WO2021002042A1

WO2021002042A1 - Travel system

Info

Publication number: WO2021002042A1
Application number: PCT/JP2020/005191
Authority: WO
Inventors: 一見原崎
Original assignee: 村田機械株式会社
Priority date: 2019-07-04
Filing date: 2020-02-10
Publication date: 2021-01-07
Also published as: CN113906359A; TW202109224A; JP2022125369A

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

Driving system

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

Conventionally, a traveling system including a predetermined traveling path, a plurality of bogies capable of traveling along the traveling path, and a controller for controlling the plurality of bogies is known. For example, in the system described in Patent Document 1, when a new automatic guided vehicle is introduced into a section permitted to travel with respect to another automatic guided vehicle, the system controller uses the new automatic guided vehicle and another automatic guided vehicle. Revoke the permit for other automated guided vehicles to prevent interference with the vehicle.

Japanese Patent No. 4019231

In the traveling system as described above, the control of the bogies when two bogies try to pass the confluence on the traveling road is not sufficiently considered, and there is room for improvement in improving the transport efficiency of the bogies. is there.

One aspect of the present invention has been made in view of the above circumstances, and an object of the present invention is to improve the transport efficiency of a trolley in a traveling system provided with a traveling path including a confluence.

The traveling system according to one aspect of the present invention includes a predetermined traveling path, a plurality of carriages capable of traveling along the traveling path, and a controller for controlling the plurality of carriages, and the traveling path is the first. Includes a straight track and a first curved track that merges through a confluence in the middle of the first straight path, and the dolly passes through the confluence requesting permission to pass the confluence before the confluence. A permission request is sent to the controller, and if a merge point passage permission response indicating permission to pass the confluence is received from the controller, the vehicle enters the confluence, and if a confluence passage permission response is not received from the controller, the confluence is entered. The dolly waiting in front and waiting in front of the merging point receives a merging point passage permission response from the controller after the dolly that precedes the waiting dolly and has passed the merging point passes a predetermined point. Is received, and the controller receives the merging point passage permission request from the first carriage which is the preceding carriage and the second carriage which is the following carriage, and the first carriage and the second carriage. If the type of the merging point passage permission request received from the trolley is the straight type, which is the type of the merging point passage permission request when proceeding from the first straight traveling path to the merging point, the first trolley and the first trolley The type of merging point passage permission request received from the first trolley when the merging point passage permission response is sent to the two trolleys and the merging point passage permission request is received from the first trolley and the second trolley. However, if it is a curve type that is the type of the merging point passage permission request when proceeding from the first curve traveling path to the merging point, the merging point passage permission response is sent only to the first bogie, and the curve type is sent to the controller. The first bogie requesting the merging point passage permission request sets the type of merging point passage permission request requested from the controller after passing the merging point from the first curve track and before passing the predetermined point. At least one of the process of changing to the linear type and the process of transmitting a signal to the controller for recognizing that the type of the confluence passage permission request received from the first carriage by the controller is the linear type is executed.

If there is another dolly directly in front of the dolly, as a normal specification, measures against collision between these dollies are taken. Therefore, when both the first bogie and the second bogie enter the confluence from the first straight road, the confluence passage permission response is transmitted to both the first bogie and the second bogie. Here, the first bogie that has entered the confluence from the first curved track enters the confluence from the first straight track because it will travel on the first straight track after passing the confluence. It will be directly in front of the second bogie. Therefore, in one aspect of the present invention, the first trolley that has passed the merging point changes the type of the merging point passage permission request requested from the controller to the linear type before passing the predetermined point, and / or A signal is transmitted to the controller to recognize that the type is a linear type. As a result, the second bogie waiting in front of the confluence on the first straight track can obtain the confluence passage permission response without waiting for the first bogie to pass the predetermined point. As a result, it is possible to improve the transport efficiency of the trolley.

In the traveling system according to one aspect of the present invention, the controller receives a confluence point passage permission request from the third carriage, which is the carriage following the second carriage, in addition to the first carriage and the second carriage. If the type of the merging point passage permission request received from the 1st trolley, the 2nd trolley and the 3rd trolley is a straight type, the merging point is added to the 3 trolleys in addition to the 1st trolley and the 2nd trolley. When the passage permission response is transmitted and the confluence point passage permission request is received from the third trolley in addition to the first trolley and the second trolley, and is received from the first trolley, the second trolley, and the third trolley. If at least one of the merging point passage permission requests is a curve type, a merging point passage permission response is sent only to the first trolley, and a curve type merging point passage permission request is requested from the controller. The second bogie is a process of changing the type of the merging point passage permission request requested from the controller to a straight type after passing the merging point from the first curved track and before passing a predetermined point. , At least one of the processes of transmitting a signal to the controller for recognizing that the type of the confluence passage permission request received from the second carriage by the controller is a curve type may be executed. As a result, when the third bogie travels from the first curved road toward the confluence, the third bogie can be made to stand by in front of the confluence to prevent collisions between the bogies. In addition, the third bogie waiting in front of the confluence on the first straight track can obtain a pass permission response without waiting for the second bogie to pass a predetermined point. As a result, it is possible to improve the transport efficiency of the trolley.

In the traveling system according to one aspect of the present invention, when the merging point passage permission request is received from the first trolley and the second trolley, the type of the merging point passage permission request received from the first trolley is If it is a straight line type and the type of the merging point passage permission request received from the second trolley is a curved type, the merging point passage permission response may be transmitted only to the first trolley. According to the traveling system, when the second bogie following the first bogie advances from the first curve running path to the confluence, the type of the first bogie that has passed the confluence is a straight line type. However, the second dolly does not get the confluence passage permission response. As a result, it is possible to prevent a collision between the first carriage and the second carriage. As described above, when another dolly exists directly in front of the dolly, as a normal specification, countermeasures against collisions between these dollies are taken, but the position is deviated from the front of the dolly. There is not always a countermeasure against a collision when another dolly exists. In the traveling system, it is possible to prevent collisions between trolleys even if the measures are not taken.

