WO2013108501A1 - 走行車システム - Google Patents
走行車システム Download PDFInfo
- Publication number
- WO2013108501A1 WO2013108501A1 PCT/JP2012/081524 JP2012081524W WO2013108501A1 WO 2013108501 A1 WO2013108501 A1 WO 2013108501A1 JP 2012081524 W JP2012081524 W JP 2012081524W WO 2013108501 A1 WO2013108501 A1 WO 2013108501A1
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- WIPO (PCT)
- Prior art keywords
- traveling
- traveling vehicle
- abnormality
- path
- vehicle
- Prior art date
Links
- 230000005856 abnormality Effects 0.000 claims abstract description 110
- 238000013459 approach Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 23
- 230000032258 transport Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 230000005764 inhibitory process Effects 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 239000011521 glass Substances 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67715—Changing the direction of the conveying path
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67727—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations using a general scheme of a conveying path within a factory
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67288—Monitoring of warpage, curvature, damage, defects or the like
Definitions
- the present invention relates to a traveling vehicle system for conveying various objects to be processed.
- a traveling vehicle system for transporting a processing object such as a semiconductor wafer and a glass substrate in a clean room of a manufacturing factory for semiconductor devices and liquid crystal display devices is known.
- various traveling controls are performed at the branching portion and the merging portion of the traveling route network (see, for example, Patent Documents 1 and 2).
- JP 2006-31461 A International Publication No. 2010/035411
- the traffic congestion of the traveling vehicle may increase from the position where the abnormality has occurred.
- the present invention provides a traveling vehicle system capable of suppressing an increase in the congestion range of a traveling vehicle even if any abnormality occurs downstream of a branching portion while improving traveling efficiency of the traveling vehicle. With the goal.
- the traveling vehicle system of the present invention includes a first traveling path, a traveling path network including a second traveling path and a third traveling path branched from the first traveling path at a branching portion, and a plurality of traveling traveling on the traveling path network.
- a controller for controlling the traveling of the traveling vehicle, and the controller passes through the branching unit immediately before the abnormality grasping means for grasping an abnormality in the downstream traveling path of the branching unit including at least the second traveling path.
- the branching section is For the traveling vehicle that passes immediately after, the judgment of whether or not to enter the second traveling path is omitted, and when the abnormality is grasped by the abnormality grasping means, the judgment as to whether or not the traveling vehicle that passes immediately after the branching section enters the second traveling path is made. Hand to determine whether to enter And, with a.
- the abnormality grasping means may grasp the abnormality when the traveling vehicle determined to be allowed to enter the predetermined part of the downstream traveling path does not pass through the predetermined part for a predetermined time.
- the predetermined portion may be a downstream merging portion where the second traveling path merges with another traveling path.
- the abnormality grasping means stores in advance a combination of a branching unit that is a target for determining whether the traveling vehicle that passes immediately after the branching unit is allowed to enter the second traveling path and a predetermined unit that is a target for grasping the abnormality. It may be. According to this configuration, since it is only necessary to execute processing for grasping the abnormality in the downstream traveling path for the predetermined portion associated with the branching section, the downstream traveling path can be suppressed while suppressing an increase in processing load. Can grasp abnormalities.
- the abnormality grasping means may grasp the abnormality when the traveling vehicle that has entered the second traveling path stops for a predetermined time on the downstream traveling path. According to this configuration, since it is not necessary to newly provide a sensor or the like in order to grasp the abnormality in the downstream traveling road, it is possible to grasp the abnormality in the downstream traveling road with a simple configuration.
- the inter-vehicle stop means that the following traveling vehicle stops at a predetermined inter-vehicle distance from the traveling vehicle stopped for some reason.
- the traveling vehicle makes an entry permission setting request for entering the second traveling path or the third traveling path through the branching section, and passes the branching section when the entry permission setting is performed by the controller.
