200538896 (υ 九、發明說明 【發明所屬之技術領域】 該發明’是關於：對空架行走車或地上行走的有軌道 ， 台車、無軌道行駛的無人搬運車等的搬運台庫所進行的防 _ 止衝突用控制。 【先前技術】 ρ 在專利文獻丨，是記載著：針對無人搬運車等的搬運 台車所進行的防止衝突控制。是沿著行走路線設置複數的 區點，在搬運台車通過區點之前，要對控制器求取區點的 行走許可。當控制器許可行走動作時，會鎖定該區點，而 不會給予其他的搬運台車行走許可。當搬運台車通過區點 時，會對控制器報告。控制器會解除鎖定，對其他搬運台 車給予行走許可。該系統的問題，是在於：當搬運台車增 加時，行走許可要求、行走許可、或解除鎖定要求等的通 Φ 訊量會增加。當搬運台車對於行走路線的密度增加時，無 法獲得行走許可的機率會增加。 . 專利文獻1，是提出了：針對直到分歧部或會合部之 ‘ 前的區點，藉由一倂進行行走許可的要求，以刪減通訊量 > 。由於很難進行：一倂給予從遠處到分歧部或會合部的行 走許可的控制，所以用另外的方式來給予分歧部或會合部 的行走許可。可是如果將較大的範圍一倂進行行走許可的 話，要鎖定其他的搬運台車的範圍也會增加，搬運效率就 會降低。是要對每個區點進行行走許可、還是一倂進行行 -5- 200538896 (2) 走許可，是要如何兼顧通訊量與搬運效率的問題，即 倂給予行走許可，也無法根本性地解決問題。 【專利文獻1】 日本特開平1 1 — 1 43 53 8號公報 【發明內容】 【發明欲解決的課題】 該發明的課題，是要減少搬運台車的衝突防止控 用的通訊量，並且鎖定過大的區間，而防止搬運效率 的情形。在第2發明所增加的課題，是要提供關於| 解除鎖定的新的方法。第3發明所增加的課題，是在 許可後能夠進行取消動作。 【用來解決課題的手段】 該發明，是從搬運台車對控制器，要求行走路線 區點的行走許可，控制器會許可對於所要求的區點的 動作’並且對於其他搬運台車鎖定該區點的搬運台車 ’在搬運台車設置防止衝突用感應器，除了特定的區 外並不求取行走許可，以防止衝突用感應器監測先前 運台車行走，且只限於上述特定的區間，會從搬運台 控制器要求行走許可。作爲特定的區間，例如是彎曲 會合部、分歧部、或直線區間，而也有像站台（進料匚 集的區間。而也有將特定的區間稱作排他性控制區間< 使一 制所 降低 眞定/ 行走 上的 行走 系統 間之 的搬 車對 部、 ])密 200538896 (3) 除了上述特定區間之外的區間，除了將站台以較防止 衝突用感應器的防止衝突界限更窄的間隔進行配置的站台 過密部之外，是作成直線部。 在控制器設置有用來監測搬運台車的位置的手段，在 上述特定的區間監測有無其他搬運台車’如果有其他搬運 台車存在的話，則不給予上述的行走許可。並且，在從搬 運台車對控制器的行走許可要求、及從控制器對搬運台車 的行走許可的通訊格式’是可自由記述：行走許可的取消 要求及該取消動作的確認。 【發明效果】 在該發明，在特定的區間以外，搬運台車是以防止衝 突用感應器監測先前的搬運台車行走，僅在特定的區間， 接受控制器的行走許可的控制。因此，能徹底地減少搬運 台車與控制器之間的通訊。並且，在原來的搬運台車系統 φ ，爲了達到減少通訊量與搬運效率的平衡，不得不將某程 度的區間一倂進行行走許可，而對於遠方的搬運台車，會 對尙未行走的區間進行行走動作的許可。在該發明中，則 1 藉由防止衝突用感應器，搬運台車僅確保需要的前方車間 ，距離來行走，能改善搬運效率。 在特定區間設置複數的可停止的區點，並且在控制器 設置用來監測搬運台車的位置的手段，當在特定區間監測 有無其他搬運台車時，能夠簡單地判斷可否進行行走許可 。特別是當以許可要求的先後順序來進行在特定的區間的 200538896 (4) 行走許可時，雖然有可能會忽視先前的搬運台車，而對後 面的搬運台車給予行走許可，而並不會產生這種問題。 如果在從搬運台車對控制器的行走許可要求、及從控 制器對搬運台車的行走許可的通訊格式，是可自由記述： 行走許可的取消要求及該取消動作的確認的話，則容易進 行行走許可的取消動作的管理。例如將通訊格式中的其他 記述’與行走要求時或行走許可時的格式共通化時，.則能 夠簡單地記述：對於任何搬運台車要求在任何區間的行走 許可的取消動作、或者許可取消動作。 【實施方式】 以下顯示實施本發明的最佳賓施例。 【實施例】 在第1圖〜第7圖，是顯示實施例與其變形型態。在 φ 圖中，2是搬運台車系統，搬運台車的種類，是空架行走 車、地上行走的有軌道台車、或是無軌道的無人搬運車。 在實施例中’是以投入了數百台搬運台車的大規模的搬運 - 台車系統作爲對象。4是區間式（interbay)路線相當於幹線 路線。6是區內式（intrabay)路線，是從區間式（interbay) 路線在分歧部1 0產生分歧，在會合部8予以會合。區間 式（interbay)路線4或區內式（intrabay)路線6是有其中一 方通行’是在適當的位置設置捷徑7。作爲設定區間（特定 區間，已知採用了區域控制器30或搬運台車36)的成爲區 200538896 (5) 域控制器3 0的排他控制的對象的區間’是會合部8與分 歧部1 0、曲線部1 1、以及站台過密部1 2或維修部1 3。 在會合部8，由於防止衝突用感應器並不能檢測出從 •其他方向會合過來的搬運台車，所以作爲區域控制器3 0 .來進行行走許可的對象。在分歧部1 〇，由於無法以防止衝 突用感應器檢測出分歧側前方的先前的台車，所以將其作 爲行走許可的對象。在站台過密部1 2，由於站台是以較防 | 止衝突用感應器的防止衝突界限更窄的間隔配置，所以藉 由區域控制器來控制行走動作。在維修部1 3，是藉由進行 :利用人工方式來投入搬運台車、或使空架部的行走路線 升降來進行搬運台車的出入動作，而將其作爲行走許可的 對象。 在第1圖的右上方顯示曲線部1 1的構造，在曲線部 1 1的前側例如設置要求區點1 5，當搬運台車通過該區點 時，會對區域控制器3 0要求曲線部1 1的行走許可.，區域 φ 控制器會一倂給予直到曲線部1 1的出口區點1 6的行走許 可’當搬運台車通過非鎖定區點1 7時，會對區域控制器 3 〇進行報告，區域控制器會藉此解除對曲線部丨丨的鎖定 •。而搬運台車，也可取代通過報告的方式，而對區域控制 器要求解除鎖定。 搬運台車系統2，是藉由複數的搬運台車控制器26所 ^制’哪個搬運台車控制器所管理的交界則是搬運台車控 制器間交界1 8。而以哪個區域控制器所管理的交界，則是 區域控制器間交界1 9。 -9 - 200538896 (6) 20是基幹LAN。22是物流控制器，來管理搬運台車 控制器26，與沒有圖示的上位階層控制器24進行通訊， 來接受搬運的委託，報告搬運結果。在搬運台車控制器26 ，是連接著區域間LAN28，在複數的區域控制器30與搬 運台車控制器26之間通訊。 在第2圖，是顯示捷徑7附近的分歧或會合的控制。 圖中的32是來路，搬運台車36是從左邊朝向右邊朝一方 通行。34是去路，搬運台車36是從右邊朝左邊朝一方通 行。在分歧部1 0分歧到捷徑7，在會合部8回到來路3 2 ，實際上是成爲交叉部。在搬運台車36的例如前方，是 設置有：使用光學式、紅外線式、或超音波等方式的防止 衝突用感應器38，檢查在直到防止衝突界限39的範圍是 否存在有其他的先前的台車。防止衝突界限3 9，是以用來 防止搬運台車36與停止中的先前的台車的衝突所需要的 車間間隔，而當在直到防止衝突界限3 9的範圍內檢測出 其他搬運台車時，會使其減速或停止以防止衝突。 搬運台車3 6，在分歧部1 〇或會合部8等的設定區間 以外，是用防止衝突感應器3 8來進行行走控制。結果， 能夠顯著地減少與區域控制器3 0的通訊量，搬運台車3 6 所佔據的範圍，是搬運台車3 6的車體長度加上防止衝突 界限的程度，讓搬運效率提昇。 當搬運台車3 6通過會合部8時，例如當通過其前側 的要求區點40、4 1時，會對區域控制器3 0要求行走許可 。在所要求的行走許可的範圍’一倂要求例如通過會合部 -10- 200538896 (7) 8所需要的區點的部分。當在來路3 2要求時，求取對區點 P 1〜P4的行走許可。當從捷徑7要求時，要求對區點p5 、P3、P4的行走許可。相對地，區域控制器3 〇也可對於 所要求的區間一倂許可其行走動作，或者也可以僅對於其 中可許可行走的部分給予行走許可。而當搬運台車3 6通 過各區點時’對每個完成通行的區點取消其行走許可，而 可對於其他搬運台車進行行走許可。而當分歧於分歧部1 〇 | 時，搬運台車36會在其前側的要求區點42要求行走許可 ’例如一倂要求從行走區點P 6到P 8的行走許可。相對地 ’區域控制器3 0會在可進行行走許可的範圍許可其行走 動作’搬運台車36，在每個完成通過的區點會對區域控制 器3 0進行報告，取消每一區點的行走許可。