WO2022158131A1

WO2022158131A1 - Traveling vehicle system

Info

Publication number: WO2022158131A1
Application number: PCT/JP2021/044126
Authority: WO
Inventors: 泰次山下
Original assignee: 村田機械株式会社
Priority date: 2021-01-19
Filing date: 2021-12-01
Publication date: 2022-07-28
Also published as: TW202230065A; JP2024040527A

Abstract

A traveling vehicle system (1) comprises a plurality of traveling vehicles (6), a traveling vehicle controller (40), and a relay controller (50) provided so as to be capable of communicating with both the traveling vehicle controller (40) and the traveling vehicles (6). The traveling vehicle controller (40) assigns a transport command to one traveling vehicle (6) via the relay controller (50), the traveling vehicles (6) each transmit own state information to the relay controller (50), and the relay controller (50) transmits the received own state information to at least some of the traveling vehicles (6) ready for communication, without the intervention of the traveling vehicle controller (40).

Description

running car system

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

For example, Patent Document 1 below discloses a traveling vehicle system that includes a plurality of traveling vehicles and a traveling vehicle controller that controls the traveling vehicles. A traveling vehicle controller of this traveling vehicle system receives information indicating a stop position from each traveling vehicle, and broadcasts the received information to each traveling vehicle. By using the information, each traveling vehicle realizes follow-up traveling of the traveling vehicle while preventing interference between the traveling vehicles.

JP 2018-97406 A

However, in the above-described conventional traveling vehicle system in which the above information transmitted from a traveling vehicle is distributed to other traveling vehicles via a traveling vehicle controller, the load ratio of distribution processing executed by the traveling vehicle controller is increases relative to the overall load of various processing performed by the vehicle controller. In this case, there is a risk of affecting other processing (for example, processing such as transfer command allocation control) in the traveling vehicle controller.

Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system capable of distributing the state of a traveling vehicle to other traveling vehicles without increasing the proportion of the processing load on the traveling vehicle controller.

A traveling vehicle system according to one aspect of the present invention includes a plurality of traveling vehicles, a traveling vehicle controller, and a relay controller provided to communicate with both the traveling vehicle controller and the traveling vehicle, the traveling vehicle controller comprising: A transport command is assigned to one traveling vehicle via a relay controller, the traveling vehicle transmits information regarding the state of its own vehicle to the relay controller, and the relay controller receives information regarding the state of its own vehicle via the traveling vehicle controller. to at least some of the vehicles with which communication is possible.

In the traveling vehicle system with this configuration, the information about the state of the own vehicle transmitted from the traveling vehicle is transmitted to the other traveling vehicle by the relay controller without going through the traveling vehicle controller. For this reason, the traveling vehicle controller that executes the transfer command allocation process does not have a processing load for transmitting the information regarding the state of the own vehicle to the other traveling vehicles. That is, the traveling vehicle system according to one aspect of the present invention can distribute the state of the traveling vehicle to other traveling vehicles without increasing the proportion of the processing load on the traveling vehicle controller.

In the traveling vehicle system according to one aspect of the present invention, the relay controller may broadcast the received information regarding the state of the own vehicle to the traveling vehicles with which communication is possible. With this configuration, the state of each traveling vehicle can be quickly and efficiently distributed to other traveling vehicles.

In the traveling vehicle system according to one aspect of the present invention, the traveling vehicle controller inquires of the state of the own vehicle to each of the plurality of traveling vehicles via the relay controller, and each of the traveling vehicles receives the inquiry from the traveling vehicle controller. Then, the information about the state of the own vehicle is transmitted to the relay controller, and the relay controller transmits the information about the state of the own vehicle received from the traveling vehicle to at least a part of the traveling vehicles with which communication is possible, and to the traveling vehicle controller. may also be sent. In this configuration, the vehicle controller can also obtain information about the state of each vehicle.

In the traveling vehicle system according to one aspect of the present invention, the information about the state of the own vehicle includes at least information about the position, speed, acceleration/deceleration, possible stop position of the traveling vehicle, presence/absence of an article to be conveyed, an identifier of the article to be conveyed, and travel regulation. may be one. In this configuration, each traveling vehicle can acquire information about the state of other traveling vehicles as described above. and diagnose the communication state.

