TW202109224A - Travel system - Google Patents

Abstract

A travel system is provided with a travel path, a plurality of bogies, and a controller. The controller transmits a junction passage permission response to a first bogie and a second bogie when the controller receives junction passage permission requests from the first bogie and from the second bogie and both the junction passage permission requests are of a straight-line type, and transmits the junction passage permission response to only the first bogie when the controller receives junction passage permission requests from the first bogie and from the second bogie and the junction passage permission request received from the first bogie is of a curved-line type. The first bogie requesting the junction passage permission request of the curved-line type executes, after passing through a junction from a first curved-line travel path and before passing through a prescribed point, a process for changing the junction passage permission request to be of the straight-line type.

Description

Migration system

One aspect of the present invention relates to a migration system.

In the past, there has been known a travel system that has a predetermined travel path, a plurality of vehicles that can travel along the travel path, and a controller that controls the plurality of vehicles. For example, in the system described in Patent Document 1, when a new unmanned transport vehicle is put into a section where other unmanned transport vehicles are permitted to move, the system controller prevents the new unmanned transport vehicle from interfering with other unmanned transport vehicles. And cancel the migration permission for other unmanned transport vehicles. [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent No. 4019231

(The problem to be solved by the invention)

The above-mentioned traveling system does not fully consider the control of the trolley when the two trolleys are going to pass through the merging point on the traveling path, and there is room for improvement in the part that improves the transport efficiency of the trolley.

One aspect of the present invention is accomplished in view of the above-mentioned facts. The subject of the present invention is to have a traveling system including a traveling path including a merging point, which can improve the transport efficiency of the trolley. (Technical means to solve the problem)

One aspect of the traveling system of the present invention includes: a predetermined traveling path, a plurality of trolleys that can move along the traveling path, and a controller that controls the plurality of trolleys; the traveling path includes: a first linear traveling path , And the first curvilinear travel path that merges through the merging point in the middle of the first straight travel path; the trolley sends the controller to the controller before the merging point the permission request to pass the merging point through the permission, and then control it The controller enters the merging point when it receives the merging point that indicates the passing permission of the merging point and passes the permission response. When it does not receive the merging point passing permission response from the controller, it waits in front of the merging point; it waits for the merging point. The trolley in front of the point, the trolley in front of the waiting trolley and the trolley that has passed the merging point has passed the predetermined point, receives the merging point pass permission response from the controller; the controller is in the first trolley from the preceding trolley and When the second car following the first car receives the permission request for passing the junction, and the type of the permission request received from the first car and the second car is the first straight travel path In the case of a straight line of the type required to pass the permission request at the merging point when advancing to the merging point, the merging point passing permission response is sent to the first car and the second car, and the merging point passing is received from the first car and the second car In the case of permission requirements, and the type of the permission request received from the first vehicle for passing the merging point is the curve type of the merging point when advancing from the first curved path to the merging point, the type of permission required is only Send a merging point passing permission response to the first car; for the first car that requires a curve-shaped merging point to pass the permission request to the controller, after passing the merging point from the first curved travel path and before passing the predetermined point, perform at least one of the following processes One: Change the type of the confluence request required by the controller to the linear type; and send the signal for the controller to recognize the confluence received from the first vehicle as the type of the permission requirement as the linear type. Controller.

When there is another trolley directly in front of the trolley, the general specifications will take measures to prevent collisions between these trolleys. Therefore, when the first car and the second car both enter the merging point from the first straight travel path, the merging point pass permission response will be sent to both the first car and the second car. Here, the first car that has entered the junction from the first curvilinear travel path will move on the first straight travel path after passing the junction, so for the second car that will enter the junction from the first linear travel path It will exist right in front of it. Therefore, in one aspect of the present invention, before the first vehicle that has passed the merging point passes the predetermined point, the controller will send the controller to change the type of the permission request for the merging point to be linear, and / Or make it recognize that the type is a linear signal. Thereby, the second car waiting in front of the merging point on the first straight travel path can get the merging point passing permission response without waiting for the first car to pass the predetermined point. As a result, the transport efficiency of the trolley can be improved.

In the migration system of one aspect of the present invention, the controller can also be used when in addition to the first car and the second car, the third car, which is the car following the second car, receives the permission request for passing the confluence point , And when the types of permission requests received from the first car, the second car and the third car are all linear types, in addition to the first car and the second car, a confluence will be sent to the three cars Point pass permission response, and when a merge point pass permission request is received from the third car in addition to the first car and the second car, and received from the first car, the second car, and the third car When at least one of the merging point passing permit requirements is a curve type, only the first vehicle will be sent a merging point passing permission response; the controller requires the second vehicle for the curve-shaped merging point to pass the permit request, and the first vehicle will be sent from the first vehicle. After the curvilinear travel path passes through the junction point and before passing through the predetermined point, perform at least one of the following processes: change the type of the confluence point required by the controller to the linear type; and change the identification of the controller from the first The confluence point received by the two vehicles is sent to the controller through a signal of the curve type required by the permit. Thereby, when the third car is moving from the first curved path toward the merging point, the third car can be made to stand by in front of the merging point to prevent collisions between the cars. In addition, the third car waiting in front of the merging point on the first linear travel path can get a pass permission response without waiting for the second car to pass a predetermined point. As a result, the transport efficiency of the trolley can be improved.

In the migration system of one aspect of the present invention, it may also be when the merge point passing permission request is received from the first car and the second car, and the merge point passing permission request received from the first car When the type is straight and the type of the passing permission request received from the second car is curved, only the first car will send a merging pass permission response. According to this migration system, when the second car following the first car moves from the first curved path toward the merging point, even if the first car that has passed the merging point, the type required for the permission to pass through the merging point is a straight type. The two cars will not get the permission response from the confluence point. In this way, the collision between the first car and the second car can be prevented. As mentioned above, when there is another trolley directly in front of the trolley, although the general specifications will take measures to prevent collisions between these trolleys, it is not always necessary to prevent the trolley from colliding with each other. Countermeasures for collisions when there are other trolleys in the front position. The travel system can prevent collisions between trolleys even when the countermeasures are not taken.

In the traveling system of one aspect of the present invention, each of the plurality of trolleys may be provided with a distance sensor for detecting the distance between the trolley and the front trolley. In this way, the vehicle distance sensor can also be used to avoid collisions between trolleys.

In one aspect of the traveling system of the present invention, it is also possible that the distance sensor is a linear sensor that can detect the trolley that exists directly in front of the vehicle. In this way, when there are other trolleys directly in front of the trolley, the linear sensor can be used to avoid collisions of these trolleys with each other.