In the traveling system according to one aspect of the present invention, each of the plurality of carriages may be provided with an inter-vehicle distance sensor that detects the distance from the preceding carriage. This makes it possible to avoid collisions between bogies by means of inter-vehicle sensors.

In the traveling system according to one aspect of the present invention, the inter-vehicle distance sensor may be a linear sensor capable of detecting a dolly existing directly in front of the vehicle. As a result, when another trolley is present directly in front of the trolley, a collision between these trolleys can be avoided by the linear sensor.

In the traveling system according to one aspect of the present invention, the traveling path includes a second straight traveling path and a second curved traveling path that branches through a branch point in the middle of the second straight traveling path and is connected to the first curved traveling path. When the dolly sends a branch point passage permission request requesting permission to pass the branch point to the controller before the branch point, and receives a branch point passage permission response indicating the passage permission of the branch point from the controller. Enters the branch point, and if it does not receive a branch point passage permission response from the controller, it waits in front of the branch point, and the controller is the 4th trolley that is the preceding trolley and the trolley that follows the 4th trolley. A branch point when a branch point passage permission request is received from the 5th bogie and the type of the branch point passage permission request received from the 4th bogie advances from the branch point to the 2nd curve driving path. It is a curve type that is a type of passage permission request, and the type of branch point passage permission request received from the fifth bogie is the type of branch point passage permission request when proceeding from the branch point to the second straight line. In the case of a straight line type, a branch point passage permission response is sent only to the 4th trolley, and when the 4th trolley reaches a position where it does not interfere even if the 5th trolley passes the branch point, it branches to the 5th trolley. A point passage permission response may be sent. As a result, when the 4th bogie enters the 2nd curved road from the fork and the 5th bogie goes from the fork to the 2nd straight road, the 5th bogie may pass the fork at an early timing. It will be possible.

According to one aspect of the present invention, it is possible to improve the transport efficiency of the trolley in a traveling system provided with a traveling path including a confluence.

FIG. 1 is a schematic plan view showing a traveling system according to an embodiment. FIG. 2 is a block diagram showing a functional configuration of the dolly of FIG. FIG. 3 is a schematic front view of the bogie of FIG. 1 as viewed from the traveling direction. FIG. 4 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 5 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 6A is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 6B is a schematic plan view showing a continuation of FIG. 6A. FIG. 6 (c) is a schematic plan view showing a continuation of FIG. 6 (b). FIG. 7A is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 7B is a schematic plan view showing a continuation of FIG. 7A. FIG. 7 (c) is a schematic plan view showing a continuation of FIG. 7 (b). FIG. 8 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 9A is a schematic plan view illustrating the processing of the area controller of FIG. 9 (b) is a schematic plan view showing the continuation of FIG. 9 (a). 9 (c) is a schematic plan view showing the continuation of FIG. 9 (b). FIG. 10 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 11A is a schematic plan view illustrating the processing of the area controller of FIG. 11 (b) is a schematic plan view showing the continuation of FIG. 11 (a). 11 (c) is a schematic plan view showing the continuation of FIG. 11 (b). FIG. 12 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 13A is a schematic plan view illustrating the processing of the area controller of FIG. 13 (b) is a schematic plan view showing the continuation of FIG. 13 (a). 13 (c) is a schematic plan view showing the continuation of FIG. 13 (b). FIG. 14 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 15A is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 15B is a schematic plan view showing the continuation of FIG. 15A. FIG. 15 (c) is a schematic plan view showing the continuation of FIG. 15 (b). FIG. 16 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 17 is a schematic plan view showing a continuation of FIG. FIG. 18A is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 18B is a schematic plan view showing the continuation of FIG. 18A. FIG. 18 (c) is a schematic plan view showing the continuation of FIG. 18 (b). FIG. 19 (a) is a schematic plan view showing the continuation of FIG. 18 (b). FIG. 19B is a schematic plan view showing a continuation of FIG. 19A. FIG. 20 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 21 is a schematic plan view illustrating the processing of the area controller of FIG. FIG. 22A is a schematic plan view illustrating the processing of the area controller of FIG. 22 (b) is a schematic plan view showing the continuation of FIG. 22 (a). 22 (c) is a schematic plan view showing the continuation of FIG. 22 (b).

Hereinafter, one embodiment will be described in detail with reference to the drawings. In the description of the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIGS. 1, 2 and 3, the traveling system 1 constitutes a system for transporting the article 10. The article 10 is, for example, a container for storing a plurality of semiconductor wafers, but may be a glass substrate, general parts, or the like. The traveling system 1 includes a track 4, a carriage 6, and an area controller (controller) 60.

The track 4 is a predetermined running path for running the bogie 6. The track 4 is laid near the ceiling, which is a space above the worker, for example. The track 4 is suspended from the ceiling. The track 4 is supported by a support column 48. The orbit 4 has a plurality of routes 40, a confluence point G at which the plurality of routes 40 merge, and a branch point B at which one route 40 branches into the plurality of routes 40. The layout of the track 4 (the configuration of the route 40 and the number of confluence points G and branch points B) is not particularly limited, and various layouts can be adopted.

The route 40 includes a straight route (first straight route) 41 extending linearly, a straight route (second straight route) 42 extending linearly parallel to the straight route 41, and a straight route 41 in the middle. Includes a curve route (first curve travel path, second curve travel path) 43 that merges through the confluence point G and branches via a branch point B in the middle of the straight route 42.

A stop point T (see FIG. 4), which is a position for stopping the bogie 6, is provided in front of (upstream side) the confluence 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 point mark P such as a bar code attached so as to be lined up at regular intervals along the track 4. The stop point T is set for each of the plurality of confluence points G and branch points B. In the figure, for convenience of explanation, the point mark P and the stop point T are indicated by circles on the track 4.

The dolly 6 can travel along the track 4. The trolley 6 conveys the article 10. The carriage 6 is configured so that the article 10 can be transferred to a port (not shown). The carriage 6 is a ceiling-traveling unmanned traveling vehicle. The carriage 6 is also referred to as, for example, a traveling vehicle, a transporting vehicle, an overhead traveling vehicle (ceiling traveling vehicle), or a transporting vehicle (transporting vehicle). The number of carriages 6 included in the traveling system 1 is not particularly limited, and is a plurality.

