JPH05165520A - Turning-out control method for unmanned running car - Google Patents

Abstract

PURPOSE:To improve the operation efficiency by defining an area in which turning-out is necessary by an exclusive control section, a single line section, or their combination and executing turning-out control in accordance with its definition. CONSTITUTION:Plural unmanned running cars 14 run along a running path (guided line) in the control of a control part 16. As for turning-out control conditions, an exclusive condition that only one car is allowed to go simultaneously in a section, a single line condition that it is not allowed to intrude simultaneously into the section from both directions, and the number of cars limiting condition that only the designated number of cars can go into the section are determined. As for the exclusive sections of a blind lane, an intersection and a joining point, the exclusive section is determined and turning-out training is executed so as to satisfy the exclusive condition and in a single line, a single line section is determined and the turning-out control is executed so as to satisfy a single line control condition and in a transfer place, etc., the number of cars limiting section is determined. In such a manner, an optimal turning-out control condition can be set easily and the operation efficiency of an unmanned running car 14 is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shelter control method in an unmanned traveling vehicle system in which a plurality of unmanned traveling vehicles travel on a traveling path including branching and merging to carry luggage and the like.

[0002]

2. Description of the Related Art Various unmanned vehicle systems have been proposed in response to the demand for unmanned factories (eg, Japanese Patent Laid-Open Publication No. Sho-6).
3-305409).

This unmanned traveling vehicle system automatically carries out luggage by the unmanned traveling vehicle and achieves so-called factory automation (FA). The unmanned traveling vehicle is based on a command from the control unit. While carrying out a trace run on a guide line buried in the floor of the factory, the cargo is transported from the transportation source to the transportation destination through the designated route.

Here, the traveling road pattern of the unmanned vehicle is
Generally, it is a combination of various routes, and if the running road is partially observed, various running road forms such as intersections and mergings are included. When a plurality of unmanned traveling vehicles are to travel on such a traveling road, so-called refuge control is indispensable for avoiding a collision between the unmanned traveling vehicles. That is, in order to prevent multiple unmanned vehicles from entering the area such as an intersection or a confluence at the same time, when a certain unmanned vehicle exists in the area, the unmanned vehicle may exit the area. , It is necessary to control other unmanned vehicles to wait at the entrance of the area.

[0005]

However, in the conventional shelter control method, generally, as the shelter control condition,
Since there is only an "exclusive condition" that only one vehicle can enter at the same time, and uniform evacuation control is performed under that condition, it is difficult to flexibly respond to various types of roadways, resulting in operational loss and efficiency. There was a problem that it could not be realized as a regular operation.

In other words, for an area including a plurality of confluences and intersections, if only one exclusive control section is set for the entire area, even if a plurality of vehicles can enter in some cases, the areas are uniformly excluded. Control is performed and efficient operation cannot be expected. On the other hand, if every case is assumed for each area and the control conditions unique to it are set, the design of the shelter control becomes extremely complicated, which causes a problem of cost increase.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to be able to flexibly cope with various running road configurations, and to easily set an optimum shelter control condition to facilitate operation efficiency. It is an object of the present invention to provide a shelter control method for an unmanned vehicle that can improve the vehicle speed.

[0008]

In order to achieve the above object, the present invention provides, as a shelter control condition, an exclusive condition in which only one vehicle is allowed to enter a section at the same time, and a single line condition in which no vehicle is allowed to enter a section from both directions at the same time. And an exclusion control section is set at a dead end, an intersection, and a confluence point to perform shelter control under the exclusion condition, and a single track control section is set for a single track where bidirectional traffic is performed. The evacuation control is performed under a single-line condition, and the area where the evacuation control is required is defined by the exclusive control section, the single-line control section, or a combination thereof, and the evacuation control is performed.

[0009]

According to the above construction, the area requiring the evacuation control is defined as the exclusive control section, the single-track control section, or a combination thereof, and the evacuation control is performed according to the definition.

In the present invention, the area requiring the shelter control is basically composed of a combination of elements such as a dead end, an intersection, a confluence and a single line, and if these are classified from the standpoint of the shelter control. , The "exclusive condition" and the "single line condition" are basically used to perform the shelter control. In the area requiring the shelter control, any condition or a combination of each condition is defined. It

Therefore, according to the classification of the shelter control conditions, firstly, the contents of the shelter control can be organized and the design thereof can be facilitated, and secondly, the shelter control without waste can be performed. There are advantages.