In the migration system of one aspect of the present invention, it is also possible that the migration path has: a second linear travel path, and a second linear travel path that branches through a branch point in the middle of the second linear travel path and is connected to the first curvilinear travel path. 2Curve travel path; the trolley sends a branch point passing permission request to the controller in front of the branch point, and receives a passing permission response from the controller indicating the branch point passing permission. When entering the branch point when the branch point passed permission response is not received from the controller, it stands by in front of the branch point; the controller is in the fourth trolley from the preceding trolley and the fifth trolley following the fourth trolley When a branch point passing permission request is received, and the type of the branch point passing permission request received from the fourth car is the curve type of the branch point passing permission request when moving from the branch point to the second curved path When the type of branch point passing permission request received from the 5th car is the linear type of the branch point passing permission request when advancing from the branch point to the second straight travel path, the branch is only sent to the 4th car Point passing permission response, and when the 4 cars have reached a position where there will be no interference even if the fifth car passes through the branch point, the branch point passing permission response is sent to the fifth car. Thereby, when the fourth car enters the second curved travel path from the branch point and the fifth car advances from the branch point to the second straight travel path, the fifth car can pass the branch point at an earlier point in time. (Compared with the effect of previous technology)

According to one aspect of the present invention, in a traveling system having a traveling path including a junction point, the transportation efficiency of the trolley can be improved.

Hereinafter, an embodiment will be described in detail with reference to the drawings. Furthermore, in the description of the drawings, the same or equivalent elements are labeled with the same symbols, and repeated descriptions are omitted.

As shown in FIGS. 1, 2 and 3, the transport system 1 constitutes a system for transporting articles 10. Although the article 10 is a container for storing, for example, a plurality of semiconductor wafers, it may also be a glass substrate, ordinary parts, and the like. The travel system 1 includes a rail 4, a trolley 6, and an area controller (controller) 60.

The track 4 is a predetermined travel path for the trolley 6 to travel. The rail 4 is laid, for example, in the vicinity of the ceiling, which is the space above the operator's head. The track 4 is suspended from the ceiling. The track 4 is supported by pillars 48. The track 4 has: a plurality of routes 40, a confluence point G where the plurality of routes 40 merge, and a branch point B where one route 40 branches into the plurality of routes 40. The layout of the track 4 (the composition of the route 40, and the number of merging points G and branch points B) is not particularly limited, and various layouts can be adopted.

The route 40 includes: a straight line (the first straight travel path) 41, which extends linearly; a straight line (the second straight travel path) 42, which extends in a straight line parallel to the straight line 41; The curvilinear route (the first curvilinear travel path, the second curvilinear travel path) 43 merges via a junction G in the middle of the straight route 41 and branches via a branch point B in the middle of the straight route 42.

A stop point T (refer to FIG. 4) as a position to stop the trolley 6 is provided in the vicinity (upstream side) of the merging point G or the branch point B on the track 4. The stop point T is a predetermined position. The stop point T can be set based on a plurality of bar codes and other dot marks P attached in a manner arranged at regular intervals along the track 4. The stop point T is set with respect to each of a plurality of confluence points G and branch points B. Furthermore, in the figure, for the convenience of description, the point mark P and the stop point T are indicated by circular marks on the track 4.

The trolley 6 can move along the track 4. The trolley 6 transports the article 10. The trolley 6 is configured to be able to transfer articles 10 with respect to a port (not shown). Trolley 6 series overhead mobile unmanned mobile vehicle. The trolley 6 is also called, for example, a transfer vehicle, a transfer trolley, an overhead transfer vehicle (overhead transfer trolley), or a transfer vehicle (transfer trolley). The number of trolleys 6 included in the travel system 1 is not particularly limited but is plural.

The trolley 6 has a traveling unit 18 and a power receiving and communication unit 20. The moving part 18 moves the trolley 6 along the rail 4. The power reception and communication unit 20 receives power from the rail 4 side by, for example, non-contact power supply. The trolley 6 includes a θ drive 26, a lateral feed portion 24 for laterally feeding a portion lower than the θ drive 26 with respect to the rail 4, an elevation drive portion 28, and an elevation table 30. The θ driver 26 rotates the lifting driving part 28 in the horizontal plane to control the posture of the article 10. The lifting driving part 28 lifts and lowers the lifting platform 30 holding the article 10. The lifting platform 30 is provided with a chuck, and is set to be able to freely hold or release the article 10. Furthermore, the lateral feed portion 24 and the θ drive 26 may not be provided.

The trolley 6 is provided with a linear sensor 8. The linear sensor 8 is a vehicle distance sensor that detects the distance from the front trolley 6. The linear sensor 8 is a sensor that can detect the trolley 6 existing directly in front. The linear sensor 8 emits laser light toward the front of its own trolley 6 (the trolley 6 equipped with the linear sensor 8), and detects the reflected light reflected by the reflecting plate of the trolley 6 in front, thereby detecting Out of the front trolley 6. The linear sensor 8 is arranged, for example, in the fall prevention cover 33 on the front side of the trolley 6. The linear sensor 8 sends its detection result to the cart controller 50 described later. The trolley 6 does not have a curve sensor as a sensor that can detect the trolley 6 that exists ahead and moves on a curved route.

The trolley 6 has a position acquisition unit (not shown) for acquiring position information about the position on the track 4 of the trolley 6. The position acquisition unit is composed of a reading unit and an encoder that read the point mark P of the track 4. The position information of the trolley 6 includes, for example, information on the point mark P obtained by the reading unit and information on the travel distance after passing the point mark P.

The trolley 6 includes a trolley controller 50. The trolley controller 50 is an electronic control unit composed of CPU (Central Processing Unit), ROM (Read Only Memory) and RAM (Random Access Memory). For example, the trolley controller 50 may be configured as software that is stored in the ROM and loaded on the RAM and executed by the CPU. The trolley controller 50 may also be configured as a hardware composed of electronic circuits and the like. The trolley controller 50 may be composed of one device or a plurality of devices. In the case of being constituted by a plurality of devices, one trolley controller 50 can be logically constructed by being connected to each other.

The trolley controller 50 controls various actions of the trolley 6. The trolley controller 50 controls the traveling part 18, the lateral feeding part 24, the θ drive 26, the lifting driving part 28, and the lifting platform 30. The trolley controller 50 communicates with the area controller 60 by using the power supply line of the track 4 and the like. Alternatively, the trolley controller 50 may communicate with the area controller 60 through a communication line (feeder line) provided along the rail 4 instead of a power supply line.