The dolly 6 has a traveling unit 18 and a power receiving communication unit 20. The traveling unit 18 causes the carriage 6 to travel along the track 4. The power receiving communication unit 20 receives power from the track 4 side by, for example, non-contact power supply. The bogie 6 includes a θ drive 26, a lateral feed unit 24 for laterally feeding a portion below the θ drive 26 with respect to the track 4, an elevating drive unit 28, and an elevating table 30. The θ drive 26 controls the posture of the article 10 by turning the elevating drive unit 28 in a horizontal plane. The elevating drive unit 28 elevates and elevates the elevating table 30 holding the article 10. The lift 30 is provided with a chuck so that the article 10 can be freely gripped or released. The lateral feed portion 24 and the θ drive 26 may not be provided.

The dolly 6 includes a linear sensor 8. The linear sensor 8 is an inter-vehicle distance sensor that detects the distance from the front bogie 6. The linear sensor 8 is a sensor capable of detecting a trolley 6 existing directly in front of the front. The linear sensor 8 emits laser light toward the front front of its own bogie 6 (the bogie 6 equipped with the straight sensor 8), and detects the reflected light reflected by the reflector of the front bogie 6 to move forward. Cart 6 is detected. The linear sensor 8 is arranged, for example, on the fall prevention cover 33 on the front side of the carriage 6. The linear sensor 8 transmits the detection result to the carriage controller 50 described later. The bogie 6 does not have a curve sensor which is a sensor capable of detecting the bogie 6 which exists in front and travels on a curve route.

The bogie 6 has a position acquisition unit (not shown) for acquiring position information regarding the position of the bogie 6 on the track 4. The position acquisition unit is composed of a reading unit that reads the point mark P of the orbit 4, an encoder, and the like. 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 mileage after passing the point mark P.

The carriage 6 includes a carriage controller 50. The trolley controller 50 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The dolly controller 50 can be configured as software in which a program stored in the ROM is loaded on the RAM and executed by the CPU, for example. The dolly controller 50 may be configured as hardware using an electronic circuit or the like. The carriage controller 50 may be composed of one device or a plurality of devices. When composed of a plurality of devices, one carriage controller 50 is logically constructed by connecting them to each other.

The dolly controller 50 controls various operations of the dolly 6. The bogie controller 50 controls the traveling unit 18, the lateral feed unit 24, the θ drive 26, the elevating drive unit 28, and the elevating table 30. The bogie controller 50 communicates with the area controller 60 by using the feeder line of the track 4 or the like. Alternatively, the bogie controller 50 may communicate with the area controller 60 via a communication line (feeder line) provided along the track 4 separately from the feeder line.

When the carriage controller 50 receives a status inquiry from the area controller 60, the carriage controller 50 transmits a status report of its own carriage 6 (the carriage 6 including the carriage controller 50) to the area controller 60. The status report includes the position information of the own trolley 6. Based on the detection result of the linear sensor 8, the carriage controller 50 determines whether or not the inter-vehicle distance between the carriage 6 and another carriage 6 in front of the carriage 6 is equal to or less than a predetermined distance. When the inter-vehicle distance is less than or equal to the specified distance, the trolley controller 50 decelerates or stops its trolley 6.

When the trolley 6 is about to pass through the merging point G, the trolley controller 50 includes a merging point passage permission request in the state report before the merging point G and transmits it to the area controller 60. The confluence point passage request is a signal requesting permission to pass through the confluence point G. When the trolley controller 50 receives the merging point passage permission response from the area controller 60, the trolley controller 50 causes its trolley 6 to enter the merging point G. The confluence point passage permission response is a signal indicating the passage permission of the confluence point G. When the trolley controller 50 does not receive the merging point passage permission response from the area controller 60, the trolley controller 50 stops its trolley 6 at a stop point T in front of the merging point G and puts it on standby.

When the trolley 6 is about to pass the branch point B, the trolley controller 50 includes the branch point passage permission request in the status report before the branch point B and transmits the trolley controller 50 to the area controller 60. The branch point passage request is a signal requesting permission to pass through the branch point B. When the trolley controller 50 receives the branch point passage permission response from the area controller 60, the trolley controller 50 causes its trolley 6 to enter the branch point B. The branch point passage permission response is a signal indicating the passage permission of the branch point B. When the trolley controller 50 does not receive the branch point passage permission response from the area controller 60, the trolley controller 50 stops its trolley 6 at the stop point T in front of the branch point B and puts it on standby.

In the trolley controller 50 of the trolley 6 waiting at the stop point T in front of the merging point G, the trolley 6 that precedes the waiting trolley 6 and has passed the merging point G is downstream of the merging point G. After passing the point (predetermined point) after merging, which is the point (point on the orbit 4), the area controller 60 receives the merging point passage permission response. In the trolley controller 50 of the trolley 6 waiting at the stop point T in front of the branch point B, the trolley 6 that precedes the waiting trolley 6 and has passed the branch point B is downstream of the branch point B. After passing through any of the points after the first to third branches, which are the points of the above, the area controller 60 receives the branch point passage permission response.

The area controller 60 is an electronic control unit including a CPU, ROM, RAM, and the like. The area controller 60 can be configured as software in which a program stored in the ROM is loaded on the RAM and executed by the CPU, for example. The area controller 60 may be configured as hardware such as an electronic circuit. The area controller 60 may be composed of one device or a plurality of devices. When it is composed of a plurality of devices, one area controller 60 is logically constructed by connecting them 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 area and controls a plurality of trolleys 6 in its own jurisdiction area. The area controller 60 communicates with a host controller (not shown) by wire or wirelessly.

The area controller 60 periodically communicates with a plurality of trolleys 6 in its own jurisdiction area. For example, the area controller 60 transmits a status inquiry to the carriage 6 in its own jurisdiction area, and the carriage 6 that has received the status inquiry transmits a status report to the area controller 60. By sequentially and periodically performing such communication with the plurality of trolleys 6 in the jurisdiction area, the area controller 60 grasps the state of the plurality of trolleys 6 in the jurisdiction area.