或者不是每 次通過區點，而是每次通過位置辨識區點44，會報告其位 置。當在設定區間內設置位置辨識區點時，則以位置辨識 區點的通過報告，則能夠確認從設定區間的退避情形。因 φ 此相對於從要求區點到非鎖定區點的區間，藉由防止衝突 感應器與區點的鎖定，能夠確實地防止衝突。 在第3圖，當顯示實施例的防止衝突控制的計算步驟 時，當搬運台車通過要求區點時，會要求行走許可，在其 他的區間以防止衝突感應器來進行控制。當通過要求區點 時，對控制器要求設定區間的行走許可，控制器會針對所 要求的區間來檢查是否爲鎖定中的狀態。如果不是鎖定中 的狀態的話，則會將許可的區間鎖定，給予搬運台車行走 許可，搬運台車會行走於許可的區間。這裡所許可的區間 -11 - 200538896 (8) 的單位，也可以將設定區間全體統整起來，也可以設爲設 定區間內的一個〜複數的每個區點。當搬運台車沒有得到 行走許可時，會以在進入到設定區間之前停止的方式，以 “預定的模式進行減速。當搬運台車行走於許可的區點時、 • 或者通過設定區間的下一個位置辨識區點時，會對控制器 進行報告，控制器會將行走完成的區間解除鎖定。 第4圖顯示變形例的會合部8或分歧部1 〇的行走控 p 制。除了特別指出的地方之外，是與第2圖、第3圖相同 ，僅將會合部8的區點P9及分歧部1 〇的區點p丨〇的各一 區點作爲排他控制的對象，將進行排他控制的區間調整成 最短。而在會合部8的出口側設置非鎖定區點4 6，在分歧 部10的出口側設置非鎖定區點48，當搬運台車36通過這 些區點時，會對區域控制器3 0進行報告。區域控制器3 0 ，會根據這些訊號或通過了第3圖的位置辨識區點的內容 的訊號，來監測搬運台車的位置，將分歧部8、1 0解除鎖 φ 定。該結果，以會合部8或分歧部1 0進行排他控制的區 間，會變成最短，區域控制器3 0與搬運台車3 6之間的通 訊量也會減少，且由於沒有鎖定廣泛的區間，所以搬運效 ‘ 率也會增加。 第5圖是顯示要求區點在會合部8或分歧部1 〇的速 度模式圖。在該情況，要求區點的位置，當在通常的延遲 時間內從區域控制器3 0接收行走許可時，如實線的速度 模式，能夠不減速而行走於會合部8或分歧部1 0，當在通 常的延遲時間內沒有得到行走許可時，在虛線的速度模式 -12- 200538896 (9) ，在分歧部1 〇或會合部8之前能夠停止的範圍，能夠靠 近會合部8或分歧部1 0。當以位置辨識部確認在會合部8 或分歧部1 0沒有其他的搬運台車時，則得到行走許可， 不進行減速而能通過這些區間。當沒有得到行走許可時， 會以預定的速度模式減速，而在進入到會合部8或分歧部 1 〇之前停止。 在第6圖，是顯示實施例的區域控制器30與搬運台 車36之間的通訊。在搬運台車36設置了適當的位置感應 器5 0，檢測出光學性的標誌或由通訊終端所構成的標誌 52(位置辨識區點的標誌），來辨識位置。當使用通訊終端 來作爲標誌時，會從通訊終端側將位置通訊到位置感應器 5 0。搬運台車3 6.在以這種方式所得到的位置，加上從行 走車輪的轉數所求出的行走距離，來辨識現在位置，例如 每次檢測出標誌52，而每次通過非鎖定區點，都將現在位 置對區域控制器30的位置辨識部54進行報告。藉此，則 區域控制器3 0，能監測各搬運台車3 6的現在位置。 行走許可部5 5，當對於會合部或分歧部、曲線部、站 台過密部、維修部等的設定區間，進行對搬運台車3 6的 行走許可時，伴隨著會進行對於其他搬運台車的鎖定。行 走的許可動作，會以行走許可要求的例如接受訊號順序的 優先度來進行。搬運台車，例如在到達要求區點之前不要 求行走許可，防止從設定區間的遠處來要求行走許可的情 形。會以位置辨識部54檢測出搬運台車從設定區間退出 的情形，來解除鎖定。 -13- 200538896 (10) 在行走指令分配到搬運台車之後，有時需要取消來自 於上位階層控制器的要求的搬運指令。當爲了執行搬運指 令而搬運台車取得設定區間的行走許可時’當沒有取消該 . 許可時，會就這樣將設定區間鎖定。在該情況’會從搬運 ，台車對區域控制器要求取消行走許可，則區域控制器會許 可取消動作。除此之外，當設定區間產生行走上的障礙時 ，則對於給予了行走許可的搬運台車，從區域控制器要求 _ 取消行走許可，而從搬運台車接收許可取消動作。5 6是取 消動作處理部，來進行這些處理。 第7圖，是顯示：從區域控制器對搬運台車的通訊文 60、及從搬運台車對區域控制器的通訊文62的格式。在 通訊交60記載著：搬運台車的機體號碼和其他的ID資料 、以及記載著行走許可要求或搬運指令等的指令種類及各 種指令的詳細情形的資料。通訊文62，除了機體號碼和其 他的ID資料之外，記載著：指令的種類、搬運台車的錯 φ 誤狀態等的報告、及指令的詳細情形或狀態報告的詳細情 形等的資料。在通訊文60、62，有取消動作要求的1位元 與取消動作許可的1位元的兩個標誌，當將其設定時，通 '訊文的內容會成爲行走許可等的取消動作要求、取消動作 _ 的許可。在行走許可的取消動作要求時、及對於取消動作 要求給予許可時，通訊文的格式本身，也與行走許可要求 或行走許可同樣地’將要求行走許可或許可行走的區點記 載於資料中。而在通訊文60、62，雖然有設置取消要求位 元或取消許可位元’而只要將其記載於資料中即可，對於 -14 - 200538896 (11) 資料的表現方式則是隨意的。 【圖式簡單說明】 第1圖是實施例的搬運台車系統的方塊圖。 第2圖是實施例的會合部附近的佈置方式的顯示圖。 第3圖是顯示實施例的防止衝突計算步驟的流程圖。 第4圖是變形例的會合部附近的佈置方式的顯示圖。 第5圖是變形例的會合部（交叉點）附近的行走速度模 式的顯示圖。 第6圖是實施例的區域控制器與搬運台車的構造的顯 示圖。 第7圖是賓施例所用的區域控制器與搬運台車之間的 通訊格式的顯示圖。 【主要元件符號說明】 2 :搬運台車系統 4 :區間式（interbay)路線 6 :區內式（intrabay)路線 7 :捷徑 8 :會合部 1 0 :分歧部 1 1 :曲線部 1 2 :站台過密部 13 :維修部 -15- 200538896 (12) 1 5 :要求區點 1 6 :出口區點 1 7 :非鎖定區點 1 8 :搬運台車控制器間交界 1 9 :區域控制器間交界200538896 (υ IX. Description of the invention [Technical field to which the invention belongs] The invention 'is related to the prevention of the transportation platform of empty trolleys or on the ground with rails, trolleys, trackless unmanned vehicles, etc. Control for conflict prevention. [Prior art] ρ In Patent Document 丨, it is described that conflict prevention control is performed on a transporting vehicle such as an unmanned transport vehicle. A plurality of area points are set along the walking route, and the transporting vehicle passing area is provided. Before the point, the controller needs to obtain the walking permission of the zone point. When the controller permits the walking action, the zone point will be locked, and no other transportation trolley will be given the walking permission. When the transportation trolley passes the zone point, it will The controller reports. The controller will release the lock and grant walking permission to other transporting carts. The problem with this system is that when the number of transporting carts increases, the communication volume of travel permission requirements, walking permission, or unlocking requirements will be increased. Increasing. As the density of the walking trolleys for the walking route increases, the probability of not being able to obtain a walking permit increases. 