When the trolley controller 50 receives a status query from the area controller 60, it sends a status report of its trolley 6 (the trolley 6 equipped with the trolley controller 50) to the area controller 60. The status report contains the location information of your trolley 6 and so on. The trolley controller 50 determines whether the inter-vehicle distance to the other trolley 6 in front of its own trolley 6 is less than a predetermined distance based on the detection result of the linear sensor 8. When the inter-vehicle distance is less than the predetermined distance, the trolley controller 50 decelerates or stops its trolley 6.

When the trolley controller 50 of its own trolley 6 intends to pass the merging point G, the merging point passing permission request is included in the status report and sent to the area controller 60 before the merging point G. The merging point passing request is a signal that requires permission for the merging point G to pass. When the trolley controller 50 receives the merging point passing permission response from the area controller 60, it causes its trolley 6 to enter the merging point G. The merging point passing permission response is a signal indicating the passing permission of the merging point G. When the trolley controller 50 does not receive the merging point passing permission response from the area controller 60, it stops its trolley 6 at the stop point T near the merging point G and stands by.

When the trolley controller 50 of its own trolley 6 intends to pass the branch point B, the branch point passing permission request is included in the status report and sent to the area controller 60 before the branch point B. The branch point passage request is a signal that requires permission for branch point B to pass. The trolley controller 50 causes its own trolley 6 to enter the branch point B when receiving the branch point passing permission response from the area controller 60. The branch point pass permission response is a signal that indicates the branch point B's pass permission. When the trolley controller 50 does not receive the branch point passing permission response from the area controller 60, it stops its own trolley 6 at the stop point T before the branch point B and stands by.

The trolley controller 50 of the trolley 6 that is waiting at the stop point T near the merging point G, and the trolley 6 that is in front of the trolley 6 that is on standby and that has passed the merging point G passes as a point downstream of the merging point G ( After the merging point (predetermined point) of the location on the track 4), the merging point passing permission response is received from the area controller 60. The trolley controller 50 of the trolley 6 that is waiting at the stop point T before the branch point B, and the trolley 6 that has passed the branch point B, passes immediately before the trolley 6 that is in standby, and passes as the downstream of the branch point B After clicking any one of the first to third branch points, the branch point passing permission response is received from the area controller 60.

The area controller 60 is an electronic control unit composed of CPU, ROM, RAM, and the like. The area controller 60 can be configured such that, for example, a program stored in the ROM is loaded on the RAM and executed by the CPU. The area controller 60 may also be configured by hardware such as electronic circuits. The area controller 60 may be composed of one device or a plurality of devices. In the case of a plurality of devices, one area controller 60 is logically constructed by connecting these via a communication network such as the Internet or an intranet.

The area controller 60 communicates with a plurality of trolleys 6 in its own jurisdiction, and controls a plurality of trolleys 6 in its own jurisdiction. The area controller 60 communicates with an upper controller (not shown) by wire or wireless.

The area controller 60 performs periodic communication with a plurality of trolleys 6 in its own jurisdiction. For example, the area controller 60 sends a status query to the trolley 6 in its own jurisdiction, and the trolley 6 that receives the status query sends a status report to the area controller 60. By performing this communication sequentially and periodically with a plurality of vehicles 6 in the jurisdiction, the area controller 60 grasps the status of the plurality of vehicles 6 in the jurisdiction.

The area controller 60 executes the following blocking control when the trolley 6 passes through the merging point G. Specifically, when the area controller 60 has received a request for passing the merging point G from the trolley 6, the lock area RG that prohibits access to the area including the merging point G (see FIG. 13(b)) When the setting of) is not performed, a merging point passing permission response is sent to the trolley 6 to permit the passage of the merging point G of the trolley 6 and to set the lock area RG. After the trolley 6 that has passed the merging point G passes through the post-merging point on the track 4 that is a point on the downstream side of the merging point G, the lock area RG is released. When the area controller 60 receives a request for passing the merging point G from the trolley 6, when the setting of the lock area RG has been performed and the linear movement of the plurality of trolleys 6 described below is not established, the trolley is not 6 sends the merge point pass permission response to make the trolley 6 stand by at the stop point T.

The area controller 60 executes the following blocking control when the trolley 6 passes the branch point B. Specifically, when the area controller 60 receives a request for passing the branch point of the branch point B from the trolley 6, the lock area RB that prohibits entry to the area including the branch point B (refer to FIG. 6(b)) When the setting is not performed, the branch point passing permission response is sent to the trolley 6 to permit the passage of the branch point B of the trolley 6 and the lock area RB is set. After the trolley 6 that has passed the branch point B passes through any one of the first to third post-branch points of each point on the downstream side of the branch point B on the track 4, the lock area RB is released. When the area controller 60 receives a request for passing the branch point of the branch point B from the trolley 6, when the setting of the lock area RB has been performed and the in-line movement of the plurality of trolleys 6 described later is not established, the trolley 6 will not be accepted. The transmission branch permits the response, so that the trolley 6 is on standby at the stop point T.

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

Hereinafter, the preceding trolley 6 is referred to as the preceding trolley 6A. The trolley 6 following the preceding trolley 6A (the trolley 6 that is predicted to pass through the junction G or the branch point B next after the preceding trolley 6A) is set as the succeeding trolley 6B. Confluence point passing permit requirement and branch point passing requirement type each, including the type of requirement. The types of the merging point passing permission request include the "straight type" as the type when moving from the straight line 41 to the merging point G, and the "curved type" as the type when moving from the curved line 43 to the merging point G. The type of the branch point passing permission request includes the "straight type" as the type when moving from the branch point B to the straight line 42 and the "curved type" as the type when moving from the branch point B to the curved line 43.

As shown in FIG. 4, when the area controller 60 receives the branch point passing permission request S1 from the preceding trolley 6A and the succeeding trolley 6B, and passes the permission request at the branch point received from the preceding trolley 6A and the succeeding trolley 6B When the types of S1 are all linear (when a plurality of trolleys 6 are moving in-line), a branch point approval response S2 is sent to each of the preceding trolley 6A and the subsequent trolley 6B. As a result, the preceding trolley 6A and the succeeding trolley 6B pass through the lock area RB including the branch point B without stopping, and move on the straight line 42.

As shown in FIG. 5, when the area controller 60 receives the branch point passing permission request S1 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the branch point passing permission request S1 received from the preceding trolley 6A is When the type of the branch point passing permission request S1 received from the subsequent trolley 6B is linear or curved, the branch point passing permission response S2 is sent only to the preceding trolley 6A. As a result, the preceding vehicle 6A passes through the lock area RB including the branch point B without stopping, and moves on the straight line 42. The subsequent trolley 6B stops at the stop point T before the branch point B and stands by.