The area controller 60 executes the next blocking control when the trolley 6 passes the confluence point G. Specifically, when the area controller 60 receives the merging point passage request related to the merging point G from the carriage 6, the area controller 60 prohibits the entry into the area including the merging point G (see FIG. 13B). ) Is not set, a merging point passage permission response is transmitted to the trolley 6, allowing the trolley 6 to pass through the merging point G, and setting the lock area RG. After the bogie 6 that has passed the merging point G has passed the post-merging point that is a point on the downstream side of the merging point G on the track 4, the lock area RG is released. When the area controller 60 receives the merging point passage request related to the merging point G from the trolley 6, the lock area RG is set, and the series traveling of the plurality of trolleys 6 described later is established. If not, the trolley 6 is made to stand by at the stop point T without transmitting the merging point passage permission response.

The area controller 60 executes the next blocking control when the trolley 6 passes the branch point B. Specifically, when the area controller 60 receives a branch point passage request related to the branch point B from the carriage 6, the area controller 60 prohibits the entry into the area including the branch point B (see FIG. 6B). ) Is not set, a branch point passage permission response is transmitted to the trolley 6, the trolley 6 is permitted to pass through the branch point B, and the lock area RB is set. The lock area RB is released after the bogie 6 that has passed the branch point B has passed any of the first to third post-branch points, which are points on the downstream side of the branch point B on the track 4. When the area controller 60 receives the branch point passage request related to the branch point B from the carriage 6, the lock area RB is set, and the series traveling of the plurality of carriages 6 described later is established. If not, the trolley 6 is made to stand by at the stop point T without transmitting the branch passage permission response.

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

In the following, the preceding carriage 6 will be referred to as the preceding carriage 6A. The bogie 6 following the preceding bogie 6A (the bogie 6 that is predicted to pass the confluence point G or the branch point B next to the preceding bogie 6A) is referred to as the following bogie 6B. Each of the confluence pass permission request and the branch point pass request type includes a request type. The types of the confluence point passage permission request are the "straight line type" which is the type when proceeding from the straight line route 41 to the confluence point G and the "curve type" which is the type when proceeding from the curve route 43 to the confluence point G. Including. The types of the branch point passage permission request are the "straight line type" which is the type when proceeding from the branch point B to the straight route 42 and the "curve type" which is the type when proceeding from the branch point B to the curve route 43. Including.

As shown in FIG. 4, the area controller 60 receives the branch point passage permission request S1 from the preceding carriage 6A and the following carriage 6B, and the branching received from the preceding carriage 6A and the following carriage 6B. When both types of the point passage permission request S1 are straight type (when a plurality of carriages 6 are traveling in series), the branch point passage permission response S2 is transmitted to each of the preceding carriage 6A and the following carriage 6B. As a result, both the preceding carriage 6A and the following carriage 6B pass through the lock area RB including the branch point B without stopping, and travel on the straight route 42.

As shown in FIG. 5, the area controller 60 receives the branch point passage permission request S1 from the preceding carriage 6A and the following carriage 6B, and the branch point passage permission request received from the preceding carriage 6A. When the type of S1 is a curved type and the type of the branch point passage permission request S1 received from the following carriage 6B is a straight line type or a curved type, the branch point passage permission response S2 is transmitted only to the preceding carriage 6A. .. As a result, the preceding carriage 6A passes through the lock area RB including the branch point B without stopping, and travels on the straight route 42. The following carriage 6B stops at the stop point T before the branch point B and stands by.

For example, as shown in FIG. 6A, the area controller 60 receives the branch point passage permission request S1 from both the preceding carriage 6A and the following carriage 6B approaching the branch point B. The type of the branch point passage permission request S1 of the preceding carriage 6A is a curve type, and the type of the branch point passage permission request S1 of the following carriage 6B is a curve type. The area controller 60 does not set the lock area RB, and transmits the branch point passage permission response S2 to the preceding carriage 6A. As a result, as shown in FIG. 6B, the preceding carriage 6A passes 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 transmit the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B stops before the branch point B.

As shown in FIG. 6C, after the preceding carriage 6A proceeds from the branch point B to the curve route 43, proceeds to the straight route 41, and passes the point P1 after the first branch, the area controller 60 sets the lock area RB. Cancel the setting of. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B can pass through the branch point B. In the illustrated example, the point P1 after the first branch is the position of the point mark P immediately after the confluence G. The point P1 after the first branch is not particularly limited. The first branch point P1 may be at various positions as long as it is necessary and sufficient away from the branch point B.

Further, for example, as shown in FIG. 7A, the area controller 60 receives the branch point passage permission request S1 from both the preceding carriage 6A and the following carriage 6B approaching the branch point B. The type of the branch point passage permission request S1 of the preceding carriage 6A is a curved line type, and the type of the branch point passage permission request S1 of the following carriage 6B is a straight line type. The area controller 60 does not set the lock area RB, and transmits the branch point passage permission response S2 to the preceding carriage 6A. As a result, as shown in FIG. 7B, the preceding carriage 6A passes 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 transmit the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B stops before the branch point B.

As shown in FIG. 7C, after the preceding carriage 6A advances from the branch point B to the curve route 43 and passes the point P2 after the second branch, the area controller 60 releases the lock area RB setting. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B can pass through the branch point B. In the illustrated example, the second branch post-point P2 is a position where the trailing carriage 6B does not interfere even if the preceding carriage 6A passes the branch point B, for example, a position on the downstream side on the curve route 43. The point P2 after the second branch is not particularly limited. The second branching point P2 may be at various positions as long as the preceding carriage 6A passes the branching point B but the following carriage 6B does not interfere with each other. The second branch point P2 may be located upstream of the first branch point P1.

As shown in FIG. 8, the area controller 60 receives the branch point passage permission request S1 from the preceding carriage 6A and the following carriage 6B, and the branch point passage permission request received from the preceding carriage 6A. When the type of S1 is a straight line type and the type of the branch point passage permission request S1 received from the following carriage 6B is a curved line type, the branch point passage permission response S2 is transmitted only to the preceding carriage 6A. As a result, the preceding carriage 6A passes through the lock area RB including the branch point B without stopping, and travels on the straight route 42. The following carriage 6B stops at the stop point T before the branch point B and stands by.