In the traveling vehicle system according to one aspect of the present invention, the relay controller may transmit the received information regarding the state of the own vehicle to traveling vehicles with which communication is possible, including the transmission source traveling vehicle. With this configuration, for example, it is possible to diagnose the communication state of the own vehicle based on whether or not the information regarding the state of the own vehicle is returned from the relay controller after the information regarding the state of the own vehicle is transmitted. .

In the traveling vehicle system according to one aspect of the present invention, a plurality of relay controllers are provided so as to control areas different from each other, and the traveling vehicle controller is provided so as to communicate with the plurality of relay controllers. Each of the controllers may be provided so as to be able to communicate with traveling vehicles located in the area under its jurisdiction. In this configuration, the processing of the relay controllers is distributed, so the processing load per relay controller can be reduced.

According to one aspect of the present invention, the state of a traveling vehicle can be distributed to other traveling vehicles without increasing the proportion of the processing load on the traveling vehicle controller.

FIG. 1 is a schematic plan view showing a traveling vehicle system according to one embodiment. 2 is a front view showing a traveling vehicle included in the traveling vehicle system of FIG. 1. FIG. FIG. 3 is a functional block diagram of the traveling vehicle system of FIG. FIG. 4A is a diagram for explaining broadcast delivery of the traveling vehicle system of FIG. FIG. 4B is a diagram for explaining broadcast delivery of a conventional traveling vehicle system.

A preferred embodiment of one aspect of the present invention will be described in detail below with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

The traveling vehicle system 1 is a system for transporting an article 10 between the

placement sections

8, 8 using an overhead traveling vehicle 6 that can move along a track. The article 10 includes, for example, a container for storing a plurality of semiconductor wafers, a container for storing glass substrates, a reticle pod, general parts, and the like. Here, for example, in a factory or the like, a traveling vehicle system 1 in which an overhead traveling vehicle 6 (hereinafter simply referred to as a "traveling vehicle 6") travels along a one-way track 4 laid on the ceiling or the like of the factory. will be described as an example. As shown in FIG. 1, the traveling vehicle system 1 includes a track 4, a plurality of traveling vehicles 6, a plurality of placement units 8, a traveling vehicle controller 40, a first relay controller 50A, and a second relay controller. 50B, a third relay controller 50C, and a fourth relay controller 50D.

The track 4 is provided across multiple areas (first area A1 to fourth area A4). As shown in FIGS. 1 and 2, the track 4 is laid, for example, near the ceiling, which is the overhead space of the operator. The track 4 is suspended from the ceiling, for example. The track 4 is a predetermined travel path for the traveling vehicle 6 to travel. The track 4 is suspended and supported by

struts

4A, 4A.

The traveling vehicle 6 travels along the track 4 and conveys the article 10. The traveling vehicle 6 is configured so that the article 10 can be transferred. The traveling vehicle 6 is an overhead traveling unmanned vehicle. The number of traveling vehicles 6 provided in the traveling vehicle system 1 is not particularly limited, and is plural.

As shown in FIGS. 2 and 3, the traveling vehicle 6 includes a traveling section 18, a power receiving section 20, a body frame 22, a lateral feeding section 24, a .theta. 30 , a body cover 33 , a control section 61 and a communication section 62 .

　The traveling part 18 is a part that allows the traveling car 6 to travel along the track 4, and is composed of a drive part and wheels (not shown). The power receiving unit 20 receives power from the track 4 side by contactless power feeding. The body frame 22 is supported by the running portion 18 in a state of being suspended from the running portion 18 . The main body frame 22 supports the lateral feeding section 24, the .theta.