- the vehicle enters the second travel path or the third travel path, and the traveling vehicle makes an entry permission determination when it makes an entry permission setting request for entering the second travel path through the bifurcation. If it is not determined by the means that it is possible to enter the second travel path for a predetermined time, an entry permission setting request for passing through the branching section and entering the third travel path may be made.
- the traveling vehicle that has made the entry permission setting request for entering the second travel path through the branch section has an abnormality on the downstream travel path of the branch section including the second travel path. When it occurs, it is avoided that the vehicle stops continuously before the branching portion, so that it is possible to suppress an increase in the traffic jam range of the traveling vehicle from the branching portion.
- the present invention it is possible to provide a traveling vehicle system capable of suppressing an increase in the congestion range of a traveling vehicle even if any abnormality occurs downstream of a branching portion while improving traveling efficiency of the traveling vehicle. Is possible.
- FIG. 1 is a plan view of a traveling route network of a traveling vehicle system according to an embodiment of the present invention.
- the traveling vehicle system 1 includes a traveling road network 2 including linear traveling paths R1 to R16 and curved traveling paths R21 to R26, and a plurality of traveling road networks 2 traveling in the direction of the arrow. Traveling vehicle 3.
- Each travel path R1 to R16, R21 to R26 is provided with one or more points P.
- the traveling vehicle 3 grasps the position of the own vehicle in the traveling road network 2 by reading the position information from the point P.
- Such a traveling vehicle system 1 is applied to a clean room of a manufacturing factory such as a semiconductor device and a liquid crystal display device in order to transfer a processing object such as a semiconductor wafer and a glass substrate from a transfer source to a transfer destination.
- the traveling vehicle 3 is an overhead traveling unmanned transport vehicle that creates a travel route from the transport source to the transport destination by the own vehicle and transports the processing object while grasping the position of the own vehicle in the travel route network 2. Transport from the source to the destination. As the transfer source and transfer destination, there are stations for performing various processes on the processing object.
- the traveling vehicle 3 may be another type of automatic guided vehicle such as a tracked automatic guided vehicle.
- the traveling route R2 and the traveling route R21 branch from the traveling route R1 at the branching portion S1.
- the traveling road R6 and the traveling road R23 branch off from the traveling road R5 at the branch portion S2.
- the traveling road R8 and the traveling road R22 branch off from the traveling road R7 at the branch portion S3.
- the traveling road R11 and the traveling road R24 branch off from the traveling road R10 at the branch portion S4.
- the traveling road R13 and the traveling road R26 branch off from the traveling road R12 at the branch portion S5.
- the traveling road R15 and the traveling road R25 branch off from the traveling road R14 at the branch portion S6.
- the travel path R2 and the travel path R22 merge with the travel path R3 at the junction C1.
- the traveling path R4 and the traveling path R21 merge with the traveling path R5 at the junction C2.
- the traveling path R6 and the traveling path R24 merge with the traveling path R7 at the junction C3.
- the traveling path R9 and the traveling path R25 merge with the traveling path R10 at the junction C4.
- the travel path R11 and the travel path R23 merge with the travel path R12 at the junction C5.
- the traveling path R15 and the traveling path R26 merge with the traveling path R16 at the junction C6.
- FIG. 2 is a block diagram showing the configuration of the control system of the traveling vehicle system according to the embodiment of the present invention.
- the control system 10 of the traveling vehicle system 1 includes a transport request controller 11, a distribution controller 12, and a stocker controller 13 in addition to the traveling vehicle controller 4 that controls traveling of the traveling vehicle 3.
- the physical distribution controller 12 is a host controller of the traveling vehicle controller 4 and the stocker controller 13 and can communicate with the controllers 4 and 13.
- the transport request controller 11 can communicate with each of a plurality of stations 14 for performing various processes on the processing target.
- the stocker controller 13 can communicate with each of the plurality of stockers 15 for temporarily storing the processing object.
- the traveling vehicle controller 4 can communicate with each traveling vehicle 3.
- the transport request controller 11 When the transport request controller 11 receives a transport request (carry-in request and carry-out request) of the processing object from the station 14, the transport request controller 11 transmits the transport request to the physical distribution controller 12.