For example, as shown in FIG. 6(a), the area controller 60 receives the branch point passing permission request S1 from both of the preceding trolley 6A and the subsequent trolley 6B approaching the branch point B. The type of the branch point approval requirement S1 of the preceding trolley 6A is a curve type, and the type of the branch point approval requirement S1 of the subsequent trolley 6B is a curve type. The area controller 60 does not set the lock area RB, but transmits a branch point passing permission response S2 to the preceding trolley 6A. Thereby, as shown in FIG. 6(b), the preceding trolley 6A passes through the branch point B. At the same time, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not send the branch point pass permission response S2 to the subsequent trolley 6B, and the subsequent trolley 6B stops before the branch point B.

As shown in Fig. 6(c), the preceding trolley 6A advances from the branch point B to the curvilinear route 43 and to the straight route 41, and after passing the first branch point P1, the area controller 60 unlocks the setting of the area RB . Thereby, the area controller 60 transmits the branch point passing permission response S2 to the succeeding vehicle 6B, so that the succeeding vehicle 6B can pass through the branch point B. In the example shown in the figure, the first post-branch point P1 is the position of the point mark P just after passing through the merging point G. The point P1 after the first branch is not particularly limited. The first post-branch point P1 can be in various positions as long as it is sufficiently away from the branch point B by the necessary distance.

Furthermore, for example, as shown in FIG. 7(a), the area controller 60 receives the branch point passing permission request S1 from both of the preceding trolley 6A and the following trolley 6B approaching the branch point B. The type of the branch point approval requirement S1 of the preceding trolley 6A is a curve type, and the type of the branch point approval requirement S1 of the subsequent trolley 6B is a straight type. The area controller 60 does not set the lock area RB, but transmits a branch point passing permission response S2 to the preceding trolley 6A. Thereby, as shown in FIG. 7(b), the preceding trolley 6A passes through the branch point B. At the same time, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not send the branch point pass permission response S2 to the subsequent trolley 6B, and the subsequent trolley 6B stops before the branch point B.

As shown in FIG. 7(c), the preceding vehicle 6A advances from the branch point B toward the curved route 43, and after passing through the second branch post point P2, the area controller 60 releases the setting of the locked area RB. Thereby, the area controller 60 transmits the branch point passing permission response S2 to the succeeding vehicle 6B, so that the succeeding vehicle 6B can pass through the branch point B. In the example shown in the figure, the second post-branch point P2 is a position where the following trolley 6B will not interfere even if the preceding trolley 6A passes through the branch point B. For example, it is a position on the downstream side of the curved route 43. The point P2 after the second branch is not particularly limited. The second post-branch point P2 may be various positions as long as it is a position where the following trolley 6B does not interfere even if the preceding trolley 6A passes through the branch point B. The second post-branch point P2 should just be a position more upstream than the first post-branch point P1.

As shown in FIG. 8, when the area controller 60 receives the branch point passing permission request S1 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the branch point passing permission request S1 received from the preceding trolley 6A is When the type of the branch point passing permission request S1 received from the succeeding trolley 6B is a straight type and the type is a curve type, the branch point passing permission response S2 is sent only to the preceding trolley 6A. As a result, the preceding vehicle 6A passes through the lock area RB including the branch point B without stopping, and moves on the straight line 42. The subsequent trolley 6B stops at the stop point T before the branch point B and stands by.

For example, as shown in FIG. 9(a), the area controller 60 receives the branch point passing permission request S1 from both the preceding vehicle 6A and the subsequent vehicle 6B approaching the branch point B. The type of the branch point passing permission requirement S1 of the preceding trolley 6A is a straight type, and the type of the branch point passing permission requirement S1 of the subsequent trolley 6B is a curve type. The area controller 60 does not set the lock area RB, but transmits a branch point passing permission response S2 to the preceding trolley 6A. Thereby, as shown in FIG. 9(b), the preceding trolley 6A passes through the branch point B. At the same time, the area controller 60 sets the area of the branch point B as the lock area RB. The area controller 60 does not send the branch point pass permission response S2 to the subsequent trolley 6B, and the subsequent trolley 6B stops before the branch point B.

As shown in FIG. 9(c), the preceding vehicle 6A advances from the branch point B to the straight line 42 and after passing the third branch point P3, the area controller 60 releases the setting of the locked area RB. Thereby, the area controller 60 transmits the branch point passing permission response S2 to the succeeding vehicle 6B, so that the succeeding vehicle 6B can pass through the branch point B. In the example shown in the figure, the third post-branch point P3 is the position of the point mark P just after passing the branch point B. The point P3 after the third branch is not particularly limited. The third post-branch point P3 can be in various positions as long as it is sufficiently away from the branch point B by the necessary distance.

As shown in FIG. 10, when the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A and the succeeding trolley 6B, and when the merging point passing permission request S3 received from the preceding trolley 6A and the succeeding trolley 6B is received, When the types of S3 are all linear (when a plurality of trolleys 6 are moving in-line), a merge point pass permission response S4 is sent to each of the preceding trolley 6A and the subsequent trolley 6B. As a result, the preceding trolley 6A and the succeeding trolley 6B pass through the lock area RG including the junction G without stopping, and move on the straight line 41.

For example, as shown in FIG. 11(a), the area controller 60 receives the merge point passing permission request S3 from both the preceding trolley 6A and the subsequent trolley 6B approaching the merging point G. The passing permission requirement S3 of the preceding trolley 6A is a straight type, while the passing permission requirement S3 of the subsequent trolley 6B is a straight type. Therefore, the area controller 60 sends a merging point passing permission response S4 to the preceding trolley 6A, and sets the area of the merging point G as the lock area RG. In addition, the area controller 60 transmits a merge point passing permission response S4 to the following trolley 6B. As a result, as shown in FIG. 11( b ), the preceding trolley 6A and the following trolley 6B pass through the lock area RG including the merging point G without stopping.

As shown in FIG. 11(c), the subsequent trolley 6B advances from the merging point G toward the straight line 41, and after passing the post-merging point P4, the area controller 60 releases the setting of the locked area RG. Thereby, it becomes possible for other trolleys 6 to pass through the junction G. In the example shown in the figure, the post-merging point P4 is a position where a plurality of point marks P exist between the merged point G and the merged point P4. The post-merging point P4 is not particularly limited. The post-merging point P4 can be in various positions as long as it is sufficiently away from the merged point G by the necessary distance. The post-merging point P4 is that even if the trolley 6 enters the straight line 41 from the curvilinear route 43 via the merging point G, it can be completely and completely after considering various factors (the difference in the posture of the trolley 6 when located at the same position, etc.) There is room to head toward a point along the direction of the straight line 41.