For example, as shown in FIG. 9A, the area controller 60 receives the branch point passage permission request S1 from both the preceding carriage 6A and the following carriage 6B approaching the branch point B. The type of the branch point passage permission request S1 of the preceding carriage 6A is a straight line type, and the type of the branch point passage permission request S1 of the following carriage 6B is a curved line type. The area controller 60 does not set the lock area RB, and transmits the branch point passage permission response S2 to the preceding carriage 6A. As a result, as shown in FIG. 9B, the preceding carriage 6A passes 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 transmit the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B stops before the branch point B.

As shown in FIG. 9C, after the preceding carriage 6A advances from the branch point B to the straight route 42 and passes the point P3 after the third branch, the area controller 60 releases the lock area RB setting. As a result, the area controller 60 transmits the branch point passage permission response S2 to the following carriage 6B, and the following carriage 6B can pass through the branch point B. In the illustrated example, the third branch point P3 is the position of the point mark P immediately after the branch point B. The point P3 after the third branch is not particularly limited. The third branch point P3 may be at various positions as long as it is necessary and sufficient away from the branch point B.

As shown in FIG. 10, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A and the following trolley 6B, and the merging received from the preceding trolley 6A and the following trolley 6B. When both types of the point passage permission request S3 are straight types (when a plurality of carriages 6 are traveling in series), a confluence point passage permission response S4 is transmitted to each of the preceding carriage 6A and the following carriage 6B. As a result, both the preceding bogie 6A and the following bogie 6B pass through the lock area RG including the confluence G without stopping, and travel on the straight route 41.

For example, as shown in FIG. 11A, the area controller 60 receives the merging point passage permission request S3 from both the preceding trolley 6A and the following trolley 6B approaching the merging point G. The type of the confluence point passage permission request S3 of the preceding carriage 6A is a straight line type, and the type of the confluence point passage permission request S3 of the following carriage 6B is a straight line type. Therefore, the area controller 60 transmits the merging point passage permission response S4 to the preceding carriage 6A, and sets the area of the merging point G as the lock area RG. Further, the area controller 60 transmits the confluence point passage permission response S4 to the following carriage 6B. As a result, as shown in FIG. 11B, the preceding carriage 6A and the following carriage 6B pass through the lock area RG including the confluence G without stopping.

As shown in FIG. 11C, after the following carriage 6B advances from the merging point G to the straight route 41 and passes the merging point P4, the area controller 60 releases the lock area RG setting. As a result, the other carriages 6 can pass through the confluence G. In the illustrated example, the post-merging point P4 is a position where a plurality of point marks P exist between the merging point P and the merging point G. The point P4 after merging is not particularly limited. The post-merging point P4 may be at various positions as long as it is necessary and sufficient away from the merging point G. At the point P4 after merging, even if the dolly 6 that has entered the straight route 41 from the curve route 43 via the merging point G fully considers various factors (such as variations in the posture of the dolly 6 when they are at the same position). This is a point where it is possible to face the direction along the straight route 41 completely and with a margin.

As shown in FIG. 12, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A and the following trolley 6B, and receives the merging point passage permission request S3 from the preceding trolley 6A. When the type of S3 is a straight line type and the type of the merging point passage permission request S3 received from the following trolley 6B is a curved type, the merging point passage permission response S4 is transmitted only to the preceding trolley 6A. As a result, the preceding carriage 6A passes through the lock area RG including the confluence G without stopping, and travels on the straight route 41. The following bogie 6B stops and stands by at the stop point T before the confluence point G and before the branch point B.

For example, as shown in FIG. 13A, the area controller 60 receives the merging point passage permission request S3 from both the preceding trolley 6A and the following trolley 6B approaching the merging point G. The type of the confluence point passage permission request S3 of the preceding carriage 6A is a straight line type, and the type of the confluence point passage permission request S3 of the following carriage 6B is a curved line type. Therefore, the area controller 60 transmits the confluence point passage permission response S4 only to the preceding carriage 6A. As a result, as shown in FIG. 13B, the preceding bogie 6A passes through the confluence point G. At the same time, the area controller 60 sets the area of the confluence G as the lock area RG. The area controller 60 does not transmit the merging point passage 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. 13C, after the preceding carriage 6A advances from the confluence point G to the straight route 41 and passes the confluence point P4, the area controller 60 releases the lock area RG setting. As a result, the area controller 60 transmits the merging point passage permission response S4 to the following trolley 6B, and the following trolley 6B can pass through the merging point G.

As shown in FIG. 14, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A and the following trolley 6B, and receives the merging point passage permission request S3 from the preceding trolley 6A. When the type of S3 is a curved type and the type of the merging point passage permission request S3 received from the following trolley 6B is a curved type, the merging point passage permission response S4 is transmitted only to the preceding trolley 6A. As a result, the preceding carriage 6A passes through the lock area RG including the confluence G without stopping, and travels on the straight route 41. The following bogie 6B stops and stands by at the stop point T before the confluence point G and before the branch point B.

For example, as shown in FIG. 15A, the area controller 60 receives the merging point passage permission request S3 from both the preceding trolley 6A and the following trolley 6B approaching the merging point G. The type of the merging point passage permission request S3 of the preceding carriage 6A is a curved type, and the type of the merging point passage permission request S3 of the following trolley 6B is a curved type. Therefore, the area controller 60 transmits the confluence point passage permission response S4 only to the preceding carriage 6A. As a result, as shown in FIG. 15B, the preceding carriage 6A passes through the confluence point G. At the same time, the area controller 60 sets the area of the confluence G as the lock area RG. The area controller 60 does not transmit the merging point passage 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. 15C, after the preceding carriage 6A advances from the confluence point G to the straight route 41 and passes the confluence point P4, the area controller 60 releases the lock area RG setting. As a result, the area controller 60 transmits the merging point passage permission response S4 to the following trolley 6B, and the following trolley 6B can pass through the merging point G.