1. It is proposed that: for the area up to the branch or meeting point, a request for walking permission is made to reduce the communication volume. Since it is difficult to do it: once from a distance to Control of the walking permission of the branch or meeting section, so the walking permission of the branch or meeting section is given in another way. However, if a wide range of walking permission is granted at a time, the range of the other transport trolleys must be locked. It will increase, and the transportation efficiency will decrease. Is it necessary to grant walking permission for each area point, or to do it in a row -5- 200538896 (2) How to take into account the problem of communication volume and transportation efficiency, that is, to give [Patent Document 1] Japanese Patent Application Laid-Open No. 1 1-1 43 53 8 [Summary of the Invention] [Problem to be Solved by the Invention] The problem of the invention is to reduce the number of trolleys. Conflict prevention and control communication traffic, and lock too large sections to prevent the situation of transportation efficiency. The problem added in the second invention is to provide information on | unlocking The problem added by the third invention is that cancellation can be performed after permission. [Means to solve the problem] The invention is to request a walking permission from a transportation vehicle to the controller, and the controller It will permit the operation of the required area, and lock the transportation vehicle of the area to other transportation vehicles. A collision prevention sensor will be installed on the transportation vehicle. Except for specific areas, no walking permission is required to prevent collision. The sensor monitors the travel of the previous carriage, and is limited to the above-mentioned specific sections, and asks for the walking permission from the platform controller. As a specific section, for example, a curved meeting section, a branch section, or a straight section, there are also platforms like The interval of the set of materials. There is also a specific interval called the exclusive control interval < the moving part of the traveling system between the fixed system and the traveling system on which the system is reduced.]) 200538896 (3) In addition to the above specific In sections other than sections, stations other than stations are arranged at intervals narrower than the collision prevention limit of the collision prevention sensor. Except for the dense part, it is a straight part. The controller is provided with a means for monitoring the position of the conveyance cart, and the presence or absence of other conveyance carts is monitored in the above-mentioned specific section '. If other conveyance carts exist, the above-mentioned walking permission is not granted. Further, the communication format of the request for permission to travel from the transport vehicle to the controller, and the communication format for permission to travel from the controller to the transport vehicle 'can be freely described: the request to cancel the permission to travel and the confirmation of the cancel operation. [Effects of the Invention] In the present invention, outside the specific section, the transportation trolley monitors the movement of the previous transportation trolley with the collision prevention sensor, and only in the specific section, is