As shown in FIG. 12, when the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the merging point passing permission request S3 received from the preceding trolley 6A is When the type of the merging point passing permission request S3 received from the subsequent trolley 6B is linear and the type is a curve type, only the merging point passing permission response S4 is sent to the preceding trolley 6A. As a result, the preceding trolley 6A passes through the lock area RG including the junction G without stopping, and moves on the straight line 41. The subsequent trolley 6B stops and stands by at a stop point T near the junction G and near the branch point B.

As shown in, for example, FIG. 13(a), the area controller 60 receives the merge point passing permission request S3 from both the preceding trolley 6A and the succeeding trolley 6B approaching the merging point G. The passing permission requirement S3 of the preceding trolley 6A is a straight type, and the passing permission requirement S3 of the subsequent trolley 6B is a curved type. Therefore, the area controller 60 transmits only the merge point passing permission response S4 to the preceding vehicle 6A. Thereby, as shown in FIG. 13(b), the preceding trolley 6A passes through the merging point G. At the same time, the area controller 60 sets the area of the confluence point G as the lock area RG. The area controller 60 does not send the merging point pass permission response S4 to the subsequent trolley 6B, and the subsequent trolley 6B stops near the merging point G and near the branch point B. As shown in FIG. 13(c), the preceding trolley 6A advances from the merging point G toward the straight line 41, and after passing the post-merging point P4, the area controller 60 releases the setting of the locked area RG. In this way, the area controller 60 sends the merging point passing permission response S4 to the succeeding trolley 6B, so that the succeeding trolley 6B passes through the merging point G.

As shown in FIG. 14, when the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the merging point passing permission request S3 received from the preceding trolley 6A is When the type of the merging point passing permission request S3 received from the following trolley 6B is a curve type, only the merging point passing permission response S4 is sent to the preceding trolley 6A. As a result, the preceding trolley 6A passes through the lock area RG including the junction G without stopping, and moves on the straight line 41. The subsequent trolley 6B stops and stands by at a stop point T near the junction G and near the branch point B.

For example, as shown in FIG. 15(a), the area controller 60 receives the merge point passing permission request S3 from both the preceding trolley 6A and the succeeding trolley 6B approaching the merging point G. The type of the confluence point approval requirement S3 of the preceding trolley 6A is a curve type, and the type of the confluence point approval requirement S3 of the subsequent trolley 6B is a curve type. Therefore, the area controller 60 transmits only the merge point passing permission response S4 to the preceding vehicle 6A. Thereby, as shown in FIG. 15(b), the preceding trolley 6A passes through the merging point G. At the same time, the area controller 60 sets the area of the confluence point G as the lock area RG. The area controller 60 does not send the merging point pass permission response S4 to the following trolley 6B, and the following trolley 6B stops before the merging point G and before the branch point B. As shown in FIG. 15(c), the preceding trolley 6A advances from the merging point G toward the straight line 41, and after passing the post-merging point P4, the area controller 60 releases the setting of the locked area RG. In this way, the area controller 60 sends a merging point passing permission response S4 to the following trolley 6B, so that the following trolley 6B can pass through the merging point G.

As shown in FIG. 16, when the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the merging point passing permission request S3 received from the preceding trolley 6A is When the type of the merge point passing permission request S3 received from the subsequent trolley 6B is a curve type, the type of the merge point passing permission request S3 is linear, only the merge point passing permission response S4 is sent to the preceding trolley 6A. As a result, the preceding trolley 6A passes through the lock area RG including the junction G without stopping, and moves on the straight line 41. The subsequent trolley 6B stops at the stop point T near the merging point G and stands by.

Here, as shown in FIG. 17, after passing through the merging point G from the curvilinear route 43 and before passing the post-merging point P4, the preceding trolley 6A executes the type (that is, The process of changing from the type of the confluence point passing permission request included in the status report of the communication status report of the trolley controller 50 (refer to FIG. 2) to the area controller 60 to the linear type.

The point after passing through the merging point G and before passing through the merging point P4 is not particularly limited. The point after passing the merging point G and before passing the post-merging point P4 is, for example, the position of the point mark P on the straight line 41 just after passing the merging point G. The point after passing the merging point G and before passing the post-merging point P4 only needs to be the position between the merging point G and the post-merging point P4 on the straight line 41. The point after passing the merging point G and before passing the merging point P4 is the position where the direction of the preceding trolley 6A becomes the direction along the moving direction of the linear route 41.

As a result, the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A and the succeeding trolley 6B into linear types, so not only the preceding trolley 6A also sends the merging point pass permission to the succeeding trolley 6B in real time. Answer S4. As a result, not only the preceding trolley 6A passes through the locked area RG including the junction G, but the subsequent trolley 6B that is on standby also passes through the locked area RG and moves on the straight line 41.

For example, as shown in FIG. 18(a), the area controller 60 receives the merge point passing permission request S3 from both the preceding trolley 6A and the succeeding trolley 6B approaching the merging point G. The passing permission requirement S3 of the preceding trolley 6A is a curve type, and the passing permission requirement S3 of the subsequent trolley 6B is a straight type. Therefore, the area controller 60 transmits only the merge point passing permission response S4 to the preceding vehicle 6A. Thereby, as shown in FIG. 18(b), the preceding trolley 6A passes through the merging point G. At the same time, the area controller 60 sets the area of the confluence point G as the lock area RG. The area controller 60 does not send the merging point pass permission response S4 to the following trolley 6B, and the following trolley 6B stops before the merging point G.

As shown in Fig. 18(c), after the preceding trolley 6A enters the straight line 41 from the junction G and before the point P4 after the junction (here is the time when the first point mark P is passed), the area control The device 60 receives the straight-line merging point passing permission request S3 from the preceding trolley 6A. Thereby, the types of the merge point passing permission request S3 of the preceding trolley 6A and the succeeding trolley 6B are all linear types, and the area controller 60 sends a merge point pass permission response S4 to the succeeding trolley 6B in addition to the preceding trolley 6A. As shown in FIG. 19(a), the following trolley 6B that is stopped starts to move, passes through the lock area RG including the merging point G, and moves on the straight line 41. Then, as shown in FIG. 19(b), after the subsequent trolley 6B passes through the post-merging point P4, the area controller 60 cancels the setting of the lock area RG. Thereby, it becomes possible for other trolleys 6 to pass through the junction G.