As shown in FIG. 16, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A and the following trolley 6B, and receives the merging point passage permission request S3 from the preceding trolley 6A. When the type of S3 is a curved line type and the type of the merging point passage permission request S3 received from the following trolley 6B is a straight line type, the merging point passage permission response S4 is transmitted only to the preceding trolley 6A. As a result, the preceding carriage 6A passes through the lock area RG including the confluence G without stopping, and travels on the straight route 41. The following carriage 6B stops at the stop point T before the confluence G and stands by.

Here, as shown in FIG. 17, the preceding carriage 6A requests the area controller 60 to pass the merging point after passing the merging point G from the curve route 43 and before passing the merging point P4. The process of changing the request type (that is, the type of the confluence point passage permission request included in the status report communicating from the carriage controller 50 (see FIG. 2) to the area controller 60) is executed.

The point after passing the merging point G and before passing the merging point P4 is not particularly limited. The point after passing the merging point G and before passing through the merging point P4 is, for example, the position of the point mark P immediately after the merging point G on the straight route 41. The point after passing the merging point G and before passing through the merging point P4 may be a position between the merging point G and the merging point P4 on the straight route 41. The point after passing the merging point G and before passing the merging point P4 is a position where the direction of the preceding carriage 6A is along the traveling direction of the straight route 41.

As a result, in the area controller 60, since the type of the merging point passage permission request S3 received from the preceding trolley 6A and the following trolley 6B is both a straight line type, the merging point not only to the preceding trolley 6A but also to the following trolley 6B. The pass permission response S4 is immediately transmitted. As a result, in addition to the preceding bogie 6A passing through the lock area RG including the confluence point G, the waiting trailing bogie 6B also passes through the lock area RG and travels on the straight route 41.

For example, as shown in FIG. 18A, the area controller 60 receives the merging point passage permission request S3 from both the preceding trolley 6A and the following trolley 6B approaching the merging point G. The type of the confluence point passage permission request S3 of the preceding carriage 6A is a curved line type, and the type of the confluence point passage permission request S3 of the following carriage 6B is a straight line type. Therefore, the area controller 60 transmits the confluence point passage permission response S4 only to the preceding carriage 6A. As a result, as shown in FIG. 18B, the preceding carriage 6A passes through the confluence point G. At the same time, the area controller 60 sets the area of the confluence G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the following trolley 6B, and the following trolley 6B stops before the merging point G.

As shown in FIG. 18C, the timing before the preceding carriage 6A reaches the point P4 after merging after entering the straight route 41 from the merging point G (here, the first point mark P has been passed). At (timing), the area controller 60 receives the linear type confluence point passage permission request S3 from the preceding carriage 6A. As a result, the type of the merging point passage permission request S3 of the preceding trolley 6A and the following trolley 6B becomes a straight line type, and the area controller 60 transmits the merging point passage permission response S4 to the following trolley 6B in addition to the preceding trolley 6A. .. As shown in FIG. 19A, the stopped trailing carriage 6B starts traveling, passes through the lock area RG including the confluence G, and travels on the straight route 41. Then, as shown in FIG. 19B, after the following carriage 6B passes the point P4 after merging, the area controller 60 releases the setting of the lock area RG. As a result, the other carriages 6 can pass through the confluence G.

By the way, in the traveling system 1, when another trolley 6 is present directly in front of the trolley 6, as a normal specification (various known technologies), measures against collision (rear-end collision) between these trolleys are taken. There is. Therefore, when both the preceding carriage 6A and the following carriage 6B enter the merging point G from the straight route 41, the merging point passage permission response S4 is transmitted to both the preceding carriage 6A and the following carriage 6B. Here, the preceding trolley 6A that has entered the merging point G from the curve route 43 will travel on the straight route 41 after passing the merging point G, and therefore the following trolley that enters the merging point G from the straight route 41. It will be directly in front of the 6B. Therefore, in the traveling system 1, the preceding carriage 6A that has passed the merging point G changes the type of the merging point passage permission request S3 requested from the area controller 60 to a straight line type before passing through the point P4 after merging. To execute. As a result, the following trolley 6B waiting in front of the merging point G on the straight route 41 can obtain the merging point passage permission response without waiting for the preceding trolley 6A to pass the merging point P4. .. It is possible to advance the starting timing of the following bogie 6B that is on standby. The waiting time of the following carriage 6B in standby can be reduced. As a result, it is possible to improve the transport efficiency of the carriage 6. It should be noted that such processing of the traveling system 1 does not require a change in the layout of the track 4.

In the traveling system 1, when the merging point passage permission request S3 is received from the preceding trolley 6A and the following trolley 6B, the type of the merging point passage permission request S3 received from the preceding trolley 6A is a straight type. Moreover, when the type of the merging point passage permission request S3 received from the following trolley 6B is a curved type, the merging point passage permission response S4 is transmitted only to the preceding trolley 6A. According to the traveling system 1, when the following trolley 6B advances from the curve route 43 to the merging point, even if the type of the merging point passage permission request of the preceding trolley 6A that has passed the merging point G is changed to the straight type, the following trolley 6B Does not get a confluence pass permission response. As a result, it is possible to prevent a collision between the preceding carriage 6A and the following carriage 6B.

In the traveling system 1, each of the plurality of carriages 6 is provided with a linear sensor 8 as an inter-vehicle distance sensor. As a result, the collision between the carriages 6 can be avoided by the linear sensor 8. In particular, when another carriage 6 is present directly in front of the own carriage 6, it is possible to avoid a collision between these carriages 6. When another trolley 6 exists diagonally in front of the own trolley 6, the collision between these trolleys 6 is avoided by the processing of the area controller 60 described above (control regarding the preceding trolley 6A and the following trolley 6B). Is possible. Therefore, the cost can be suppressed as compared with the case where a curve sensor is mounted, for example.

In the traveling system 1, the area controller 60 receives the branch point passage permission request S1 from the preceding carriage 6A and the following carriage 6B, and the type of the branch point passage permission request S1 of the preceding carriage 6A is a curve type. If the type of the branch point passage permission request S1 of the following carriage 6B is a straight type, the branch point passage permission response S2 is transmitted only to the preceding carriage 6A. When the preceding trolley 6A reaches the second branching point P2 where the following trolley 6B does not interfere when passing the branch point B of the following trolley 6B, the area controller 60 transmits the branch point passage permission response S2 to the following trolley 6B. .. As a result, when the preceding carriage 6A advances from the branch point B to the curve route 43 and the following carriage 6B advances from the branch point B to the straight route 42, the following carriage 6B can pass the branch point B at an early timing. Become.