- the logistics controller 12 that has received the transport request transmits a request for loading / unloading the processing object to the stocker controller 13 as necessary.
- the stocker controller 13 that has received the entry / exit request transmits an entry / exit command to the stocker 15.
- the stocker 15 that has received the loading / unloading command loads / unloads the processing object to / from the traveling vehicle 3 at a predetermined timing.
- the logistics controller 12 that has received the transport request from the transport request controller 11 transmits the transport request to the traveling vehicle controller 4.
- the traveling vehicle controller 4 that has received the transportation request transmits a transportation command to the traveling vehicle 3.
- the traveling vehicle 3 that has received the transportation instruction creates a traveling route from the transportation source station 14 to the transportation destination station 14 with its own vehicle, and grasps the position of the own vehicle in the traveling route network 2 while processing the object to be processed. Are transferred from the transfer source station 14 to the transfer destination station 14.
- the traveling vehicle 3 reads the position information from the point P provided on the traveling road network 2 to grasp the position of the own vehicle in the traveling road network 2, and sends the position information of the own vehicle to the traveling vehicle controller 4. Send from time to time.
- FIG. 3 is a block diagram showing the configuration of the traveling vehicle controller of FIG.
- the traveling vehicle controller 4 is an electronic control unit including a CPU, a ROM, a RAM, and the like, and includes at least an abnormality grasping unit (abnormality grasping unit) 5 and an entry availability determination unit (entry availability determination unit). 6.
- the traveling vehicle controller 4 loads the program stored in the ROM onto the RAM and executes it by the CPU, thereby configuring the abnormality grasping unit 5 and the entry possibility determination unit 6 with software.
- each process part of the traveling vehicle controller 4 may be comprised with hardware.
- the abnormality grasping unit 5 grasps abnormalities in the traveling paths R2, R6, R8, R11, R13, R15, R21 to R26 branching from the respective branch portions S1 to S6.
- the approach propriety determination unit 6 travels about to pass through each of the branch portions S1 to S6 according to the grasping state of the abnormality by the abnormality grasping portion 5.
- a determination is made as to whether or not the vehicle 3 is allowed to enter the travel paths R2, R6, R8, R11, R13, R15, R21 to R26.
- the abnormality grasping unit 5 and the entry permission / inhibition determining unit 6 will be described in more detail in the following [Procedure for the traveling vehicle controller]. [Treatment procedures for traveling vehicles]
- a processing procedure in the traveling vehicle 3A will be described with reference to the flowchart of FIG. First, when the traveling vehicle 3A that has created a traveling route using one of the traveling routes R6 and R23 approaches the branching portion S2 on the traveling route R5, the traveling vehicle controller 4 transmits an entry permission setting request to the traveling vehicle controller 4 (step S51).
- This entry permission setting request requests the traveling vehicle controller 4 to set the entry permission for passing through the branch portion S2 and entering one of the traveling paths R6 and R23.
- the traveling vehicle 3A passes through the branch portion S2 and the traveling path R6 or the traveling path where the entry permission is set. Enter R23 (step S53). Subsequently, the traveling vehicle 3A that has passed through the branch portion S2 transmits an entry permission release request to the traveling vehicle controller 4 (step S54).
- step S52 if the entry permission is not set by the traveling vehicle controller 4 (step S52), the traveling vehicle 3A stops before the branch portion S2 and transmits a setting request for entry permission (for example, an entry permission setting request).
- a setting request for entry permission for example, an entry permission setting request.
- step S55 the process of step S52 is executed.
- step S55 the traveling vehicle 3A recreates a traveling route that uses the other of the traveling routes R6 and R23, and transmits another entry permission setting request to the traveling vehicle controller 4 ( Step S51), the processing after step S52 is executed.
- This another entry permission setting request requests the traveling vehicle controller 4 to set an entry permission for passing through the branch portion S2 and entering the other of the traveling paths R6 and R23.