it controlled by the controller's walking permission. Therefore, the communication between the handling trolley and the controller can be completely reduced. In addition, in the original transporting trolley system φ, in order to achieve a balance between reducing communication volume and transporting efficiency, it was necessary to permit walking to a certain extent, while for a remote transporting trolley, walking in a non-traveling sector Permission for action. In this invention, by using a collision prevention sensor, the transportation trolley can only secure the required forward workshop and travel by distance, which can improve the transportation efficiency. A plurality of stopable area points are set in a specific section, and a means for monitoring the position of the transporting trolley is set in the controller. When monitoring the presence or absence of other transporting trolleys in the specific section, it is possible to simply determine whether or not to permit walking. Especially when 200538896 (4) walking permission in a specific section is issued in the order of permission requirements, although it may be possible to ignore the previous transportation trolley and give a walking permission to the subsequent transportation trolley, this will not occur. Kind of problem. If the communication format of the permission request for the controller from the transfer cart and the permission for the permission of the controller for the transfer cart to be freely described: The request for cancellation of the permission to walk and the confirmation of the cancellation action will facilitate the permission for the permission Management of cancellation actions. For example, when other descriptions in the communication format are used in common with the format required for walking or permission for walking, it can be simply described: the cancellation of the permission for walking or the cancellation of permission for any transportation trolley is required. [Embodiment] The best example of implementing the present invention is shown below. [Embodiment] Figs. 1 to 7 show an embodiment and its modification. In the φ diagram, 2 is a transporting trolley system. The types of transporting trolleys are empty trolleys, tracked trolleys that travel on the ground, or unmanned trolleys that do not have a track. In the embodiment, the object is a large-scale transport-carriage system in which hundreds of transport trolleys are put. 4 is an interbay route equivalent to a main route. 6 is an intrabay route, and an interbay route diverges at the diverging section 10 and meets at the rendezvous section 8. The interbay route 4 or the intrabay route 6 is accessible by either side ', and a shortcut 7 is provided at an appropriate location. The zone 200538896 (5) exclusive control of the zone controller 30 as the set zone (specific zone, area controller 30 or transport trolley 36 is used) is the meeting section 8 and the branch section 10, Curve section 11 and platform over-density section 12 or maintenance section 13. At the meeting unit 8, the collision prevention sensor cannot detect the transport vehicles that have come together from other directions, so it is the object of the area controller 30 to allow walking permission. In the branching section 10, the previous vehicle in front of the branching side cannot be detected by the collision prevention sensor, so it is used as the object of walking permission. In the platform dense section 12, since the platform is arranged at a narrower interval for preventing collisions with the anti-collision sensor, the walking motion is controlled by the area controller. In the maintenance department 1 3, the transportation trolley is manually put in, or the traveling route of the empty frame unit is raised and lowered to carry out the movement of the transportation trolley, and this is taken as the object of walking permission. The structure of the curved section 11 is shown at the upper right of FIG. 1. For example, a required area point 15 is provided on the front side of the curved section 11. When the trolley passes through this area point, the area controller 3 0 requests the curved section 1. 