Here, the above two conditions are usually sufficient, but as another save control condition, a "number limit condition" is conceivable, and if added, it applies to all the parts in the normal traveling road pattern. Therefore, appropriate escape control can be performed. if,
If a very specific evacuation control is required for a specific part, it is sufficient to set a new evacuation control condition only for that part, and even in that case, according to the present invention, design and change can be facilitated as a whole. Efficient save control can be realized.

In performing the above-mentioned shelter control, each unmanned vehicle sends an advance notice at the entrance of any one of the sections and reports the exit at the exit, and the control unit satisfies the save control conditions of each section. When this is done, the entry permission is given to the unmanned vehicle that gave the advance notice.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the overall configuration of an unmanned vehicle system to which the escape control method according to the present invention is applied. First, each component of this system will be described.

In FIG. 1, an induction wire to which a high frequency is supplied is buried in the floor of a factory or the like. A high frequency signal is supplied to the induction wire 10 by an oscillator 12.

The unmanned vehicle 14 for carrying luggage is
While detecting the electromagnetic field generated by the guide wire 10, the vehicle travels along the guide wire by tracing. The unmanned traveling vehicle 14 is composed of, for example, an electric vehicle, and can be autonomously driven by an unmanned vehicle computer mounted on the unmanned traveling vehicle.

The host controller 16 controls the entire system, and a master station 16a is provided inside the host controller 16 and the control signal issued from the master station 16a is arranged for each area. Radio waves are transmitted from a plurality of base stations 18 and received by a mobile station 20 arranged in an unmanned vehicle. On the other hand, the signal indicating the advance notice or the exit from the unmanned vehicle 14 is transmitted as a radio wave from the mobile station 20, and is received by the base station 18 and finally sent to the host controller 16 in the same manner as above. Are taken in.

The transfer control unit 22 controls transfer of luggage to the unmanned vehicle. For example, luggage carried by a belt conveyor (not shown) is automatically transferred to the unmanned vehicle 14. Can be posted.

On the traveling road, a notice mark plate 24 is arranged at the entrance of a section such as an intersection or a junction, and an exit mark plate 26 is arranged at the exit thereof. In addition, a check mark plate 28 is arranged at a certain distance from the notice mark plate 24. These mark plates are made of, for example, iron plates, and their presence is detected by a mark plate detector (not shown) provided in the unmanned vehicle 14.

In the unmanned traveling vehicle system configured as described above, under the control of the host control unit 16, the unmanned traveling vehicle is instructed about the transportation source, the transportation destination, and the traveling route, and the unmanned traveling vehicle is instructed accordingly. Carry on the basis of luggage. In this case, since there are a plurality of unmanned traveling vehicles 14 on the entire traveling path, the evacuation control is required in the area including the intersection and the junction. Therefore, in the present invention, a plurality of evacuation control conditions are prepared in order to perform optimal evacuation control according to the traveling road configuration.

FIG. 2 shows the types of the shelter control section,
In this embodiment, three sections are defined as shown in the figure. The exclusive section is a section in which an exclusive condition for allowing only one vehicle to enter the section at the same time is defined, and the exclusive section is defined at the dead end, the intersection, and the confluence. Here, the intersection and the confluence are shown as two intersections and two confluences in the figure, but three or more intersections or confluences are also included.

The single-track section is a section in which the evacuation control condition is set so as not to enter the section from both directions at the same time, and is defined as a single-track section. The number limit section is n at the same time
This is a section that allows entry to the platform, and is set in, for example, an area for waiting the transfer order at the transfer location. In the figure, the exclusive section is shown by a broken line, the single line section is shown by a one-dot chain line, and the number-of-units restricted section is shown by a two-dot chain line. The circle symbol including the arrow existing at the entrance of the section indicates the retracted position.

By providing the above-mentioned three conditions, it is possible to realize the appropriate shelter control for all the parts in the normal road.

FIG. 3 shows a proper section setting example (A1 to E).
1) and inappropriate section setting examples (A2-A2) corresponding to them
E2) is shown. 2 dead-ends shown in (A1)
In the case of the two running road configurations, two exclusive sections are set by overlapping some of them. In this case, if the exclusive section is set in the entire area as shown in (A2), the actual value is 2
Although one unmanned vehicle can exist in the section, the condition that only one unmanned vehicle exists in the section is set, resulting in an operating loss. This also applies to the other examples, and it is generally understood that the section corresponding to the traveling path pattern shown in FIG. 2 may be set to the corresponding section.