The traverse section 24 collectively traverses the θ drive 26 , the elevation drive section 28 and the elevation platform 30 in a direction perpendicular to the running direction of the track 4 . The θ drive 26 rotates at least one of the elevation drive unit 28 and the elevation table 30 within a predetermined angle range in the horizontal plane. The lifting drive unit 28 lifts and lowers the lifting table 30 by winding or unwinding a suspension member such as a wire, rope, or belt. The lifting table 30 is provided with a chuck so that the article 10 can be freely grasped or released. A pair of main body covers 33 are provided, for example, on the front and rear sides of the traveling vehicle 6 in the traveling direction. The main body cover 33 prevents the article 10 from falling during transportation by allowing claws (not shown) to appear and disappear.

As shown in FIGS. 1 and 3, the control unit 61 is an electronic control unit including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and the like. The control unit 61 executes various types of processing (for example, travel processing, transfer processing, communication processing, etc.) in the traveling vehicle 6 . The communication unit 62 communicates with the first relay controller 50A to the fourth relay controller 50D using the communication line (feeder line) of the track 4 or the feeder line.

Upon receiving an inquiry from the traveling vehicle controller 40 via the relay controller 50, the control unit 61 of the present embodiment transmits information about the state of the vehicle to the relay controller 50 (first relay controller) that controls the area in which the vehicle is located. (any one of the controller 50A to the fourth relay controller 50D). The information on the state of the own vehicle can be at least one of information on the position, speed, acceleration/deceleration, possible stop position of the traveling vehicle, presence or absence of goods to be conveyed, identifier of the goods to be conveyed (unique ID), and information on travel regulation. can.

The placement section 8 where the article 10 is transferred to and from the traveling vehicle 6 includes a buffer, a transfer port, and the like. The buffer is a placement section on which the article 10 is temporarily placed. For example, it is suspended from the ceiling by suspension materials. For example, when the article 10 being transported by the traveling vehicle 6 cannot be transferred to the target delivery port because another article 10 is placed on the target delivery port, the buffer Temporarily placed. The transfer port is a mounting portion for transferring the article 10 to semiconductor processing equipment such as a cleaning device, a film forming device, a lithography device, an etching device, a heat treatment device, and a planarization device. Note that the processing device is not particularly limited, and may be various devices.

The traveling vehicle system 1 of the present embodiment moves the article 10 to a predetermined placing section 8 or the like according to a transportation command transmitted from a transportation controller (upper controller) 90 outside the traveling vehicle system 1 . The transport controller 90 is an electronic control unit comprising a CPU, ROM, RAM, and the like. The transport controller 90 communicates with the traveling vehicle controller 40 by wire or wirelessly, and transmits a transport command to the traveling vehicle controller 40 to cause the traveling vehicle 6 to transport the article 10 .

The traveling vehicle controller 40 assigns, to one traveling vehicle 6 , a transport command instructing to transport the article 10 placed on the placing section 8 to a predetermined placing section 8 . The traveling vehicle controller 40 is provided so as to be able to communicate with four (plurality) relay controllers 50 (first relay controller 50A to fourth relay controller 50D), which will be described in detail below. The traveling vehicle controller 40 is an electronic control unit including a CPU, a ROM, a RAM, and the like. The traveling vehicle controller 40 can be configured as software in which, for example, a program stored in a ROM is loaded onto a RAM and executed by a CPU. The traveling vehicle controller 40 may be configured as hardware such as an electronic circuit.

The traveling vehicle controller 40 of this embodiment periodically inquires of each of the plurality of traveling vehicles 6 about the state of the traveling vehicle 6 via the relay controller 50 (one of the first relay controller 50A to the fourth relay controller 50D). (polling). In addition, the traveling vehicle controller 40 receives information regarding the state of the traveling vehicle 6 transmitted from each traveling vehicle 6 via the relay controller 50 in response to the inquiry, and stores the information in a storage unit or the like. The state of the traveling vehicle 6 is managed.

As shown in FIGS. 1 and 3, the relay controller 50 is provided so as to be able to communicate with the traveling vehicle controller 40 and the traveling vehicles 6 located in its area of jurisdiction. In this embodiment, as the relay controllers 50, a first relay controller 50A provided to communicate with the traveling vehicle 6 located in the first area A1 and a traveling vehicle 6 located in the second area A2 are provided to communicate. A second relay controller 50B, a third relay controller 50C provided to communicate with the traveling vehicle 6 located in the third area A3, and a fourth relay controller provided to communicate with the traveling vehicle 6 located in the fourth area A4. 50D and are provided.

