KR20030006922A - Automated guided vehicle system - Google Patents

Abstract

PURPOSE: To reduce the data quantity of a carriage command from a host controller to each carrier in an unmanned carrier system. CONSTITUTION: An already set route 11 is preliminarily set on a traveling path, and the map of the traveling path and the information of the operating direction of a branching device for route selection to prevent a carrier 13 from deviating out of the already set route 11 in each branching part a1-a4 on the already set route 11 are stored in an on-device controller on the carrier 13. When it is necessary for the carrier 13 to deviate out of the already set route 11 in the branching parts a1-a4 on the already set route 11 for carriage, a host controller includes the position of the branching part and the operating directing of the branching device at the branching part in the carriage command to the carrier 13. The carrier 13 which receives the carriage command operates the branching control device in order to maintain the already set route 11 based on the information preliminarily stored in the on-device controller at the branching sections no instruction of which is given by the carriage command.

Description

Unmanned Transportation System {AUTOMATED GUIDED VEHICLE SYSTEM}

The present invention relates to a driving control of an unmanned transportation vehicle that automatically runs on a driving route.

Background Art Conventionally, unmanned transport systems have been known in which a driverless vehicle travels automatically along a traveling route in order to transport articles in a clean room such as a semiconductor manufacturing plant where dust is a problem.

The traveling path has a plurality of branching portions, and the guide wheels are settled out of the transport vehicle immediately in front of the branching portions, and the guide wheels are brought into contact with the groove portions along one path to determine the path of the transport vehicle. In addition, a plurality of stations in which articles are transported along the travel route are provided.

A host controller is installed at an appropriate position such as one corner of the clean room, and a call is made from the host controller to the vapor phase controller mounted on each vehicle by the number of the unit. The vehicle receiving the call returns information such as the current position on the driving route, and based on the reply information, the host controller routes to the stop position or the branch point at the station or the like, which is the destination of the weather controller of each vehicle. The transport instruction instructing the selection of a message or the like is transmitted.

However, when there are many branching parts in the traveling route, the amount of data transmitted from the host controller to each vehicle becomes considerably large. In other words, the host controller must transmit a transport instruction instructing the selection of the route for each branch part in addition to the position of the station of the destination for each vehicle present on the travel route. The signal amount of this conveyance command becomes larger for a large-scale system having many branch parts, and the load of the host controller increases.

In addition, if the conveyance command signal amount of the transport command also increases on the weather controller side of the transport vehicle, the load on the weather controller for the processing increases, which is undesirable.

Thus, the present invention aims to solve these problems.

1 is a schematic diagram of an unmanned vehicle system 1.

2 is a front sectional view of the transport vehicle 13.

3 is a side cross-sectional view.

4 is a plan sectional view of the transport vehicle 13 showing the arrangement of the traveling wheels 23, 23,...

5 is a plan view of the carriage 13 showing the arrangement of the guide wheels 24, 24,.

6 is a plan view showing the lower part of the main orbit 11 and the sub orbit 12 at the branch point.

7 is a plan view of the main orbit 11 and the sub orbit 12.

8 is a block diagram showing the control configuration of the unmanned vehicle system 1.

(Explanation of the sign)

1: unmanned vehicle system 5: host controller

Station 10: Station orbit

11a: guide groove 12: sub-orbit

12a: Guide Home 13: Unmanned Vehicles

20: Weather controller 28: Branch roller

57: bar code reader 61, 62: bar code

The present invention uses the following means to solve the above problems.

First, as described in claim 1, an unmanned transportation system including a traveling route having a plurality of branching portions, and a branching device for selecting a route at the branching portion in a vehicle that automatically runs along the traveling route. In the driving route, a predetermined route is set in advance, and a weather controller mounted on the transportation vehicle stores a map of the traveling route in advance, and the vehicle is a predetermined route at each branch included in the predetermined route. The host controller which controls and manages the direction in which the branch device is to be operated to drive while maintaining the control, and the host controller which controls and manages the unmanned vehicle system sends a branch command on the predetermined route for transport when the transport command is transmitted to the vehicle. If it is necessary to select a course in a direction deviating from the predetermined route in the The meteorological controller of the transport vehicle which has received the transport instruction by including information on the transport instruction and information indicating the direction in which the branch device operates the branch device in the transport instruction. At the base, the branching device is operated to maintain the predetermined route based on the information previously stored in the weather controller.