- the traveling vehicle controller 4 when the traveling vehicle controller 4 does not set the entry permission for the traveling vehicle 3A to enter one of the traveling paths R6 and R23 through the branching portion S2, the traveling vehicle 3A The traveling vehicle controller 4 is requested to set entry permission for passing through and entering the other of the traveling paths R6 and R23. [Processing procedure in the vehicle controller]
- the abnormality grasping unit 5 of the traveling vehicle controller 4 monitors the presence or absence of abnormality in each of the traveling paths R6 and R23.
- the traveling vehicle controller 4 receives an entry permission setting request from the traveling vehicle 3A approaching the branch section S2 on the traveling path R5 (step S61)
- the entry permission determination unit 6 of the traveling vehicle controller 4 Travel in which one of the traveling paths R6 and R23 to which the traveling vehicle 3A (the traveling vehicle 3 passing immediately after the branching portion S2) enters is entered by the traveling vehicle 3B (the traveling vehicle 3 passing immediately before the branching portion S2). It is determined whether it is the same as the road R6 or the traveling road R23 (step S62). This determination process is performed based on the entry permission setting request finally received from the traveling vehicle 3B and the entry permission setting request received from the traveling vehicle 3A.
- step S62 when one of the travel paths R6 and R23 to which the traveling vehicle 3A is about to enter is different from the travel path R6 or the travel path R23 into which the traveling vehicle 3B has entered (for example, the traveling vehicle 3B is traveling After entering R23 (refer to the two-dot chain line in FIG. 4), when the traveling vehicle 3A is about to enter the traveling path R6), the entry permission / inhibition determining unit 6 permits entry of one of the traveling paths R6 and R23. It is determined whether or not cancellation has been performed (step S63). As a result, if the entry permission has not been released, the process returns to step S62. If the entry permission has been released, the entry permission / inhibition determining unit 6 determines whether one of the traveling paths R6 and R23 is present. The entry permission is set for (Step S64).
- the entry determination unit 6 determines whether the traveling vehicle 3A is about to enter when one of the traveling roads R6 and R23 is different from the traveling road R6 or the traveling road R23 into which the traveling vehicle 3B has entered. Whether or not the traveling vehicle 3A can enter one of the traveling paths R6 and R23 is determined (in this case, the determination process in step S63).
- step S62 when one of the traveling paths R6 and R23 to which the traveling vehicle 3A is about to enter is the same as the traveling path R6 or the traveling path R23 into which the traveling vehicle 3B has entered (for example, the traveling vehicle 3B After entering the travel path R6 (see the solid line in FIG. 4), when the traveling vehicle 3A is about to enter the travel path R6), the entrance determination unit 6 determines whether the travel paths R6 and R23 It is determined whether or not one of the abnormalities is grasped (step S65). As a result, when the abnormality is not grasped, the entry permission determination unit 6 sets the entry permission for one of the traveling paths R6 and R23 without determining whether or not the entry permission is canceled. This is performed (step S64).
- the entry determination unit 6 determines whether the traveling vehicle 3A is about to enter the abnormality grasping unit 5 when one of the traveling roads R6 and R23 is the same as the traveling road R6 or the traveling road R23 into which the traveling vehicle 3B has entered.
- the determination of whether or not the traveling vehicle 3A can enter one of the traveling paths R6 and R23 is omitted.
- step S65 if an abnormality is grasped, the approach permission determination unit 6 determines whether or not the entry permission is canceled for one of the travel paths R6 and R23 ( Step S63). As a result, if the entry permission has not been released, the process returns to step S62. If the entry permission has been released, the entry permission / inhibition determining unit 6 determines whether one of the traveling paths R6 and R23 is present. The entry permission is set for (Step S64).
- the entry determination unit 6 determines whether the traveling vehicle 3A is about to enter the abnormality grasping unit 5 when one of the traveling roads R6 and R23 is the same as the traveling road R6 or the traveling road R23 into which the traveling vehicle 3B has entered. At the time of grasping the abnormality, the determination is made as to whether or not the traveling vehicle 3A can enter one of the traveling paths R6 and R23 (in this case, the determination process in step S63).