Next, various tables and registers provided in the host controller 16 will be described.

FIG. 4 shows an entry control table 101, and FIG. 5 shows an exit control table 102. In the entry control table 101, when the shelter position which is the entrance of the section and the course name instructed by the host control unit 16 are determined, the exclusive section, the number-limited section, and the single travel vector related to the shelter position are obtained. There may be one or a plurality of these sections and vectors for one evacuation position.

Further, in the exit control table 102, when the exit position and the course name are entered, as in the above,
The section and vector corresponding to the exit position are obtained. These entry control table 101 and exit control table 1
02 will be described in detail later using a specific example.

Further, the entry waiting register 103 shown in FIG.
Are provided in the host controller 16. The entry waiting register 103 stores information about an unmanned vehicle that has received an advance notice signal to enter a section, and stores a shelter position, an unmanned vehicle number, and a course name for each transmission order.

In FIG. 7, the host control unit 16 further includes an exclusive table 104 shown in (A), a number limitation table 105 shown in (B), and single line vector tables 106a and 106b shown in (C1) and (C2). Each is provided.

Here, the exclusion table 104 indicates whether or not an unmanned vehicle exists in each exclusion section, where x1, x2, ... Indicate the exclusion section numbers.

The number-of-units limitation table 105 indicates how many unmanned vehicles exist in each number-of-units limitation section, and each number-of-units limitation section Y1, Y2, ... It is configured to be specified.

Single line vector tables 106a and 106b
Represents the presence or absence of an unmanned vehicle in the single track section and the traveling direction thereof, the table 106a indicates the presence or absence of an unmanned vehicle traveling in one direction, and the table 106b represents the presence or absence of an unmanned vehicle traveling in the other direction. Is shown. Here, a symbol indicating the number of a single line section (for example, "w1
a ”),“ a ”indicates a vector in one direction,
“B” indicates a vector in the other direction. Therefore, the evacuation control is performed so that the vectors do not collide due to the single line. The registers and each table shown in FIGS. 6 and 7 will be described later in detail with specific examples.

Next, the operation of the unmanned vehicle will be described.

FIG. 8 is a flowchart showing the operation of the unmanned vehicle. In step 101, it is determined whether the advance notice mark plate 24 shown in FIG. 1 has been detected. When the mark plate 24 is detected, an advance notice signal is transmitted to the host controller 16 in step 102. In step 103, it is determined whether or not an entry permission signal is sent from the host control unit 16, and when the entry permission signal is received, the vehicle travels as it is and whether or not the exit mark plate 26 is detected in step 104. If it is detected, and if it is detected, an exit signal is transmitted to the host controller 16 in step 105. On the other hand, step 104
In, when the exit mark plate is not detected, the process from step 101 is repeated again. This is due to the fact that multiple sections may be set overlapping in an area that requires shelter control, and this is taken into consideration. This is in consideration of what may be done.

If no entry permission signal is received in step 103, in step 106
It is determined whether or not the approach check mark plate 28 shown in FIG. If the entry check mark plate 28 is detected, step 10
At 7 the unmanned vehicle stops. This means that as a result of the operation of the host control unit, which will be described later, the condition for permitting the intrusion is not established, that is, for example, there is an unmanned vehicle that is already entering the intersection. On the other hand, even if the command from the host control unit 16 is interrupted due to some trouble, it is possible to avoid the collision of the unmanned vehicle in the escape control section.

If the entry permission signal is not received within a predetermined time after the entry notice mark plate is detected, the same effect as above can be obtained by automatically stopping the unmanned vehicle. be able to.

In step 108, it is judged whether or not the entry permission signal is received after the unmanned vehicle is stopped,
If the entry permission signal is received, it is transmitted in step 109, and if it is not received, it remains in the stopped state.

In this embodiment, the entry permission signal is transmitted only when the entry permission is given from the host control unit 16. However, when entry is not permitted, the entry non-permission signal indicating this is transmitted. Well, if this is done, it becomes possible for the unmanned vehicle side to distinguish whether the stop at the approach check plate position is due to a shunt or due to some malfunction.

Next, the operation of the host controller 16 will be described. 9, 10 and 11 show the operation of the host controller, and the operation of the host controller is shown divided into three tasks for easy understanding of the contents.