Further, as described in claim 2, a timing instructing member is provided at a position immediately in front of the branch portion on the travel route, and a vehicle is provided with a detecting means for detecting the timing instructing member, The branching device is activated when the truck detects the timing indicating member.

As described in Claims 3 and 4, the branching device includes at least a pair of branching rollers, and one of the branching rollers is brought into contact with the branch guide portion provided in the branching path to select a path. And the weather controller controls the appearance of the branch roller of the branching apparatus based on information previously stored in the weather controller or information in the direction indicated by the transport instruction.

Hereinafter, an embodiment of the unmanned transport system 1 according to the present invention will be described.

1 is a schematic view of the unmanned transportation system 1, FIG. 2 is a front cross-sectional view of the transport vehicle 13, FIG. 3 is a side cross-sectional view, and FIG. 4 is a transport vehicle showing the arrangement of the driving wheels 23, 23,... 5 is a plan view of the cross section of FIG. 5 and FIG. 5 is a plan view of the carriage 13 showing the arrangement of the guide wheels 24, 24, ..., and FIG. 6 is a view of the main orbit 11 and the sub orbit 12 at the branch point. 7 is a plan view showing the main track 11 and the sub track 12, and FIG. 8 is a block diagram showing the control configuration of the unmanned vehicle system 1;

The unmanned transport system 1 shown in FIG. 1 is composed of a plurality of transport systems 1A, 1B, 1C, ..., and the movement path of the unmanned transport vehicle 13 is included in each system 1A, 1B, 1C, ... The main tracks 11, 11,... Which are to be laid are looped, and adjacent main tracks 11, 11 are connected by sub tracks 12, 12, respectively. Each main track 11 becomes one-way, and the carriage 13 on each main track 11 is controlled to travel along the direction of the arrow shown in FIG.

A plurality of stations 10, 10... Are arranged along the main track 11, and the vehicle 13 moves between the stations 10, 10 based on a transport instruction from the host controller 5 described later. The article can be transported from one station 10 to the other station 10.

Moreover, the feed lines 2 and 2 in which conductive wires such as copper wires are covered with an insulating material along the main orbits 11 and 11 and the sub orbits 12 and 12 which branch off from the main orbits 11 and 11. 2 and communication lines 8 and 8 (FIG. 2) using feeder lines are hypothesized.

Next, the structure of the transport vehicle 13 is demonstrated.

As shown in Fig. 2 and Fig. 3, the pickup 13, 9, 9, ..., for obtaining electric power from the feed lines 2, 2, is disposed on both front and rear sides of the vehicle body.

The track 11 (12) is formed in a substantially U-shaped cross section. The tracked vehicle 13 traveling on the track 11 (12) is provided with a traveling vehicle body 21 at a lower portion thereof, and the traveling vehicle body 21 has a central main frame 31 and the main frame ( 31 and wheel support portions 32 and 32 positioned before and after.

As shown in FIG. 4, the wheel support parts 32 and 32 and the main frame 31 are connected via the rotation point shafts 33 and 33, and the wheel support parts 32 and 32 rotate about the main frame 31. It is possible.

Moreover, above the traveling vehicle body 21, an article support portion 22 configured to mount an article is provided. The traveling vehicle body 21 and the article support part 22 are connected by the connecting body 36, and the article support part 22 is supported by the traveling vehicle body 21. As shown in FIG. In addition, the pick-up units 9, 9, ... are fixedly installed at the front, rear, left, and right sides of the coupling body 36.

The feeder line holder 30 is disposed on one side surface (right side in FIG. 2) of the track 11 (12) to face the pickup unit 9.

An approximately E-shaped ferrite core 3 is fixed to the pickup unit 9, and a pickup coil 4 is wound around a protruding portion at the center of the core 3. The core 3 has one feed line 2, 2 held at the inner end of the feed line holder 30, 30 in two recess spaces formed between the upper and lower protrusions and the central protrusion between them. have. The pickup coil 4 receives a magnetic field generated by flowing a high frequency current through the feed lines 2 and 2. Then, the electric power is taken out from the induced current generated in the pickup coil 4 using the electromagnetic induction phenomenon. In this way, electric power is supplied from the feeder lines 2 and 2 to the pick-up unit 9 in a non-contact manner, and the motor 14 is driven, or to a controller including a weather controller 20 to be described later.