However, in the travel system 1, when there are other vehicles 6 directly in front of the vehicle 6, as a general specification (various well-known technologies), countermeasures for collisions between these vehicles (collision) are taken. Therefore, when the preceding trolley 6A and the succeeding trolley 6B both enter the merging point G from the straight line 41, the merging point passing permission response S4 will be sent to both the preceding trolley 6A and the succeeding trolley 6B. Here, the leading trolley 6A that has entered the junction G from the curved route 43 will move on the straight line 41 after passing the junction G. Therefore, the following trolley 6B that enters the junction G from the straight line 41 will be Exist directly in front of it. Therefore, in the migration system 1, the preceding trolley 6A that has passed the merging point G executes the process of changing the type of the merging point passing permission request S3 required to the area controller 60 to a linear type before passing the post-merging point P4. Thereby, the subsequent trolley 6B that is waiting in front of the merging point G on the straight line 41 can obtain the merging point passing permission response without waiting for the preceding trolley 6A to pass the post-merging point P4. The starting time of the subsequent trolley 6B in standby can be advanced. The standby time of the subsequent trolley 6B in standby can be shortened. As a result, the transport efficiency of the trolley 6 can be improved. Moreover, the processing of the migration system 1 in this manner does not require the change of the layout of the track 4.

In the migration system 1, when the merging point passing permission request S3 is received from the preceding trolley 6A and the subsequent trolley 6B, and the type of the merging point passing permission request S3 received from the preceding trolley 6A is linear and from When the type of the merging point passing permission request S3 received by the subsequent trolley 6B is a curve type, only the merging point passing permission response S4 is sent to the preceding trolley 6A. If using the migration system 1, when the subsequent trolley 6B is advancing from the curvilinear route 43 toward the junction, even if the type of the junction passing permission requirement of the preceding trolley 6A that has passed the junction G is changed to a straight type, the subsequent trolley 6B It will not get a permission response from the confluence point. Thereby, the collision between the preceding trolley 6A and the following trolley 6B can be prevented.

In the travel system 1, each of the plurality of trolleys 6 includes a linear sensor 8 as a distance sensor. In this way, collisions between the trolleys 6 can also be avoided by the linear sensor 8. Especially, when there are other trolleys 6 directly in front of one's trolley 6, the collision of these trolleys 6 with each other can be avoided. When there are other trolleys 6 obliquely in front of one's trolley 6, through the processing of the above-mentioned area controller 60 (regarding the control of the preceding trolley 6A and the subsequent trolley 6B), the collision of these trolleys 6 with each other can be avoided. situation. Therefore, compared to the case where a curve sensor is mounted, for example, the cost can be suppressed.

In the migration system 1, when the area controller 60 receives the branch point passing permission request S1 from the preceding trolley 6A and the subsequent trolley 6B, and the type of the branch point passing permission request S1 of the preceding trolley 6A is a curve type and the following When the type of the branch point pass permission request S1 of the trolley 6B is linear, only the branch point pass permission response S2 is sent to the preceding trolley 6A. When the preceding trolley 6A reaches the second post-branch point P2 where the subsequent trolley 6B does not interfere when the preceding trolley 6A passes through the branch point B of the succeeding trolley 6B, the area controller 60 sends a branch point passing permission response S2 to the succeeding trolley 6B. Thereby, when the preceding trolley 6A advances from the branch point B to the curved route 43 and the subsequent trolley 6B advances from the branch point B to the straight line 42, the subsequent trolley 6B can pass the branch point B at an earlier point in time.

Next, an example in which the following trolley 6B exists as the trolley 6 following it (the trolley 6 that is predicted to pass the junction G next after the following trolley 6B) will be described.

As shown in FIG. 20, when the area controller 60 receives the confluence point passing permission request S3 from the preceding trolley 6A, the succeeding trolley 6B, and other succeeding trolleys 6C, and when receiving the situation from the preceding trolley 6A, the succeeding trolley 6B, and other succeeding trolleys When the types of the merge point passing permission request S3 received by 6C are all linear types (when a plurality of trolleys 6 are shifting in-line), a merge point passing permission response S4 is sent to each of them. As a result, the preceding trolley 6A, the succeeding trolley 6B, and the other succeeding trolleys 6C pass through the lock area RG including the junction G without stopping, and move on the straight line 41.

Also, as shown in FIG. 21, when the area controller 60 receives the confluence point passing permission request S3 from the preceding trolley 6A, the succeeding trolley 6B, and other succeeding trolleys 6C, and when receiving the situation from the preceding trolley 6A and the succeeding trolley 6B When the type of the merged point passing permit request S3 is linear and the type of the merged point passing permit request S3 received from other subsequent trolleys 6C is curved, the merge point is only sent to the preceding trolley 6A and subsequent trolley 6B Respond to S4 with permission. As a result, the preceding trolley 6A and the succeeding trolley 6B pass through the lock area RG including the junction G without stopping, and move on the straight line 41. The other subsequent trolleys 6C stop at the stop point T near the junction G and near the branch point B, and stand by.

For example, the area controller 60 receives the passing permission request S3 from the preceding trolley 6A, the succeeding trolley 6B, and other succeeding trolleys 6C that are close to the merging point G. The merge point approval requirement S3 of the preceding trolley 6A and the subsequent trolley 6B is a straight type, while the merge point approval requirement S3 of the other subsequent trolleys 6C is a curve type. Therefore, the area controller 60 transmits only the merge point passing permission response S4 to the preceding vehicle 6A and the following vehicle 6B. Thereby, as shown in FIGS. 22(a) and 22(b), the preceding trolley 6A and the succeeding trolley 6B pass through the junction G. At the same time, the area controller 60 sets the area of the confluence point G as the lock area RG. The area controller 60 does not send the merging point pass permission response S4 to the other subsequent trolleys 6C, and the other subsequent trolleys 6C stop before the merging point G and before the branch point B. As shown in FIG. 22(c), the subsequent trolley 6B advances from the merging point G toward the straight line 41, and after passing the post-merging point P4, the area controller 60 releases the setting of the locked area RG. In this way, the area controller 60 sends the merging point passing permission response S4 to the other subsequent vehicles 6C, so that the other subsequent vehicles 6C can pass through the merging point G.