1 walking permission. The area φ controller will give walking permission up to the exit point 16 of the curve section 1 1 'When the trolley passes the non-locking area point 17, the area controller 3 will report The area controller will release the lock on the curve section 丨. In addition, instead of using a report, the trolley can be unlocked by the area controller. The transportation trolley system 2 is manufactured by a plurality of transportation trolley controllers 26. The boundary managed by which transportation trolley controller is the boundary 18 between the transportation trolley controllers. The boundary managed by which area controller is the boundary between area controllers. -9-200538896 (6) 20 is the backbone LAN. Reference numeral 22 is a logistics controller that manages the transportation cart controller 26, communicates with a higher-level controller 24 (not shown), receives a transportation request, and reports the transportation result. The transfer vehicle controller 26 is connected to the inter-area LAN 28 and communicates between the plurality of area controllers 30 and the transfer vehicle controller 26. In Fig. 2, the control of the divergence or convergence near the shortcut 7 is shown. In the figure, 32 is an incoming route, and the conveyance trolley 36 passes from left to right. 34 is the way to go, and the trolley 36 is passing from the right to the left. In the branch 10, the branch diverges to the shortcut 7, and in the meeting 8, it returns to the road 3 2 and actually becomes the intersection. A collision prevention sensor 38 using an optical, infrared, or ultrasonic wave method is provided in front of, for example, the conveyance trolley 36, and it is checked whether there is another previous trolley in a range up to the collision prevention limit 39. The collision prevention limit 39 is the inter-vehicle interval required to prevent the collision between the transportation trolley 36 and the stopped previous carriage. When another transportation trolley is detected within the range up to the collision prevention boundary 39, it will cause It slows down or stops to prevent conflicts. The conveyance trolley 36 is controlled by the collision prevention sensor 38 outside the setting section of the branching section 10 or the meeting section 8 and the like. As a result, the amount of communication with the area controller 30 can be significantly reduced, and the area occupied by the transportation trolley 36 is the length of the body of the transportation trolley 36 plus the extent of the collision prevention limit, which improves the transportation efficiency. When the transport trolley 36 passes the meeting section 8, for example, when it passes the required area points 40, 41 on the front side, it will ask the area controller 30 for a walking permission. Within the scope of the required walking permission ', it is required to pass, for example, a portion of a zone required by the meeting section -10- 200538896 (7) 8. When requested in the incoming route 32, a walking permission for the area points P1 to P4 is obtained. When requested from the shortcut 7, a walking permission is required for the area points p5, P3, and P4. In contrast, the area controller 