FIG. 9 shows an approach processing routine. In step 201, it is judged whether or not there is an approach warning signal from the unmanned vehicle, and when the signal is received,
At step 202, the evacuation position, the unmanned vehicle number, and the course name are stored in the entry waiting register shown in FIG.

FIG. 10 shows a save control routine. In step 203, it is determined in the entry waiting register 103 whether or not there is an unmanned vehicle waiting for entry into the section or trying to enter the section. In step 204, the entry control table 101 shown in FIG. 4 is referred to, and from the retracted position of the unmanned traveling vehicle and the course name on which the unmanned traveling vehicle should travel, the exclusive section, the number-limited section corresponding to the retracted position, Any or more of the single track travel vectors are searched.

In step 205, it is determined whether the conditions for each section are satisfied. Specifically, in the case of the exclusive section, the exclusive table 104 shown in FIG. 7A is referred to, and it is determined whether or not another unmanned vehicle exists in the section. Further, if the condition determination is the number-of-vehicles limitation section, the number-of-vehicles limitation table 105 shown in FIG. 7B is referred to, and if the number of unmanned vehicles entering the number-of-vehicles limitation section is less than the number of limited vehicles. It is determined whether the number limitation condition is satisfied. Further, in the case of a single track section, as shown in FIG.
Single line vector tables 106a and 10a shown in (C2)
6b is referred to, and it is determined whether or not there is a single line vector that points in a direction opposite to the direction in which the vehicle is traveling in the single line section that is about to enter. For example, if the approach vector is w1a, it is determined whether or not there is a single line vector w1b that faces the opposite direction to the vector.

Then, in step 206, the exclusion condition,
It is determined whether or not all the applicable conditions of the single track condition and the number of vehicles limit condition are satisfied, and if any one condition is not satisfied, each process from step 203 is repeated, and when all the conditions are satisfied. Then, step 207 is executed.

At step 207, a flag indicating that the self is present is entered in the table corresponding to the section which is about to enter. That is, in the case of an exclusive section, “1” is entered as a flag in the column of the exclusive section of the exclusion table 104. This is the number limit table 10
The same applies to the 5 and singular vector tables 106a and 106b, but in these tables, flags are entered in the order of entry.

In step 208, the entry permission signal is transmitted to the unmanned vehicle that issued the entry warning signal.
Then, in step 209, items related to the unmanned vehicle are deleted from the entry waiting register 103 shown in FIG. 6 because they are unnecessary.

FIG. 11 shows an exit control routine.

At step 210, it is judged if an exit signal is sent from the unmanned vehicle. When the exit signal is received, in step 211, the exit control table 102 shown in FIG. 5 is referred to, and either the exit position and the course name, the exclusive section corresponding to the exit position, the limited number of sections, or the single-track travel vector is selected. Or multiple are searched. Then, in step 212, step 2
The flag relating to the unmanned vehicle searched in 11 is deleted. Although the flag "1" is written in this embodiment, the unmanned vehicle number may be written.

According to the above operation control, it is possible to achieve efficient operation of the unmanned vehicle while surely satisfying the conditions set in the area requiring the shelter control.

Next, a specific example of setting the control section will be described.

FIG. 12 shows an example of an area requiring a shelter control including a plurality of intersections, junctions and single lines. In the present embodiment, each of the shelter control sections shown in FIG. 2 can be used to condition the shelter control for the area as shown in FIG. Here, I indicates the section entrance and E indicates the section exit. Further, P indicates the start and end addresses of the course. The condition of the shelter control in the present embodiment is that the shelter control spans the course, that is, for example, a plurality of unmanned vehicles are not instructed simultaneously to the course of the same end point. The dead-end alley may be conditioned as an exclusive section.

FIG. 13 shows two examples of improper section setting with respect to the traveling road configuration shown in FIG. As shown by reference numeral 200 in the figure, if an exclusive section is set individually for each intersection and confluence, a collision of the unmanned vehicle is expected at the points indicated by the portions between the points (for example, 202 in the figure). It Therefore, 2
It is understood that the individual settings indicated by 00 cannot be adopted. On the other hand, according to the setting of the comprehensive exclusive section indicated by 204 in the figure, the above-mentioned collision can be completely avoided, but on the other hand, when there is an unmanned vehicle in the section, the traveling route and the traveling route are It is impossible to expect efficient operation because other unmanned vehicles that do not intersect at all are prohibited from entering the section.

Therefore, it is the section setting shown in FIG. 12 that can most efficiently perform the shelter control according to various cases, which will be described in detail below.