- Step S66 when the traveling vehicle controller 4 that has set the entry permission for one of the traveling paths R6 and R23 receives a request for canceling the entry permission from the traveling vehicle 3A that has passed through the branch portion S2 (step S66), the entry permission is canceled. (Step S67).
- the abnormality grasping unit 5 stores in advance combinations of the branching portions S1 to S6 that are targets for determining whether or not to enter and the merging portions C1 to C6 that are targets for grasping the abnormality.
- the junction portion C1 and C2 that are initially provided on the downstream side of the branch portion S1 are associated with each other, and the abnormality grasping portion 5 includes the associated branch portion S1 and the junction portion C1. , C2 are stored.
- the abnormality grasping unit 5 includes a combination of the branching unit S2 and the merging units C3 and C5, a combination of the branching unit S3 and the merging unit C1, a combination of the branching unit S4 and the merging units C3 and C5, and the branching unit S5.
- the combination with the merging portion C6 and the combination of the branch portion S6 with the merging portions C4 and C6 are stored.
- the abnormality grasping unit 5 executes an abnormality grasping process as follows. For example, as shown in FIG. 4, in the state where entry permission to the junction C3 is set for the traveling vehicle 3C traveling on the traveling path R6, an abnormality occurs in the traveling vehicle 3C and the traveling vehicle 3C stops. If it has been done, the abnormality grasping unit 5 grasps that an abnormality has occurred in the traveling road R6 when the traveling vehicle 3C does not pass the merging portion C3 for a predetermined time.
- the abnormality grasping unit 5 determines that the traveling vehicle 3B that has entered the traveling path R6 is in the traveling path R6. It is understood that an abnormality has occurred in the travel path R6 when the vehicle is stopped for a predetermined time. That is, the abnormality grasping unit 5 stops the traveling vehicle 3B when the traveling vehicle 3B that has entered the traveling path R6 stops at a predetermined inter-vehicle distance from the traveling vehicle 3C that is stopped, and a predetermined time elapses in this state. It is understood that an abnormality has occurred on the travel route R6.
- the above grasping information of the abnormality in the traveling road R6 is the determination of whether or not the traveling vehicle 3A is about to pass through the branching section S2 stored as the combination with the merging section C3 and whether or not the traveling road R6 or R23 can enter one of the traveling paths R6 and R23. It is used when performing (in the determination process of step S65 by the approach permission determination part 6 mentioned above). [Action and effect]
- the traveling vehicle system 1 configured as described above, as described below, while traveling efficiency of the traveling vehicle 3 is improved, even if any abnormality occurs downstream of the branch portions S1 to S6, the traveling vehicle system 1 It becomes possible to suppress the expansion of the traffic jam range of the car 3.
- the traveling vehicle 3B that has just passed through the branching section S2 enters the traveling path R6, and the traveling vehicle 3A that has just passed through the branching section S2 attempts to enter the traveling path R6 continuously.
- the determination as to whether or not the travel vehicle 3A intends to enter the travel route R6 continuously can enter the travel route R6 is omitted.
- the traveling vehicle 3B that has just passed through the branching section S2 enters the traveling path R23, and the traveling vehicle 3A that has just passed through the branching section S2 attempts to enter the traveling path R23 continuously,
- the determination as to whether or not the traveling vehicle 3A trying to continuously enter the traveling path R23 can enter the traveling path R23 is omitted.
- the above operation is the same for the branch portions S1, S3 to S6. Thereby, the traveling efficiency of the traveling vehicle 3 can be improved.
- the traveling vehicle 3B that has just passed through the branch portion S2 enters the traveling path R6, and the traveling vehicle 3A that has just passed through the branch section S2 attempts to enter the traveling path R6 continuously.
- an abnormality is detected in the travel route R6, it is determined whether or not the travel vehicle 3A attempting to enter the travel route R6 continuously can enter the travel route R6.