The relay controller 50 includes a CPU, a ROM, a RAM, and the like, and includes a control section 51 configured as an electronic control unit, and a communication section 52 that communicates with the traveling vehicle controller 40 and traveling vehicles 6 under its jurisdiction (under control). and have. The control unit 51 can be configured, for example, as software in which a program stored in the ROM is loaded onto the RAM and executed by the CPU. The control unit 51 may be configured as hardware such as an electronic circuit.

When the relay controller 50 receives a status inquiry sent from the traveling vehicle controller 40 to each traveling vehicle 6, the relay controller 50 sends the status inquiry to all traveling vehicles 6 under its jurisdiction. The relay controller 50 also receives information about the state of the traveling vehicle 6 transmitted from the traveling vehicle 6 under its jurisdiction and transmits the information to the traveling vehicle controller 40 . Further, the relay controller 50 receives information about the state of the own vehicle transmitted from one traveling vehicle 6 under its jurisdiction, and transmits the received information about the state of the own vehicle to the one traveling vehicle (transmitting traveling vehicle). ) 6 and all other traveling vehicles 6 under its jurisdiction.

Next, with reference to FIG. 4, an example of follow-up running performed based on broadcast distribution of the relay controller 50 of this embodiment will be described.

The communication unit 62 of the traveling vehicle 6 transmits information indicating the stoppable position of the own vehicle to the relay controller 50 in response to a periodic inquiry about the state from the traveling vehicle controller 40 via the relay controller 50 (step S1). (step S2). The stoppable position of the own vehicle is a position where the own vehicle can stop when it starts decelerating at the current position. For example, the possible stop position of the own vehicle is the stop position when the own vehicle suddenly stops from the current position, in other words, the nearest stop position where the own vehicle can start decelerating and stop from the current position. . The information indicating the stoppable position of the own vehicle is calculated by the control unit 61 of the own vehicle based on the current position of the own vehicle, the current speed (current actual speed), and the braking capacity (deceleration during braking). . In addition, the communication unit 62 of the traveling vehicle 6, in response to periodic inquiries about the status, transmits information not only about the position where the vehicle can be stopped, but also about the position of the vehicle, the speed of the vehicle, whether or not an article is being transported, and the like. good too.

The communication unit 62 of the traveling vehicle 6 periodically receives information indicating possible stop positions of the other traveling vehicles 6 (step S3). Specifically, the communication unit 62 of the traveling vehicle 6 receives the information indicating the stoppable positions of the other traveling vehicles 6 by the above-described broadcast delivery executed by the relay controller 50 . The stoppable position of the other traveling vehicle 6 is a position where the other traveling vehicle 6 can stop when it starts decelerating at the current position, similarly to the stoppable position of the own vehicle.

The relay controller 50 may also transmit the information indicating the possible stop position transmitted from the traveling vehicle 6 in response to the state inquiry to the traveling vehicle controller 40 (step S4). The traveling vehicle controller 40 may manage the state of each traveling vehicle 6 by, for example, storing the transmitted information indicating the possible stop positions in a storage unit or the like.

When the own vehicle is traveling along the track 4 behind the other traveling vehicle 6 in a state where there is no other traveling vehicle 6 between the own vehicle and the other traveling vehicle 6, the control unit 61 Periodically update the target position of the vehicle. Note that the destination position is the destination of travel of the own vehicle. Specifically, each time the communication unit 62 receives (step S3) the information indicating the possible stop position of the other traveling vehicle 6 in front, the traveling vehicle 6 determines the target position based on the information by the control unit 61. update is performed. The control unit 61 controls the traveling of the own vehicle so that the own vehicle can travel to the target position and stop at the target position.

In the following, two traveling

vehicles

6, 6 located in the first area A1 shown in FIG. 1 will be described as an example. For convenience of explanation, the traveling vehicle 6 traveling ahead is referred to as a front traveling vehicle 6A, and the traveling vehicle 6 traveling behind is referred to as a rear traveling vehicle 6B.