30 may permit the walking motion of the required section at once, or may grant the walking permission only to the part where the walking is permitted. On the other hand, when the transportation trolley 36 passes through each area point, the walking permission is cancelled for each completed transportation point, and the other transportation trolleys may be permitted to travel. When diverging to the branching section 10 |, the transporting trolley 36 requests a walking permission at the requesting area point 42 on the front side ′, for example, a walking permission from the walking area points P 6 to P 8 is required. On the other hand, the "area controller 30 will permit its walking action within the range where walking permits are allowed", and the transport trolley 36 will report the area controller 30 at each completed zone point and cancel the walk of each zone point. license. Or, instead of passing through the area point each time, each time through the position recognition area point 44, its position is reported. When a position recognition area point is set in the set interval, the passing report of the position recognition area point can confirm the back-off situation from the set interval. Therefore, φ can prevent collision with certainty by preventing the lock between the sensor and the zone with respect to the interval from the required zone point to the unlocked zone point. In Fig. 3, when the calculation steps of the collision prevention control of the embodiment are shown, when the transport trolley passes the required area point, a walking permission is requested, and the collision prevention sensor is controlled at other intervals. When passing the required zone point, the controller requires a walking permission to set the zone, and the controller will check whether it is locked for the required zone. If it is not in the locked state, the permitted section will be locked, and the transportation trolley will be allowed to travel, and the transportation trolley will be allowed to travel in the permitted section. The unit of the interval -11-200538896 (8) allowed here can also be the whole of the setting interval, or it can be set to one to plural points in the setting interval. When the transport trolley has not obtained the permission to travel, it will decelerate in a "predetermined pattern" in such a way that it stops before entering the set zone. When the transport trolley walks in the permitted zone, or by identifying the next position in the set zone The controller reports to the controller when the area is located, and the controller unlocks the completed section. Figure 4 shows the walking control p of the meeting section 8 or branching section 10 of the modified example. Except for the points specified It is the same as in Fig. 2 and Fig. 3. Only the area point P9 of the joint portion 8 and the area point p 丨 0 of the divergence portion 10 are used as the object of exclusive control, and the interval of exclusive control will be adjusted. It is the shortest. On the exit side of the meeting portion 8, non-locking area points 46 are provided, and on the exit side of the branching portion 10, non-locking area points 48 are provided. When the trolley 36 passes through these area points, the area controller 3 0 Make a report. The area controller 30 will monitor the position of the transport trolley based on these signals or the signals that have passed the position recognition area point in Figure 3, and will release the lock points 8 and 10 to φ. The knot The interval for exclusive control by meeting section 8 or branching section 10 will become the shortest, and the communication between the area controller 30 and the transporting trolley 36 will also decrease, and the transportation efficiency is not locked because it does not lock a wide range. 