Next, an example will be described in the case where there is another following carriage 6 that is following the following carriage 6B (the carriage 6 that is predicted to pass the confluence G next to the following carriage 6B).

As shown in FIG. 20, the area controller 60 receives the confluence point passage permission request S3 from the preceding carriage 6A, the following carriage 6B, and the other following carriage 6C, and the preceding carriage 6A and the following carriage 6B. And when the type of the merging point passage permission request S3 received from the other following trolley 6C is both a straight type (when a plurality of trolleys 6 are traveling in series), a merging point passage permission response S4 is given to each of them. Send. As a result, the preceding carriage 6A, the following carriage 6B, and the other following carriage 6C all pass through the lock area RG including the confluence G without stopping, and travel on the straight route 41.

Further, as shown in FIG. 21, the area controller 60 receives the merging point passage permission request S3 from the preceding carriage 6A, the following carriage 6B, and the other following carriage 6C, and the preceding carriage 6A and the following carriage 6A and the following. If the type of the merging point passage permission request S3 received from the trolley 6B is a straight type and the type of the merging point passage permission request S3 received from another following trolley 6C is a curved type, the preceding trolley 6A And the confluence point passage permission response S4 is transmitted only to the following carriage 6B. As a result, the preceding carriage 6A and the following carriage 6B pass through the lock area RG including the confluence G without stopping, and travel on the straight route 41. The other following bogie 6C stops and stands by at the stop point T before the confluence point G and before the branch point B.

For example, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A, the following trolley 6B, and the other following trolley 6C approaching the merging point G. The type of the merging point passage permission request S3 of the preceding trolley 6A and the following trolley 6B is a straight line type, and the type of the merging point passage permission request S3 of the other following trolley 6C is a curved line type. Therefore, the area controller 60 transmits the confluence point passage permission response S4 only to the preceding carriage 6A and the following carriage 6B. As a result, as shown in FIGS. 22 (a) and 22 (b), the preceding carriage 6A and the following carriage 6B pass through the confluence point G. At the same time, the area controller 60 sets the area of the confluence G as the lock area RG. The area controller 60 does not transmit the merging point passage permission response S4 to the other following trolley 6C, and the other following trolley 6C stops before the merging point G and before the branch point B. As shown in FIG. 22 (c), after the following carriage 6B advances from the confluence point G to the straight route 41 and passes the point P4 after the confluence, the area controller 60 releases the setting of the lock area RG. As a result, the area controller 60 transmits the merging point passage permission response S4 to the other following trolley 6C, and the other following trolley 6C can pass through the merging point G.

Further, the area controller 60 receives the merging point passage permission request S3 from the preceding trolley 6A, the following trolley 6B, and the other following trolley 6C, and the merging point passage permission request received from the following trolley 6B. When the type of S3 is a curved type and the type of the merging point passage permission request S3 received from the preceding trolley 6A and the other following trolley 6C is a straight type, the merging point passage permission response S4 is applied only to the preceding trolley 6A. To send. After that, after the preceding carriage 6A passes the merging point P4, the area controller 60 transmits the merging point passage permission response S4 only to the following trolley 6B. As a result, the other following bogie 6C stops at the stop point T at the confluence G and stands by. The following carriage 6B changes the type of the merging point passage permission request S3 requested from the area controller 60 to a straight line type after passing through the merging point G from the curve route 43 and before passing through the merging point P4. To execute. As a result, in the area controller 60, since the type of the confluence passing permission request S3 received from the following carriage 6B and the other following carriage 6C is both a straight line type, not only the following carriage 6B but also the other following carriage 6C The confluence point passage permission response S4 is also transmitted to. As a result, in addition to the preceding bogie 6A and the following bogie 6B passing through the lock area RG including the confluence point G, the other following bogies 6C on standby also pass through the lock area RG and travel on the straight route 41. It will be.

As described above, in the traveling system 1, the area controller 60 further receives the merging point passage permission request S3 from the other following trolleys 6C, and the type of the merging point passage permission request S3 of the trolleys 6A to 6C is If both are straight type, a confluence point passage permission response is transmitted to the carriages 6A to 6C. When at least one type of the merging point passage permission request S3 of the trolleys 6A to 6C is a curved type, the area controller 60 transmits a merging point passage permission response only to the preceding trolley 6A. The following carriage 6B requesting the curve type merging point passage permission request S3 requests the area controller 60 after passing the merging point G from the curve route 43 and before passing through the merging point P4. The process of changing the type of the confluence point passage permission request S3 to the straight line type is executed. As a result, when another following bogie 6C travels from the curve route 43 toward the confluence point G, the other following bogie 6C can be made to stand by in front of the confluence point G to prevent collisions between the bogies 6. it can. Further, the other following trolley 6C waiting in front of the merging point G on the straight route 41 may obtain the merging point passage permission response S4 without waiting for the following trolley 6B to pass the point P4 after merging. it can. As a result, it is possible to improve the transport efficiency of the carriage 6.

In the above, the preceding carriage 6A constitutes the first carriage and the fourth carriage. The following bogie 6B constitutes the second bogie and the fifth bogie. The other following bogie 6C constitutes the third bogie.

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

In the above embodiment, the preceding carriage 6A or the following carriage 6B requests the area controller 60 after the preceding carriage 6A or the following carriage 6B has passed the merging point G from the curve route 43 and before passing through the merging point P4. The type of the merging point passage permission request is changed to a straight line type, but instead of or in addition to the process of changing the type of the merging point passage permission request S3 to a straight line type, the area controller 60 uses the preceding trolley 6A or the following trolley 6B. A process of transmitting a signal to the area controller 60 for recognizing that the type of the confluence passage permission request S3 received from is a linear type may be executed. Also in this case, as a result, the type of the merging point passage permission request received from the preceding trolley 6A and the following trolley 6B is both a straight line type, or the merging received from the following trolley 6B and the other following trolley 6C. Both types of point passage permission requests can be linear types.