FIG. 14 shows a set state of each single line section shown in FIG. As shown in the figure, the single-line control section is set in a portion that matches the single-line basic pattern shown in FIG. In the figure, vectors in one direction and the other direction are shown for each section.

FIG. 15 shows a list of course names which are determined by the starting point and the ending point in the running road form shown in FIG. This course name is used when referring to the entry control table and exit control table 102 shown in FIGS. 4 and 5, or referred to when entering the entry waiting register shown in FIG.

16 and 17 show the contents of the entry control table when the section setting shown in FIG. 12 is performed. As shown in the figure, the exclusive sections and the single-track travel vectors corresponding to the shelter position and the course name are tabulated. Note that, in the section setting example shown in FIG. 12, the number-of-units limitation section is not provided, so the column of the number-of-units limitation section is omitted in the figure. Further, FIG. 18 shows the contents of the exit control table created when the section setting shown in FIG. 12 is performed.

Next, the operation when the unmanned vehicle actually travels in the section setting example shown in FIG. 12 will be described.

In FIGS. 19 to 23, one unmanned traveling vehicle is instructed to the course 14, and the other unmanned traveling vehicle is instructed to the course 68.
Is indicated as case 1.
Further, FIGS. 24 to 28 show a case 2 in which one unmanned vehicle is instructed to the course 14 and the other unmanned vehicle is instructed to the course 87. In addition,
In each figure, (A) shows the traveling positions of two unmanned vehicles, and (B) shows the exclusive table 20 in that state.
6 and the contents of the single line vector tables 208a and 208b are shown.

First, Case 1 will be described. FIG. 19
At time t1, one of the unmanned traveling vehicles L and the other unmanned traveling vehicle M are in the initial positions, and no flag is written in any of the tables.

After the time t1, when one unmanned vehicle L starts transmitting and reaches the section entrance I1 shown in FIG. 12, the host computer refers to the approach control tables shown in FIGS. 16 and 17. , The escape position I1 and the course name 14, the exclusive section x1 and the single-line travel vectors w1a, w4
a, w6a is obtained. Then, as shown in FIG. 20 (B), a flag is set at the corresponding portion of the exclusion table 206 and the single-track travel vector tables 208a and 208b. As shown in FIG. 20 (A), at time t2, one unmanned traveling vehicle L has entered the exclusion zone x1, which may cause another unmanned traveling vehicle to enter the exclusion zone x1. prohibited. At the same time, the single-track traveling vectors w1a, w4a, and w6a are flagged, and the unmanned vehicle that establishes the single-track traveling vectors w1b, w4b, and w6b is prohibited from entering the single-track section. This state is shown in FIG.

After that, the other unmanned traveling vehicle M starts to move, and at time t3, as shown in FIG. 21, the unmanned traveling vehicle M enters the exclusion section x2 and the exclusion section searched by the entry control table. And single-track travel vectors are flagged. It should be noted that the unmanned traveling vehicle L has exited the exclusive section x1, the exit control table shown in FIG. 18 is referred to when exiting the exclusive section x1, and the flag in the column of x1 in the exclusive table 206 is deleted. However, as is clear from the items specified by the exit position E2 and the course name 12 in the exit control table, only the flag of the exclusive section x1 is deleted, and the state of the flag of the single-track traveling vector is maintained as it is. ..

At time t4 shown in FIG. 22, both the unmanned vehicles L and M are traveling in the same direction,
The presence of the unmanned traveling vehicle M does not hinder the progress of the unmanned traveling vehicle L.

As shown in FIG. 23, at time t5, the unmanned traveling vehicle M arrives at the end point, while the unmanned traveling vehicle L exists in the exclusive section x4, so the exclusion table 20 is set.
The x4 in 6 is flagged.

Next, case 2 will be described. Figure 24
At time t1, one unmanned traveling vehicle L and the other unmanned traveling vehicle M are both in the initial positions, so that neither flag is written in each table 206, 208a, 208b. Time t2 shown in FIG.
In, the unmanned vehicle L enters the exclusive section x1,
Thereby, based on the approach control table shown in FIG. 16 and FIG. 17, a flag is written in the corresponding portion of the exclusive table 206 and the single line vector table 208a.

At time t3 shown in FIG. 26, the unmanned traveling vehicle M reaches the section entrance I14 (see the figure) and starts entering the section, so that the entry control table shown in FIGS. The column of the save position I14 and the course name 87 is referred to, the flag is written in x4 of the exclusive table 206, and the flag is written in w3b of the single line vector table 208b.