'The rate will also increase. Figure 5 is a speed pattern diagram showing that the requested zone point is at the meeting section 8 or the divergence section 10. In this case, the position of the requested zone point is from the zone controller 3 within the normal delay time. 0 When walking permission is received, as in the solid line speed mode, you can walk in the meeting section 8 or the branching section 10 without deceleration. When no walking permission is obtained within the normal delay time, the speed mode in the dotted line is -12- 200538896 ( 9) The range that can be stopped before the branching section 10 or the meeting section 8 can be approached to the meeting section 8 or the branching section 10. When the position recognition section confirms that there is no other transport trolley at the meeting section 8 or the branching section 10 If you do not get a deceleration, you can pass through these sections. When you do not get a deceleration, you will decelerate in a predetermined speed mode and stop before entering the meeting section 8 or branching section 10. Fig. 6 shows the communication between the area controller 30 and the transfer cart 36 in the embodiment. An appropriate position sensor 50 is installed in the transfer cart 36, and an optical mark or a communication terminal is formed. Marker 52 (marker of the position recognition area) to identify the position. When a communication terminal is used as a marker, the position is communicated from the communication terminal side to the position sensor 50. The trolley 3 is transported in this way. The obtained position is added to the walking distance obtained from the number of revolutions of the walking wheels to identify the current position. For example, each time a mark 52 is detected, and each time a non-locking area point is passed, the current position is directed to the area controller 30. The position identification unit 54 reports. By this means, the area controller 30 can monitor the current position of each of the transportation vehicles 36. When the travel permission unit 55 grants permission to travel to the transporting vehicle 36 for the setting section of the meeting unit, the branching unit, the curve unit, the platform dense unit, the maintenance department, etc., the other transporting vehicle is locked. The walking permission operation is performed based on the priority of the walking permission request, such as the order of receiving signals. When transporting a trolley, for example, do not ask for permission to travel before reaching the required area point, to prevent the request for permission to travel from a distance from the set section. The position recognition unit 54 detects the withdrawal of the transport trolley from the set section, and releases the lock. -13- 200538896 (10) After the travel command is assigned to the transport cart, it may be necessary to cancel the transport command requested from the higher-level controller. When the transportation cart obtains the travel permission of the set section in order to execute the transport instruction ', if the. Permission is not cancelled, the set section will be locked as it is. In this case, from the handling, the trolley requests the area controller to cancel the walking permission, and the area controller will allow the operation to be cancelled. In addition, when there is an obstacle to walking in the set section, the area controller requests _ to cancel the walking permission for the transportation vehicle that has been given a walking permission, and cancels the operation by receiving the permission from the transportation vehicle. 