling the traveling of the carrier. When receiving the change instruction, the local controller changes the stored device number of the traveling destination of the carrier from the device number of the target station to the device number of the storage buffer. Then, the carrier is temporarily stopped in the storage buffer. Further, when the abnormality of the destination station is processed, the central controller transmits an instruction to change the traveling destination of the carrier from the storage buffer to the destination station. Then, the local controller having received this instruction causes the carrier to travel toward the destination station that is the original travel destination. According to such a control method, it is possible to prevent the carrier traveling on the main traveling path from being temporarily stopped in the standby buffer, thereby preventing the other carriers from traveling.

(3) When a call request for an empty carrier is issued from a certain station, the central controller
Check whether there is a carrier running toward the station. As a result, if there is a carrier traveling toward the station, the central controller does not permit this empty carrier call request. Then, the central controller causes the liquid crystal display of the station to indicate that there is a real carrier traveling toward the station. This prevents the empty carrier from traveling wastefully, and allows the empty carrier to travel efficiently.

[0039]

As described above, the transport system of the present invention has the following effects. (1) According to the transport system of the first aspect, each control means is provided corresponding to the traveling block, controls the traveling of only the carrier in the corresponding traveling block, and sets the traveling destination of the carrier. When another traveling block is instructed, the traveling information including the identification number of the carrier and the device number indicating the traveling destination is transmitted to the control means which controls the traveling block on which the carrier travels next. Therefore, by increasing the number of control means according to the number of traveling blocks, a large-scale transport system can be easily constructed. Further, the load related to the traveling control of the control unit is reduced as compared with the case where one control unit controls the traveling of the carrier in the entire transport system. Also traveling
The management means is the device status information sent from each control means.
And manages the travel control operation of the control means based on the Sand
That is, the travel management means is provided for each device over the entire transport system.
The running control of the control means is managed from the operation state. Accordingly
To efficiently move the carrier between the running blocks.
I can make it. Also, the carrier is a linear motor
As a result, the carrier is driven at high speed, making the carrier fast and quiet.
You can run.

( 2 ) According to the transfer system according to the second and third aspects, when the travel request exceeding the number of carriers that can be stopped is issued to one station, the travel management means can control the number of carriers that can be stopped. And instructs the control means which controls the station which has requested the traveling beyond the vehicle to stop starting the carrier. In addition, when an abnormality has occurred in the equipment at the destination of the traveling carrier, the traveling management means outputs an instruction to change the traveling destination of the carrier to a standby track provided by branching to the traveling track. By controlling the traveling of the carrier in this way, it is possible to prevent the carrier that is temporarily stopped on the traveling track from obstructing the traveling of other carriers. (3) According to the transport system according to claim 4, the travel management means if the requested traveling of carriers transported object is not mounted from the station is instructed, the carriers running towards the station Does not permit running in response to this running request. Therefore, it is possible to prevent the carrier on which the object is not mounted from running wastefully.

[0041]

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration example of a control block in a transport system according to the present invention.

FIG. 2 is a diagram illustrating a configuration example of a transport path in the transport system of the present invention.

FIG. 3 is a diagram illustrating a configuration example of an operation panel in the transport system of the present invention.

[Explanation of symbols]

 1a-1d Carrier 2 Main running track 3a-3c Branch track 4a-4c Station 5a-5g Branching device 6a-6g Standby buffer 7a, 7b Storage buffer 10a-10c Local controller 11a-11c Driver 12 Optical communication line 13 Communication line 14 Central controller (running management means) A to C running blocks A 'to C' control unit 4-1 Operation panel 4-1a Call button 4-1b Return button 4-1c Start button 4-1d Numeric buttons 4-1e Close button 4-2 Liquid crystal display

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-3-171208 (JP, A) JP-A-4-60707 (JP, A) JP-A-5-274034 (JP, A) JP-A-2- 119504 (JP, A) JP-A-5-105076 (JP, A) JP-A-6-131045 (JP, A) JP-A-2-226403 (JP, A) JP-A-63-255711 (JP, A) JP-A-1-20008 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 43/00-43/10 G05D 1/02

Claims (4)

(57) [Claims] 1. A key driven by a linear motor to travel.
Carrier, a plurality of stations for instructing the traveling operation of the carrier including the traveling destination, a traveling orbit on which a number of position sensors for connecting the stations and detecting the position of the carrier are provided, and this traveling orbit is virtually Corresponding to the traveling block divided into
Traveling control to control the traveling of the carrier
Means and a traveling pipe for managing traveling control of the carrier by the control means
The travel control means detects the travel destination and the position sensor.
Based on the outgoing signal,
Control the traveling of the carrier in
If a destination outside the travel block is specified,
The stored identification number of the carrier and the travel destination are
The travel information including the travel block
To the travel control means in charge of the
And device status information indicating the operating status of the running track
Means, and the travel management means performs travel control based on the equipment state information.
A transport system for managing means . 2. The method according to claim 1, wherein the traveling management means includes a number of stoppable carriers.
Travel request for one station
Request to run beyond the number of carriers that can be stopped
Stop the carrier from being started by the control means that controls the station
The transport system according to claim 1 , wherein the instruction is given . 3. The traveling management means comprises :
If an abnormality occurs in the equipment at the destination, travel the carrier
Change to a standby track that branches off to the running track
And outputting an instruction to perform the operation.
The transport system as described . 4. The travel management means is provided from the station.
A request to run a carrier with no transported object is given.
If the key is running for the station,
When there is a carrier,
4. The method according to claim 1, wherein the permission is not granted.
Transport system of crab described.