At time t4 shown in FIG. 27, since the unmanned vehicle M has entered the exclusive section x3, a flag is written in the corresponding part, but in this case, the single line vector collides in one direction and the other direction. Therefore, both the unmanned vehicles L and M are allowed to proceed. this is,
This is because the host control unit grasps the course of each unmanned vehicle, and the operation loss due to the uniform exclusive control that has been conventionally performed is eliminated. At time t5 shown in FIG. 28, the unmanned traveling vehicle M arrives at the end point, and one of the unmanned traveling vehicles is traveling in the exclusive section x4.

As specifically described in Case 1 and Case 2 above, according to the shelter control method of the present embodiment, it is possible to flexibly deal with various types of traveling roads and set the optimum shelter control condition. It can be set to improve operation efficiency.

[0068]

As described above, according to the present invention,
The area where the evacuation control is required can be defined as an exclusive control section, a single-track control section, or a combination thereof, and the evacuation control can be performed according to the definition. The control condition can be easily set. Therefore, the operation efficiency of the unmanned vehicle can be improved in the unmanned vehicle system.

Further, by adding the number-of-vehicles control condition as the shelter control condition, it is possible to cope with various types and conditions of the traveling road.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an overall configuration of an unmanned vehicle system to which a refuge control method according to the present invention is applied.

FIG. 2 is an explanatory diagram showing types of shelter control sections.

FIG. 3 is an explanatory diagram showing a proper section setting example and an inappropriate section setting example.

FIG. 4 is an explanatory diagram showing the contents of an entry control table.

FIG. 5 is an explanatory diagram showing the contents of an exit control table.

FIG. 6 is an explanatory diagram showing the contents of an entry waiting register.

FIG. 7 is an explanatory diagram showing the contents of an exclusive table, a number-of-units limitation table, and a single-line vector table.

FIG. 8 is a flowchart showing the operation of the unmanned vehicle.

FIG. 9 is a flowchart showing entry control in the host control unit.

FIG. 10 is a flowchart showing a save control of a host controller.

FIG. 11 is a flowchart showing exit control of the host controller.

FIG. 12 is an explanatory diagram showing an example of section setting according to the present invention.

FIG. 13 is an explanatory diagram showing an inappropriate conventional setting example.

FIG. 14 is an explanatory diagram showing a setting state of a single line section in the section setting example shown in FIG.

FIG. 15 is an explanatory diagram showing a course name determined by a starting point and an ending point.

FIG. 16 is an explanatory diagram showing an example of an entry control table.

FIG. 17 is an explanatory diagram showing an example of an entry control table.

FIG. 18 is an explanatory diagram showing an example of an exit control table.

FIG. 19 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 1.

FIG. 20 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 1.

FIG. 21 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 1.

FIG. 22 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 1.

FIG. 23 is an explanatory diagram showing the position of the unmanned traveling vehicle in Case 1 and the contents of each table.

FIG. 24 is an explanatory diagram showing the position of the unmanned traveling vehicle in Case 2 and the contents of each table.

FIG. 25 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 2.

FIG. 26 is an explanatory diagram showing the position of the unmanned traveling vehicle in Case 2 and the contents of each table.

FIG. 27 is an explanatory diagram showing the position of the unmanned vehicle and the contents of each table in Case 2.

FIG. 28 is an explanatory diagram showing the position of the unmanned traveling vehicle in Case 2 and the contents of each table.

[Explanation of symbols]

 10 traveling road (guide line) 14 unmanned vehicle 16 host control unit 18 base station 20 mobile station 24, 26, 28 mark plate

Claims (1)

[Claims] 1. An unmanned vehicle system in which a plurality of unmanned vehicles whose operation is controlled by a control unit travels on a traveling road. As an evacuation control condition, an exclusion condition that allows only one vehicle to enter the section at the same time, and At the same time, there is a single track condition that does not allow bi-directional entry.Exclusive control sections are set at dead ends, intersections, and confluences, and evacuation control is performed under the exclusion conditions to create a single track where bidirectional traffic is performed. Sets a single-track control section, performs shelter control under the single-track condition, defines areas where shelter control is required by the exclusive control section, the single-track control section, or a combination thereof, and performs shelter control. An evacuation control method for an unmanned vehicle, characterized by performing.