56 is a cancel operation processing unit to perform these processes. FIG. 7 shows the format of a communication message 60 from the area controller to the transfer cart and a communication message 62 from the area controller to the transfer controller. In the communication 60, the body number and other ID data of the transportation trolley are described, and the types of the instructions such as the walking permission request and the transportation instruction and the details of each type of instruction are recorded. In addition to the body number and other ID data, the communication message 62 contains information such as the type of the instruction, the report of the error of the handling trolley, the error status, and the details of the instruction or the status report. In the communication messages 60 and 62, there are two flags: 1 bit for requesting cancellation of operation and 1 bit for permission for canceling operation. When the flags are set, the content of the message will become a request for canceling operation such as walking permission, Cancel action_ permission. When requesting a cancellation of a walking permit and when granting permission for a canceling operation, the format of the communication message itself is the same as that of a walking permission request or a walking permission ', and the areas where the walking permission or a walking permission is required are recorded in the data. In the communication messages 60 and 62, although there is a cancellation request bit or a cancellation permission bit, it is only necessary to record it in the data, and the manner of expression of the data is -14-200538896 (11) is arbitrary. [Brief Description of the Drawings] FIG. 1 is a block diagram of a transport trolley system according to an embodiment. FIG. 2 is a display diagram of an arrangement manner near a meeting portion in the embodiment. Fig. 3 is a flowchart showing a collision prevention calculation procedure of the embodiment. FIG. 4 is a display diagram of an arrangement manner near a meeting portion in a modification. Fig. 5 is a display diagram of a walking speed pattern in the vicinity of a meeting portion (intersection) in a modification. Fig. 6 is a diagram showing the structure of an area controller and a transfer cart according to the embodiment. Fig. 7 is a display diagram of a communication format between the area controller and the transport trolley used in the Binsch example. [Description of symbols of main components] 2: Carriage trolley system 4: Interbay route 6: Intrabay route 7: Shortcut 8: Rendezvous section 1 0: Bifurcation section 1 1: Curve section 12: Platform is too dense Department 13: Maintenance Department -15- 200538896 (12) 1 5: Required zone point 16: Exit zone point 17: Unlocked zone point 1 8: Junction between controllers of moving trolleys 19: Junction between controllers of areas
20 ··基幹 LAN 22 :物流控制器 24 :上位階層控制器 26 :搬運台車控制器20 Backbone LAN 22: Logistics controller 24: Higher-level controller 26: Carriage trolley controller
28 :區域間LAN 3 0 :區域控制器 3 2 :來路 3 4 :去路 3 6 :搬運台車 3 8 :防止衝突感應器 3 9 :防止衝突界限 40〜42:要求區點 44 :位置辨識區點 4 6、4 8 :非鎖定區點 5 0 :位置感應器 5 2 :標誌 5 4 :位置辨識部 5 5 :行走許可部 5 6 :取消動作處理部 -16 200538896 (13) 6 0、6 2 :通訊文 P 1〜P 1 0 ··區點28: Inter-area LAN 3 0: Area controller 3 2: Incoming route 3 4: Incoming route 3 6: Carriage trolley 3 8: Anti-collision sensor 3 9: Anti-collision limit 40 ~ 42: Required zone point 44: Location recognition zone Point 4 6, 4 8: Unlocked area point 5 0: Position sensor 5 2: Marker 5 4: Position recognition section 5 5: Walking permission section 5 6: Cancel operation processing section-16 200538896 (13) 6 0, 6 2: Message P 1 ~ P 1 0