2 to 4, traveling wheels 23, 23, 26, 26, which have left and right axles, are disposed on the upper and lower ends of the wheel support part 32 on the left and right sides.

The upper part of the track | wheel 11 (12) is provided with the part which protrudes from right to left and consists of a pair of running rails 40 and 40. As shown in FIG. The top plate surface of the traveling rail 40 is formed to be a horizontal plane, and the traveling wheels 23, 23... Are in contact with the top plate surface of the traveling rail 40 so that the transport vehicle 13 is driven by the traveling rails 40, 40. It is designed to drive along the road.

In addition, a gap of right and left widths that allow the traveling vehicle body 21 to pass therebetween is formed between the traveling rails 40 and 40. This gap is formed along the track 11 (12), and slits 11S (12S) are formed in the track 11 (12).

As shown in Fig. 2, Fig. 3 and Fig. 5, guide wheels 24, 24,..., Having vertical axles are arranged on both left and right sides of the upper part of the wheel support part 32, and the wheel is the wheel support part 32. ) Is installed vertically. Two guide wheels 24, 24, ... are provided before and after each of the left and right sides of the wheel support parts 32, 32, and a total of eight wheels are arranged.

Side portions 41 and 41 are formed on the left and right sides of the raceway 11 (12) from the outer ends of the travel rails 40 and 40 toward the side (downward). And this side part 41 is made into the guide surface of the said guide wheels 24 and 24 ..., and the position shift of the left-right direction of the transport vehicle 13 can be prevented.

The transport vehicle 13 travels in a state in which the entire guide wheels 24, 24, ... are substantially in contact with the side portions 41, 41 at the straight portion of the track 11 (12). In this case, the straight line connecting the left and right guide wheels 24 and 24 and the line orthogonal to the tangent of the guide surface which the guide wheels 24 contact are coincident with each other. On the other hand, in the curved portion, when the guide wheels 24 and 24 provided respectively before and after the front wheel 26 and the rear wheel 26 of the transport vehicle 13 contact the guide surfaces of the curved portion, the left and right guide wheels 24 , And the straight line connecting the 24 and the straight line in the direction orthogonal to the tangent of the guide surface that the guide wheel 24 is in contact with are different, and a gap is formed between the guide wheel 24 and the guide surface. For this reason, in a curved part, it moves somewhat horizontally by centrifugal force.

In the raceway 11 (12), the lower ends of the side portions 41 and 41 are connected by the lower portion 42. The track 11 (12) is formed by an abnormal configuration of the running rails 40 and 40, the side portions 41 and 41, and the lower portion 42.

The motor 14 is disposed in the front-rear center portion of the traveling vehicle body 21. The motor 14 is fixed to the support body 34 below this motor 14. The support 34 is supported so that one end thereof can swing in the vertical direction with respect to the main frame 31 of the traveling vehicle body 21, and the other end is attached to the compression spring 35. For this reason, the support body 34 is always pushed downward, and the driving wheel 25 provided in the support body 34 is pressed by the running surface 43 provided so that the center of the lower part 42 may protrude.

The support 34 is rotatably provided with a drive wheel 25 having drive shafts in the left and right directions, and the drive wheel 25 is driven by the motor 14.

The upper surface of the traveling surface 43 is formed horizontally, and the driving wheel 25 is provided in the left and right centers in the traveling vehicle body 21 so as to be in contact with the traveling surface 43. The driving wheel 25 is always in contact with the running surface 43 by the pressing force downward by the compression spring 35.

In addition, running rails 44 and 44 are convexly provided at both side portions of the lower part 42. The upper surface of this traveling rail 44 is formed so that it may become a horizontal surface, and the said running wheels 26, 26 ... contact the upper surface of the said running rail 44. As shown in FIG.

In addition, by providing a rotation sensor to the drive shaft of the drive wheel 25, it is possible to perform position control of the transport vehicle 13. For example, the position of the transport vehicle 13 can be specified based on the detection result of the rotation sensor. In addition, with the meteorological controller 60 of the carriage 13, the required number of revolutions (of the driving wheel 25) from the current position to the destination is inputted until the input value and the detected value become the same. And control the carriage 13 to reach its destination.