- traveling vehicle 3B that has just passed through the branch portion S2 enters the traveling route R23, and the traveling vehicle 3A that immediately passes through the branch portion S2 is about to enter the traveling route R23 continuously.
- a determination is made as to whether or not the traveling vehicle 3A attempting to enter the traveling path R23 continuously can enter the traveling path R23.
- the above operation is the same for the branch portions S1, S3 to S6.
- the traveling vehicle 3 continues to the traveling paths R2, R6, R8, R11, R13, R15, R21 to R26 (hereinafter referred to as “traveling path R2 etc.”) downstream of the branch portions S1 to S6 where the abnormality has occurred. Therefore, it is possible to suppress an increase in the traffic jam range of the traveling vehicle 3 from the position where the abnormality has occurred due to the approach.
- the abnormality grasping unit 5 of the traveling vehicle controller 4 grasps an abnormality in the traveling path R6 when the traveling vehicle 3C that is determined to be allowed to enter the junction C3 downstream of the branching portion S2 does not pass through the junction C3 for a predetermined time. To do. Similarly, the abnormality grasping unit 5 grasps an abnormality in the traveling path R23 when the traveling vehicle 3 determined to be allowed to enter the junction C5 downstream of the branching portion S2 does not pass through the junction C5 for a predetermined time. The above operation is the same for the branch portions S1, S3 to S6.
- the abnormality grasping unit 5 stores in advance a combination of the branching portions S1 to S6 that are targets for determining whether or not to enter and the merging portions C1 to C6 that are targets for grasping the abnormality. As a result, it is only necessary to execute a process for grasping the abnormality in the travel path R2 or the like for the merging sections C1 to C6 associated with the branch sections S1 to S6, so that the travel path is suppressed while suppressing an increase in processing load. Abnormalities in R2 etc. can be grasped.
- the abnormality grasping unit 5 grasps the abnormality when the traveling vehicle 3B that has entered the traveling road R2 or the like on the downstream side of the branch portions S1 to S6 stops for a predetermined time in the traveling road R2 or the like. As a result, it is not necessary to newly provide a sensor or the like in order to grasp the abnormality in the traveling path R2 or the like downstream of the branch portions S1 to S6, so that the abnormality in the traveling path R2 or the like can be grasped with a simple configuration. Can do.
- the traveling vehicle controller 4 of the traveling vehicle controller 4 uses the traveling availability R6.
- an entry permission setting request is made to enter the other of the traveling paths R6 and R23 through the branch portion S2.
- the abnormality grasping unit 5 of the traveling vehicle controller 4 is not limited to one that grasps an abnormality in the traveling route R2 or the like (for example, the traveling route R2 or the traveling route R21 with respect to the branching portion S1). It is also possible to grasp an abnormality in the travel path downstream of the branch sections S1 to S6 including R2 (for example, the travel paths R2, R3 or the travel paths R21, R5 with respect to the branch section S1).
- the abnormality grasping unit 5 includes at least a predetermined part of the traveling path downstream of the branching sections S1 to S6 including the traveling path R2 (the merging sections C1 to C6 and the traveling path R2 and the like branch to a plurality of other traveling paths.
- the traveling vehicle 3 that is determined to be able to enter the branching portion or the portion where the point P is provided does not pass through the predetermined portion for a predetermined time, the abnormality on the downstream traveling path is grasped. May be.
- the present invention it is possible to provide a traveling vehicle system capable of suppressing an increase in the congestion range of a traveling vehicle even if any abnormality occurs downstream of a branching portion while improving traveling efficiency of the traveling vehicle. Is possible.
- SYMBOLS 1 ... Traveling vehicle system, 2 ... Traveling route network, 3 ... Traveling vehicle, 4 ... Traveling vehicle controller (controller), 5 ... Abnormality grasping part (abnormality grasping means), 6 ... Enterability determination part (entry possibility determination means), R1, R5, R7, R10, R12, R14 ... travel path (first travel path), R2, R6, R8, R11, R13, R15, R21 to R26 ... travel paths (second travel path, third travel path, Downstream travel path), S1 to S6... Branching portion, C1 to C6... Junction (predetermined portion, downstream junction).