In the above embodiment, a ceiling-traveled automatic guided vehicle is used as the carriage 6, but the carriage 6 is not particularly limited. The carriage 6 may be a ceiling traveling shuttle. The carriage 6 may be an automated guided vehicle that can travel along a track on the floor. The carriage 6 may be a magnetic guided vehicle that can travel along a route made of magnetic tape or the like. The trolley 6 may be a laser-guided automatic guided vehicle that can travel along a predetermined route by being guided by a laser beam.

In the above embodiment, one or a plurality of other controllers that relay between the area controller 60 and the carriage 6 may be provided. Various materials and shapes can be applied to each configuration of the above embodiment without being limited to the materials and shapes.

1 ... Travel system, 4 ... Track (running path), 6 ... Bogie, 6A ... Preceding trolley (1st trolley, 4th trolley), 6B ... Subsequent trolley (2nd trolley, 5th trolley), 6C ... Other following Bogie (3rd bogie), 8 ... Straight line sensor (inter-vehicle distance sensor), 41 ... Straight line route (1st straight line running path), 42 ... Straight line route (2nd straight line running path), 43 ... Curved route (1st curved running path) , 2nd curve track), 60 ... Area controller (controller), B ... Branch point, G ... Confluence point, P4 ... Post-merging point (predetermined point), S1 ... Branch point passage permission request, S2 ... Branch point passage permission Response, S3 ... Confluence point passage permission request, S4 ... Confluence point passage permission response.

Claims

A predetermined traveling path, a plurality of bogies capable of traveling along the traveling path, and a controller for controlling the plurality of the carriages are provided.
The runway includes a first straight runway and a first curved runway that merges through a confluence in the middle of the first straight runway.
The trolley transmits a merging point passage permission request requesting permission to pass through the merging point to the controller before the merging point, and receives a merging point passage permission response indicating the passing permission of the merging point from the controller. If it does, it enters the confluence, and if it does not receive the confluence passage permission response from the controller, it waits before the confluence.
The trolley waiting in front of the merging point is allowed to pass through the merging point by the controller after the trolley that has passed the merging point has passed a predetermined point in advance of the trolley that is waiting. Receive the response,
The controller
The first trolley and the second trolley are the cases where the merging point passage permission request is received from the first trolley which is the preceding trolley and the second trolley which is the trolley following the first trolley. When the type of the merging point passage permission request received from is a straight type that is the type of the merging point passage permission request when traveling from the first straight traveling path to the merging point, the first The merging point passage permission response is transmitted to the 1st trolley and the 2nd trolley,
When the merging point passage permission request is received from the first trolley and the second trolley, the type of the merging point passage permission request received from the first trolley is the first curve traveling. In the case of a curve type, which is the type of the confluence passage permission request when proceeding from the road to the confluence, the confluence passage permission response is transmitted only to the first bogie.
The first trolley requesting the controller to request permission to pass through the merging point of the curve type is after passing through the merging point from the first curve traveling path and before passing through the predetermined point. The process of changing the type of the merging point passage permission request requested from the controller to the straight line type, and the type of the merging point passage permission request received from the first trolley by the controller is the straight line type. A traveling system that executes at least one of the processes of transmitting a signal to be recognized as being present to the controller.
The controller
In the case where the request for permission to pass through the confluence is received from the third carriage, which is the carriage following the second carriage in addition to the first carriage and the second carriage, the first carriage and the first carriage. When the type of the merging point passage permission request received from the two trolleys and the third trolley is both the straight type, the merging point is added to the three trolleys in addition to the first trolley and the second trolley. Send a pass permission response and
When the request for permission to pass through the confluence point is received from the third carriage in addition to the first carriage and the second carriage, and received from the first carriage, the second carriage, and the third carriage. When at least one type of the merging point passage permission request is the curve type, the merging point passage permission response is transmitted only to the first trolley.
The second trolley requesting the controller to request permission to pass through the confluence of the curve type is after passing through the confluence from the first curve track and before passing through the predetermined point. The process of changing the type of the merging point passage permission request requested from the controller to the straight line type, and the type of the merging point passage permission request received from the second carriage by the controller is the curve type. The traveling system according to claim 1, wherein at least one of the processes of transmitting a signal to be recognized as being present to the controller is executed.
When the merging point passage permission request is received from the first trolley and the second trolley, the type of the merging point passage permission request received from the first trolley is the straight type. In addition, when the type of the merging point passage permission request received from the second trolley is the curve type, the merging point passage permission response is transmitted only to the first trolley, claim 1 or 2. The driving system described in.
The traveling system according to any one of claims 1 to 3, wherein each of the plurality of the carriages includes an inter-vehicle distance sensor that detects the distance from the carriage in front of the carriage.
The traveling system according to claim 4, wherein the inter-vehicle distance sensor is a linear sensor capable of detecting the trolley that exists directly in front of the vehicle.
The traveling path includes a second straight traveling path and a second curved traveling path that branches through a branch point in the middle of the second straight traveling path and is connected to the first curved traveling path.
The trolley transmits a branch point passage permission request requesting permission to pass through the branch point to the controller before the branch point, and receives a branch point passage permission response indicating the passage permission of the branch point from the controller. If it does, it enters the branch point, and if it does not receive the branch point passage permission response from the controller, it waits before the branch point.
The controller
This is a case where the branch point passage permission request is received from the fourth trolley which is the preceding trolley and the fifth trolley which is the trolley following the fourth trolley, and is received from the fourth trolley. The type of the branch point passage permission request is a curve type which is a type of the branch point passage permission request when proceeding from the branch point to the second curve traveling path, and the branch received from the fifth carriage. When the type of the point passage permission request is a straight line type which is the type of the branch point passage permission request when proceeding from the branch point to the second straight traveling path, the branch point passage is passed only to the fourth carriage. Send an authorization response and
Any one of claims 1 to 5, which transmits the branch point passage permission response to the fifth carriage when the four carriages reach a position where they do not interfere with each other even if the fifth carriage passes the branch point. The driving system described in the section.