The rotation sensor converts the rotational speed of the drive shaft into a pulse signal, takes out the pulse, and converts the rotational speed by an encoder provided in the rotational sensor to measure the rotational speed.

Branch rollers 28 and 28 for selecting which of the sub-orbit 12 or the main track 11 to travel at the branch point branching from the main track 11 to the front and rear wheel supports 32 and 32. Is installed. That is, as shown in Fig. 2 and Fig. 5, the support shafts 28a and 28a are shifted by 90 ° on the left and right sides on the switching shaft 27 horizontally extending in the left and right directions so as to be perpendicular to the switching shaft 27. And the branch rollers 28, 28 are rotatably arranged on the support shafts 28a, 28a. The bevel gear 37 is fixedly installed on the switching shaft 27 to be interlocked with the switching motor 29, and the switching shaft 27 is rotated by forward or reverse rotation of the switching motor 29, and the branch roller is rotated. One side of (28, 28) is directed downward.

As shown in FIG. 6, guide grooves 11a and 12a (branch guide portions) in which the branch rollers 28 and 28 are in contact with the lower portion 42 of the raceways 11 and 12 are formed. The branch rollers 28 are guided by both left and right walls in the groove portions of the guide grooves 11a and 12a. In one guide groove 11a, the other guide groove 12a is formed along the sub-track 12 in the main track 11.

In such a configuration, when the transport vehicle 13 has entered the diverging point from the main track 11, the switching motor 29 is driven to direct the branching roller 28 on either side to the lower side. The branching roller 28 which protrudes into the guide groove 11a (12a) enters into the guide groove 11a (12a), the other branching roller 28 is retracted upwards, and is separated from the guide groove 12a (11a), and the branching roller 28 Drive along the guide groove with). In this way, either the main track 11 or the sub track 12 can be selected to travel.

That is, the transport vehicle 13 is positioned so that one branch roller 28 is in contact with one guide groove 11a (12a), while the other branch roller 28 is the other guide groove. A switching mechanism disposed so as to be in a non-contact position with respect to (12a (11a)) is mounted, and by operating the switching mechanism, the branch roller 28 is switched between the contact position and the non-contact position, and the main orbit 11 or the sub-orbit. It is possible to select and run 12.

Next, the traveling control of the transport vehicle 13 will be described.

The carriage 13 is equipped with a receiver 51, 52 and a transmitter 53 in close proximity to the communication lines 8, 8 extending over the respective systems 1A, 1B, 1C, ..., and the host controller ( Communication with 5) is carried out.

As shown in Fig. 8, the host controller 5 inputs a feedback signal, for example, an address signal of the current position or the presence or absence of an article, for each of the vehicles 13, 13, ... from the modem 54. The control signal, such as a destination for each of the vehicles 13 and 13, and whether or not to transfer, is output to the modem 54 through the interface of the host controller 5.

The modem 54 FM-modulates the digital signals for each of the vehicles 13, 13, ... inputted from the host controller 5, and uses the impedance matching box 56 to connect the communication lines 8, 8 as antennas. It transmits to the meteorological controller of the carriers 13 and 13.

Then, the control signal received by the receiver 51 (52) of the carriage 13 is input to the modem 55. The modem 55 simply replaces the local oscillation frequency of the modem 54 and the transceiver function of the host controller 5 or has the same configuration, and the signal input from the receiver 51 (52) is demodulated. It is converted into a digital signal and outputted to the weather controller 20 which is a control means of the carriage 13.

The weather controller 20, as a sensor, detects the presence or absence of an article in the carriage of the carriage 13, an article detector composed of a photoelectric switch for detecting the position of the article, and the approach of the preceding carriage 13. A receiver, a bumper switch for detecting a collision, an encoder for detecting a travel distance at the rotational speed of the drive motor of the driving wheel 25, and the like, and signals from each sensor and a host input from the modem 55 are connected. Judging by the control signal from the controller 5, the traveling motor and the like are controlled by the inverter to control the automatic running of the transport vehicle 13.

In addition, the meteorological controller 20 transmits light through which the following carriage 13 detects an approach using a light projector. The feedback signal from the meteorological controller 20 to the host controller 5 is output to the modem 55 as a digital signal, and the modem 55 modulates the feedback signal to the transmitter 53. The feedback signal from the weather controller 20 transmitted from the transmitter 53 is received by the communication lines 8 and 8, modulated by the modem 54 through the impedance matching box 56, and output to the host controller 5. . The host controller 5 grasps the situation of the carriage 13 by the feedback signal from the weather controller 20 inputted from the modem 54.