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- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
[走行車システムの走行路網の構成]
[走行車システムの制御系の構成]
[走行車における処理手順]
[走行車コントローラにおける処理手順]
[作用及び効果]
Claims (6)
- 第1走行路、並びに、分岐部において前記第1走行路から分岐する第2走行路及び第3走行路を含む走行路網と、
前記走行路網を走行する複数の走行車と、
前記走行車の走行を制御するコントローラと、を備え、
前記コントローラは、
少なくとも前記第2走行路を含む前記分岐部の下流側走行路での異常を把握する異常把握手段と、
前記分岐部を直前に通過した前記走行車が前記第2走行路に進入し、前記分岐部を直後に通過する前記走行車が前記第2走行路に連続して進入しようとしている場合において、前記異常把握手段による前記異常の未把握時には、前記分岐部を直後に通過する前記走行車について前記第2走行路への進入可否の判断を省き、前記異常把握手段による前記異常の把握時には、前記分岐部を直後に通過する前記走行車について前記第2走行路への進入可否の判断を行う進入可否判断手段と、を有する、走行車システム。 - 前記異常把握手段は、前記下流側走行路の所定部に進入可と判断された前記走行車が前記所定部を所定時間通過しないときに前記異常を把握する、請求項1記載の走行車システム。
- 前記所定部は、前記第2走行路が他の走行路と合流する下流側合流部である、請求項2記載の走行車システム。
- 前記異常把握手段は、前記分岐部を直後に通過する前記走行車について前記第2走行路への進入可否の判断を行う対象となる前記分岐部と、前記異常を把握する対象となる前記所定部との組合せを予め記憶している、請求項2又は3記載の走行車システム。
- 前記異常把握手段は、前記第2走行路に進入した前記走行車が前記下流側走行路において所定時間車間停止したときに前記異常を把握する、請求項1~4のいずれか一項記載の走行車システム。
- 前記走行車は、前記分岐部を通過して前記第2走行路又は前記第3走行路に進入するための進入許可の設定要求を行い、前記コントローラによって進入許可の設定が行われたときに、前記分岐部を通過して前記第2走行路又は前記第3走行路に進入するものであり、
前記走行車は、前記分岐部を通過して前記第2走行路に進入するための前記進入許可の設定要求を行った場合において、前記進入可否判断手段によって前記第2走行路に進入可と所定時間判断されないときには、前記分岐部を通過して前記第3走行路に進入するための前記進入許可の設定要求を行う、請求項1~5のいずれか一項記載の走行車システム。
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KR1020147013388A KR101603086B1 (ko) | 2012-01-17 | 2012-12-05 | 주행차 시스템 |
JP2013554198A JP5748006B2 (ja) | 2012-01-17 | 2012-12-05 | 走行車システム |
SG11201404187WA SG11201404187WA (en) | 2012-01-17 | 2012-12-05 | Traveling vehicle system |
EP12866311.9A EP2806323B1 (en) | 2012-01-17 | 2012-12-05 | Traveling vehicle system |
CN201280067379.7A CN104067191B (zh) | 2012-01-17 | 2012-12-05 | 移动车系统 |
US14/372,522 US9285806B2 (en) | 2012-01-17 | 2012-12-05 | Traveling vehicle system |
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EP (1) | EP2806323B1 (ja) |
JP (1) | JP5748006B2 (ja) |
KR (1) | KR101603086B1 (ja) |
CN (1) | CN104067191B (ja) |
SG (1) | SG11201404187WA (ja) |
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CN104067191A (zh) | 2014-09-24 |
JP5748006B2 (ja) | 2015-07-15 |
KR101603086B1 (ko) | 2016-03-14 |
TWI584092B (zh) | 2017-05-21 |
EP2806323A1 (en) | 2014-11-26 |
US20140358338A1 (en) | 2014-12-04 |
CN104067191B (zh) | 2016-04-27 |
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