In addition, when the area controller 60 receives the merging point passing permission request S3 from the preceding trolley 6A, the succeeding trolley 6B, and other subsequent trolleys 6C, and the type of the merging point passing permission request S3 received from the succeeding trolley 6B When the type of the merging point passing permission request S3 received from the preceding trolley 6A and other subsequent trolleys 6C is linear for the curve type, only the merging point passing permission response S4 is sent to the preceding trolley 6A. After that, after the preceding trolley 6A passes the post-merging point P4, the area controller 60 transmits only the merge point passing permission response S4 to the following trolley 6B. As a result, the other subsequent trolleys 6C stop at the stop point T of the merging point G and stand by. After passing through the merging point G from the curvilinear route 43 and before passing the post-merging point P4, the subsequent trolley 6B executes a process of changing the type of the merging point passing permission request S3 required by the area controller 60 to a straight type. As a result, the area controller 60 receives the merging point approval request S3 from the subsequent trolley 6B and other subsequent trolleys 6C. The type will be linear. Therefore, not only the subsequent trolley 6B will also send the merging point to the other subsequent trolleys 6C. Respond to S4 with permission. As a result, in addition to the preceding trolley 6A and the succeeding trolley 6B passing through the locked area RG including the junction G, other succeeding trolleys 6C in standby will also pass through the locked area RG and move on the straight line 41.

In such a migration system 1, when the area controller 60 receives the merging point passing permission request S3 from other subsequent trolleys 6C, and the type of the merging point passing permission request S3 of the trolleys 6A to 6C is linear. In this case, a merge point pass permission response is sent to the trolleys 6A to 6C. When the type of at least one of the merge point passing permission requirements S3 of the trolleys 6A to 6C is a curve type, the area controller 60 only sends a merge point passing permission response to the preceding trolley 6A. It is required that the follow-up trolley 6B of the curved junction pass permit request S3, after passing the junction G from the curved route 43 and before passing the post-merging point P4, executes the type change of the permit request S3 for the junction point required by the regional controller 60 It is a straight line treatment. Thereby, when the other subsequent trolleys 6C move from the curved route 43 toward the merging point G, the other subsequent trolleys 6C can be made to stand by in front of the merging point G, thereby preventing the trolleys 6 from colliding with each other. In addition, other subsequent vehicles 6C waiting in front of the merging point G on the straight line 41 can obtain the merging point passing permission response S4 without waiting for the subsequent vehicles 6B to pass the post-merging point P4. As a result, the transport efficiency of the trolley 6 can be improved.

As mentioned above, although the preceding trolley 6A constitutes the first trolley and the fourth trolley. The subsequent trolley 6B constitutes the second trolley and the fifth trolley. The other subsequent trolley 6C constitutes the third trolley.

Although one embodiment has been described above, one aspect of the present invention is not limited to the above-mentioned embodiment, and various changes can be made without departing from the scope of the invention.

In the above embodiment, although the preceding trolley 6A or the succeeding trolley 6B has passed the merging point G from the curved route 43 and before passing the post-merging point P4, the preceding trolley 6A or the succeeding trolley 6B will request the merging point of the area controller 60 The type of the approval request is changed to a linear type, but it can also replace the process of changing the type of the confluence point approval request S3 to a linear type, or in addition to the process, the execution will be performed for the area controller 60 to recognize from the preceding trolley 6A or subsequent The confluence point received by the trolley 6B is sent to the area controller 60 for processing through the permission request S3 that the type is linear. In this case, as a result, the types of the passing permission request received from the preceding trolley 6A and the subsequent trolley 6B can also be set to linear, or the type of the passing permission request from the subsequent trolley 6B and other subsequent trolleys 6C can be received The types of confluence points passing permit requirements are all set to be linear.

In the above-mentioned embodiment, although the overhead traveling type unmanned transport vehicle has been used as the trolley 6, the trolley 6 is not particularly limited. The trolley 6 may also be an overhead traveling shuttle. The trolley 6 may also be a track-type unmanned transport trolley that can move along tracks on the ground. The trolley 6 may also be a magnetic induction type unmanned transport vehicle capable of traveling along a path formed by a magnetic tape or the like. The trolley 6 may also be a laser-guided unmanned transport trolley that can be guided by laser light to move along a prescribed path.

In the above-mentioned embodiment, one or a plurality of different controllers that are relayed between the area controller 60 and the trolley 6 may also be provided. Regarding each configuration of the above-mentioned embodiment, the material and shape are not limited, and various materials and shapes can be applied.

1: Migration system 4: Track (travel path) 6: Trolley 6A: Leading car (1st car, 4th car) 6B: Follow-up car (2nd car, 5th car) 6C: Other subsequent trolleys (3rd trolley) 8: Linear sensor (vehicle distance sensor) 10: Items 18: Migration Department 20: Department of Power Reception and Communication 24: Transverse feed section 26: Theta drive 28: Lifting drive 30: Lifting table 33: Anti-drop shield 40: Route 41: Straight line (the first straight path of travel) 42: Straight line (2nd straight line of travel) 43: Curved route (1st curved path, 2nd curved path) 48: Pillar 50: Trolley controller 60: area controller (controller) B: branch point G: Confluence point P: point mark P1: Point after the first branch P3: Point after the third branch P4: Point after confluence (established point) RB: The locked area of the area including the branch point B RG: The locked area of the area including the confluence point G S1: Branch point passes permit requirements S2: The branch point responds by permission S3: Confluence point passes permit requirements S4: The confluence point responds with permission T: stop point

Fig. 1 is a schematic plan view showing a travel system according to an embodiment. Fig. 2 is a block diagram showing the functional structure of the trolley in Fig. 1. Fig. 3 is a schematic view of the front view of the trolley in Fig. 1 when viewed from the traveling direction. Fig. 4 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 5 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 6(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 6(b) is a schematic top view showing the subsequent development of Fig. 6(a). Fig. 6(c) is a schematic top view showing the subsequent development of Fig. 6(b). Fig. 7(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 7(b) is a schematic top view showing the subsequent development of Fig. 7(a). Fig. 7(c) is a schematic top view showing the subsequent development of Fig. 7(b). Fig. 8 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 9(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 9(b) is a schematic top view showing the subsequent development of Fig. 9(a). Fig. 9(c) is a schematic top view showing the subsequent development of Fig. 9(b). Fig. 10 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 11(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 11(b) is a schematic top view showing the subsequent development of Fig. 11(a). Fig. 11(c) is a schematic top view showing the subsequent development of Fig. 11(b). Fig. 12 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 13(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Figure 13(b) is a schematic top view showing the subsequent development of Figure 13(a). Figure 13(c) is a schematic top view showing the subsequent development of Figure 13(b). Fig. 14 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 15(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 15(b) is a schematic top view showing the subsequent development of Fig. 15(a). Fig. 15(c) is a schematic top view showing the subsequent development of Fig. 15(b). Fig. 16 is a schematic plan view explaining the processing of the zone controller in Fig. 1. FIG. 17 is a schematic top view showing the subsequent development of FIG. 16. Fig. 18(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 18(b) is a schematic top view showing the subsequent development of Fig. 18(a). Figure 18(c) is a schematic top view showing the subsequent development of Figure 18(b). Fig. 19(a) is a schematic top view showing the subsequent development of Fig. 18(b). Figure 19(b) is a schematic top view showing the subsequent development of Figure 19(a). Fig. 20 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 21 is a schematic plan view explaining the processing of the zone controller in Fig. 1. Fig. 22(a) is a schematic plan view explaining the processing of the zone controller in Fig. 1. Figure 22(b) is a schematic top view showing the subsequent development of Figure 22(a). Figure 22(c) is a schematic top view showing the subsequent development of Figure 22(b).