In this way, by using the modem 54 and the modem 55 as a transceiver, the receivers 51 and 52, the transmitter 53, and the communication lines 8 and 8 are used as antennas, so that the host controller 5 and the weather controller ( 20) the exchange of signals is performed.

In addition, as shown in Fig. 7, the bar code 61 in which unique position information is recorded, respectively, in the predetermined position of the main orbit 11 and the sub orbit 12, for example, the installation positions of the stations 10, 10, ..., and the like. , 61..., And barcodes 62, 62... Are attached immediately before the branch point or immediately after the joining point. In addition, a bar code reader 57 for reading the bar codes 61, 61... 62, 62... Is attached to a proper position of the transport vehicle 13.

When the barcodes 61 (62) on the tracks 11 and 12 are read by the barcode reader 57, the positional information is outputted to the weather controller 20 mounted on the vehicle 13. As shown in FIG. The weather controller 20 stores a driving route map that records distance information between barcodes and passing speed information therebetween, and the barcode reader 57 of the transport vehicle 13 reads the barcode 61 (62). Then, the controller 20 recognizes the position at which the vehicle is currently traveling, and performs driving control referenced to the driving route map.

The vehicle 13 travels to the position of the bar code 61 (62) immediately before one of the bar codes 61 attached to the target stop position according to the information of the driving route map, and the bar code immediately before the one ( When 61 (62) is detected, deceleration is started. This deceleration is performed based on the distance information from the bar code 61 (62) position just before the said one to the said stop position of the objective memorize | stored in the said driving route map, and the carriage 13 moves to the target stop position. It is controlled to stop accurately.

Next, the career selection control of the present invention will be described.

First, as a premise of control, a part of the route of the traveling route is set in advance as a predetermined route. In this embodiment, the main track 11 (indicated by a bold line in FIG. 1) of each of the systems 1A, 1B, and 1C is set as the default route. The sub-orbit 12 is a route deviating from the predetermined route.

Although this predetermined route setting method is arbitrary, it is preferable to set so that the branch part which may branch in the direction which deviates from the said predetermined route may be included.

The traveling route map is stored in the meteorological controller 20 of the transport vehicle 13, but in addition to the distance information and the passing speed information between the barcodes, the vehicle travels so as to deviate from the predetermined route at a plurality of branches on the predetermined route. For this purpose, information of which branching roller 28 is projected and which is to be immersed is stored.

When a specific example is described, for example, the predetermined route (main track) 11 of the system 1B includes a plurality of branch portions a1, a2, a3, a4 as shown in FIG. In order to travel so that the carriage 13 on the route 11 may deviate from the predetermined route 11, turn left at the branch a1, go straight at the branch s2, and left at the branch a3. In the branching section a4, each of the branching rollers 28 must be selected so as to turn to the left.

Therefore, the predetermined route is stored in advance by storing the branching direction (which branching roller 28 is to be operated) on the traveling route map stored in the weather controller 20 in advance. This reduces the amount of information that the host controller 5 must instruct to drive.

In addition, when the system is actually operating, the station 13 (the station indicated by reference numeral 10 * in FIG. 1) of the transport vehicle 13 traveling on the predetermined route 11 of the system 1B. It needs to be directed for the transport of the article.

In order for the transport vehicle 13 on the fixed route 11 of the system 1B to reach the station 10 *, it turns to the right at the branch a2 as shown in FIG. It is necessary to escape from).

In this case, therefore, the host controller 5 managing the system 1B indicates the position of the station 10 * of the destination, the position of the branch a2 that needs to be turned to the right, and Carrier 13 (for example, code | symbol in FIG. 1) which carries a conveyance instruction including the instruction | indication of the side which protrudes the said branch roller 28 in order to turn to the right from branching part a2 on system 1B. 13 *), and the instructions for the other branches a1, a3, a4 are not included in the transport instruction.

The meteorological controller 20 of the vehicle 13 * having received the transportation instruction stores the transportation instruction in an appropriate storage means (for example, a memory) included in the controller 20, and the station of the purpose as shown below. Face (10 *).

First, the transport vehicle 13 * travels on the predetermined route 11 in the direction of the arrow, and reaches the branch a4. The meteorological controller 20 of the transport vehicle 13 * having read the bar code 62 (not shown in FIG. 1) immediately before the branching section a4 refers to the transport instruction stored in the storage means. Check whether the branch instruction for the base (a4) is included in the transport order.

In this case, since the instruction to the branching section a4 is not included in the transport instruction, the weather controller 20 according to the information stored as described above (information of turning to the left in the branching section a4), This is to select a path by controlling the branching device in a direction not to deviate from the predetermined route 11. In this case, therefore, the carriage 13 * is turned to the left at the branch a4.

In addition, the transport vehicle 13 * operates the branching roller 28 of the branching device by detecting the bar code 62. In other words, this bar code 62 instructs the transport vehicle 13 * to operate the timing of the branch apparatus. It serves as a timing instructing member, and the barcode reader 57 serves as a detecting means for detecting the timing instructing member on the side of the vehicle 13.

For this reason, it is not necessary to include and transmit the positional information for operating the branching apparatus in all branching portions in the conveying instruction or the movement instruction.

However, it is not limited to the structure which uses the barcode 62 as a timing instruction | construction member, It is good also as a structure which uses another member, for example, a timing bar. In this case, apart from the barcode reader 57, a detection means such as a sensor for detecting the timing bar is provided in the transport vehicle 13.

Subsequently, the carrier 13 * advances on the predetermined route 11 in the direction of the arrow to reach the branch a1. The meteorological controller 20 of the transport vehicle 13 * having read the bar code immediately before the branch a1 has a command to branch to the branch a1 by referring back to the transport instruction stored in the storage means. Check whether it is included in the transport order.

In this case, since the instruction to the branching section a1 is not included in the transport instruction, the weather controller 20 stores the information stored in the same manner as described above in the branching section a4 (branch section a1). In the direction of turning to the left), selects the course by controlling the branching device in a direction not to deviate from the default route (11). In this case, therefore, the carriage 13 * is turned to the left at the branch a1.

Further, the transport vehicle 13 * proceeds in the direction of the arrow to reach the branch a2. The weather controller 20 of the transport vehicle 13 * reading the bar code 62 immediately before the branch a2 refers to the transport instruction stored in the storage means, and branches to the branch a2. Investigate whether the instructions are included in the transport order.

In this case, as described above, since the instruction for the branch a2 is included in the transport instruction, the meteorological controller 20 controls the branch roller 28 of the branch apparatus according to the instruction of the transport instruction to control the course. To choose. Therefore, in this case, the carriage 13 * turns to the right at the branch a2, moves out of the prescribed route (main track) 11 to the sub track 12, and after a while, reaches the target station 10 *. Arrive.

In this way, the control of the path selection at each branch a1, a2, a3, a4 of the transport vehicle 13, 13, etc. in the present invention needs to escape the predetermined route 11 at the branch. Except in the case, the meteorological controller 20 mounted on each of the transport vehicles 13 can be autonomously (without the instruction from the host controller 5) in accordance with previously stored information.

Therefore, the host controller 5 only needs to include the path selection instruction in the transport instruction for the branch a2 that needs to escape the predetermined route 11, and the path for the other branch a1, a3, a4. It is not necessary to include optional instructions in the transport order. As a result, the burden of the transport instruction preparation of the host controller 5 is alleviated, and the communication between the host controller 5 and the weather controller 20 of each of the transport vehicles 13 is smooth, and at the same time, The burden on the handling of the transport command is also reduced on the meteorological controller 20 side.

In addition, when the target station is shown on the predetermined route 11, for example, as indicated by reference numeral 10 'of FIG. 1, the transport vehicle 13 only travels along the predetermined route 11, and is the station of that purpose. 10 'can be reached. In this case, the host controller 5 side may include an instruction of the position of the station 10 'for the purpose in the transport instruction, and includes the route selection instruction at any branch a1, a2, a3, a4. You don't have to.

This invention is comprised as mentioned above and exhibits the following effects.