1: Migration system

4: Track (travel path)

6: Trolley

6A: Leading car (1st car, 4th car)

6B: Follow-up car (2nd car, 5th car)

40: Route

41: Straight line (the first straight path of travel)

42: Straight line (2nd straight line of travel)

43: Curved route (1st curved path, 2nd curved path)

B: branch point

G: Confluence point

P: point mark

P4: Point after confluence (established point)

RG: The locked area of the area including the confluence point G

Claims (6)

A migration system, which is provided with: a predetermined migration path, a plurality of trolleys that can travel along the above-mentioned migration path, and a controller that controls the plurality of the above-mentioned trolleys; The travel path includes: a first straight travel path, and a first curvilinear travel path that merges through a merging point in the middle of the first linear travel path; The trolley sends to the controller a merging point passing permission request requesting permission for the passage of the merging point in the vicinity of the merging point, and a merging point passing permission response is received from the controller indicating the passing permission of the merging point. In the event of a situation, it enters the above-mentioned confluence point, and when the above-mentioned confluence point pass permission response is not received from the above-mentioned controller, it waits in front of the above-mentioned confluence point; The above-mentioned trolley waiting in front of the above-mentioned merging point, after the above-mentioned trolley passing through the above-mentioned merging point has passed the predetermined point directly in front of the waiting trolley, receives the above-mentioned merging point passing permission response from the controller; When the controller receives the permission request for passing the confluence point from the first car of the preceding car and the second car of the car following the first car, and from the first car and the second car When the types of the above-mentioned merging point passing permission request received are all linear types of the type of the above-mentioned merging point passing permission request when advancing from the above-mentioned first straight line of travel to the above-mentioned merging point, the above-mentioned first car and the above-mentioned The second car sends the above-mentioned confluence point pass permission response, and In the case where the permission request for passing the junction point is received from the first car and the second car, and the type of the passing permission request for the confluence point received from the first car is the migration path from the first curve When the above-mentioned merging point passes the curve type of the permission request when moving toward the above-mentioned merging point, only the above-mentioned merging point passing permission response is sent to the above-mentioned first car; The controller requires the first vehicle to pass the permission request for the confluence point of the curve type to perform at least one of the following processes after passing the confluence point from the first curved travel path and before passing the predetermined point: Change the type of the above-mentioned confluence point passing permission request required by the above-mentioned controller to the above-mentioned linear type; and change the type for the above-mentioned controller to recognize the above-mentioned confluence point passing permission request received from the above-mentioned first car as the above-mentioned linear type The signal is sent to the above-mentioned controller. Such as the migration system of claim 1, in which, When the controller receives the permission request for passing the confluence point from the third car of the car following the second car in addition to the first car and the second car, and when it receives the permission request from the first car, In the case where the type of the permission request for passing the confluence point received by the second car and the third car is the linear type, in addition to the first car and the second car, the confluence will be sent to the three cars. Click to answer with permission, and When a request for permission to pass the confluence point is received from the third car in addition to the first car and the second car, and when it is received from the first car, the second car, and the third car When at least one of the above-mentioned converging point passing permission requirements is of the above-mentioned curve type, only the above-mentioned confluence point passing permission response is sent to the first vehicle; The above-mentioned controller requires the above-mentioned second vehicle, which is required to pass the above-mentioned confluence point of the above-mentioned curve type, after passing through the above-mentioned confluence point from the above-mentioned first curved travel path and before passing through the above-mentioned predetermined point, execute at least one of the following : Change the type of the passing permission request for the confluence point required by the above controller to the above linear type; and change the type for the controller to recognize the passing permission requirement for the above confluence point received from the second trolley as the above curve The signal of the type is sent to the above-mentioned controller. Such as the migration system of claim 1 or 2, in which, In the case of receiving the permission request for passing the merging point from the first car and the second car, and the type of the passing permission request for the merging point received from the first car is the above-mentioned linear type and from the above-mentioned second car When the type of the above-mentioned converging point passing permission request received by the two cars is the above-mentioned curve type, the above-mentioned confluence point passing permission response is only sent to the first car. Such as the migration system of any one of claims 1 to 3, in which: Each of the plural trolleys is equipped with a distance sensor that detects the distance between the trolley and the trolley ahead. Such as the migration system of claim 4, in which, The vehicle distance sensor is a linear sensor that can detect the trolley in front of the vehicle. Such as the migration system of any one of claims 1 to 5, in which: The travel path includes: a second straight travel path, and a second curvilinear travel path that branches through a branch point in the middle of the second linear travel path and is connected to the first curvilinear travel path; The trolley sends a branch point pass permission request to the controller near the branch point that requires the permission of the branch point to pass, and the branch point pass permission response is received from the controller indicating the pass permission of the branch point. In case of entering into the aforementioned branch point, and waiting in front of the aforementioned branch point when the aforementioned branch point pass permission response is not received from the aforementioned controller; When the above-mentioned controller receives the above-mentioned branch point passing permission request from the fourth trolley of the preceding trolley and the fifth trolley of the above-mentioned trolley following the fourth trolley, and when the above-mentioned received from the fourth trolley above The type of branch point passing permission request is the curve type of the type of the branch point passing permission request when the branch point is advancing from the branch point toward the second curved travel path, and the branch point passing permission request received from the fifth car When the type is the linear type of the type required for passing permission at the branch point when advancing from the branch point to the second straight travel path, the branch point passing permission response is sent to the fourth car only, and When the four vehicles have reached a position where there is no interference even if the fifth vehicle passes through the branch point, the branch point passing permission response is sent to the fifth vehicle.

Images