First, as in claim 1, in an unmanned vehicle system including a traveling route having a plurality of branching portions, and having a branching device for selecting a route at the branching portion in a vehicle that automatically runs along the traveling route. The preset route is set in the traveling route in advance, and the weather controller mounted in the vehicle is stored in advance with the map of the traveling route, and the vehicle maintains the route in each branch included in the route. The host controller which stores and stores the information of the direction in which the branch device is to be operated while driving, and the host controller which controls and manages the unmanned vehicle system sends the command to the vehicle at the branch on the predetermined route for transport. Information indicating the position of the branch when it is necessary to select a course in a direction deviating from the predetermined route And the meteorological controller of the transport vehicle which receives the transport instruction by including information indicating the direction in which the branch device operates the branch device in the transport instruction. By operating the branching device to maintain the predetermined route based on information previously stored in the controller,

The control of the course selection at each branch on the predetermined route is autonomous (from the host controller) in accordance with the information stored in advance by the meteorological controller of each vehicle except for the case where it is necessary to leave the predetermined route at the branch. It is possible to do it regardless of order).

Therefore, on the host controller side, it is only necessary to include the career selection instruction in the transport instruction only for the branch portion which needs to escape the predetermined route, and it is not necessary to include the career selection instruction for the other branch portion in the transport instruction. As a result, the burden of transport command preparation of the host controller is reduced, and the communication between the host controller and the weather controller of each vehicle is smooth, and the burden of processing of the transport command is also reduced on the weather controller side of the vehicle. do.

In addition, in this embodiment, the host controller is a controller for managing the unmanned transportation vehicle system, and refers to a higher level controller with respect to the weather controller installed in each vehicle. For example, if the controller which manages the whole production process is made into the host controller, and the vehicle controller which manages the unmanned transportation vehicle under the superstructure is arrange | positioned hierarchically, it is corresponded to a vehicle controller. Of course, a host controller which manages the production process may generate a transport instruction, and transmit the command directly to the weather controller or by relaying the transport controller.

As described in claim 2, in the unmanned transportation system according to claim 1, a timing instructing member is provided at a position immediately in front of a branch on the traveling route, and the timing instructing member is provided in a vehicle. By providing a detecting means for detecting and operating the branching device when the traveling vehicle detects the timing indicating member,

The branch apparatus can be operated at an appropriate timing and the load on the host controller side can be reduced without transmitting the positional information for operating the branch apparatus from the host controller.

As described in Claims 3 and 4, the branching device includes at least a pair of branching rollers, and one of the branching rollers is brought into contact with the branch guide portion provided in the branching path to select a path. And the weather controller controls the appearance of the branch roller of the branching apparatus based on information previously stored in the weather controller or information in the direction indicated by the transport instruction.

It is possible to guide the carriage in the desired direction with a simple configuration in which the branch roller is raised.

Claims (4)

In an unmanned transportation system having a traveling route having a plurality of branching portions, and a carriage for automatically traveling along the traveling route, is provided with a branching device for selecting a route at the branching portion. Pre-set a predetermined route to the driving route, The meteorological controller mounted on the transport vehicle stores a map of the traveling route in advance, and the direction in which the transport vehicle is to operate while maintaining the predetermined route at each branch included in the predetermined route. Remember the information, When the host controller which controls and manages the unmanned vehicle system transmits a transport instruction to the vehicle, when it is necessary to select a path in a direction deviating from the predetermined route from the branch on the predetermined route for transportation, Include the information indicative of the position and the information indicative of the direction in which the branching device is operated in the branching section in the transport instruction, The meteorological controller of the vehicle which has received this conveying instruction operates the branching device to maintain the predetermined route based on information previously stored in the meteorological controller in the branching portion not indicated by the conveying instruction. Unmanned transport system characterized by. 2. The vehicle according to claim 1, wherein a timing instructing member is provided at a position immediately in front of the branch on the travel route, and a detecting means for detecting the timing instructing member is provided in the transport vehicle, and the traveling vehicle is configured to perform the timing. And the branching device is operated when an indication member is detected. The said branch apparatus is provided with at least one pair of branch rollers, and it is comprised so that one of the said branch rollers may contact a branch guide part provided in the said branch path, and select a path, and the said meteorological controller And controlling the appearance of the branch roller of the branching device based on information previously stored in the weather controller or information in the direction indicated by the conveying instruction. The said branch apparatus is provided with at least one pair of branch rollers, and it is comprised so that one of the said branch rollers may contact a branch guide part provided in the said branch path, and select a path, and the said meteorological controller And controlling the appearance of the branch roller of the branching device based on information previously stored in the weather controller or information in the direction indicated by the conveying instruction.