The vehicle 6B traveling behind periodically acquires the distance (inter-vehicle distance) to the vehicle 6A traveling ahead. Acquisition of the distance may be performed by an inter-vehicle distance sensor provided in each traveling vehicle 6, or may be acquired based on the vehicle position information included in the status of the other vehicle that is periodically received. At this time, the communication unit 62 of the preceding vehicle 6A periodically transmits information indicating the stoppable position of the preceding vehicle 6A to the first relay controller 50A. On the other hand, the communication unit 62 of the backward vehicle 6B periodically receives information indicating the stoppable positions of the forward vehicle 6A through broadcast distribution by the first relay controller 50A.

When the distance between the two traveling

vehicles

6, 6 traveling in a continuous state becomes equal to or less than a predetermined value, the rear traveling vehicle 6B starts periodically updating the target position, which is the destination of the own vehicle, and Follow-up traveling with respect to the preceding vehicle 6A is started. Note that the traveling vehicle 6 to be tracked (the preceding traveling vehicle 6A) may be identified based on information relating to the own vehicle position periodically acquired from each traveling vehicle 6 by the traveling vehicle controller 40, or may be specified by a camera. It may be specified by obtaining an identifier or the like attached to the forward traveling vehicle 6A by means of the like. The control unit 61 of the rear traveling vehicle 6B recognizes (identifies as being to be followed) that the traveling vehicle 6 traveling in front in a continuous state is the front traveling vehicle 6A, and indicates the stop possible position of the front traveling vehicle 6A. Initiate periodic updating of the destination location based on the information.

The control unit 61 of the following vehicle 6B controls the target position so that the rear end of the preceding vehicle 6A when stopped at the stop possible position is positioned in front of the front end of the following vehicle 6B when stopped at the target position. to decide. The control unit 61 of the following vehicle 6B periodically updates the target position of the following vehicle 6B in accordance with the periodic update of the possible stop position of the preceding vehicle 6A. As a result, the rear vehicle 6B follows the front vehicle 6A as long as the front vehicle 6A continues to run (that is, the rear vehicle 6B does not stop and follows the front vehicle 6A). do). Note that the distance between the stoppable position and the target position may be determined in advance based on the dimension of the traveling vehicle 6 in the traveling direction. Then, when the distance between the two traveling

vehicles

6, 6 traveling in a continuous state exceeds a predetermined value, the rear traveling vehicle 6B completes periodic update of the target position, and follows the preceding traveling vehicle 6A. is terminated.

In the above description, an example in which follow-up running is performed using the stoppable positions periodically transmitted from relay controller 50 has been described, but follow-up running is performed using information on acceleration/deceleration of preceding vehicle 6A. may be executed.

In the traveling vehicle system 1 of the above embodiment, as shown in steps S1 to S3 shown in FIG. The information about the state of the own vehicle transmitted to the relay controller 50 is transmitted by the relay controller 50 to the traveling vehicle 6 under its jurisdiction (under control) without going through the traveling vehicle controller 40 . Therefore, as shown in FIG. 4(B), the traveling vehicle controller 40 directly and periodically inquires about the state of the own vehicle to each of the traveling vehicles 6 (step S11) and sends from the traveling vehicle 6 ( Compared to the conventional technology that broadcasts (step S13) the information about the state of the own vehicle that has been sent in step S12), it is possible to reduce the processing load of the broadcast delivery in the traveling vehicle controller 40. FIG. That is, in the traveling vehicle system 1 of the above-described embodiment, the state of the traveling vehicle 6 can be distributed to the other traveling vehicles 6 without increasing the proportion of the processing load on the traveling vehicle controller 40 .

In the traveling vehicle system 1 of the above embodiment, the relay controller 50 broadcasts the received information regarding the state of its own vehicle to the traveling vehicles 6 located in its area of jurisdiction, so that the state of each traveling vehicle can be quickly and efficiently communicated to others. can be delivered to the traveling vehicle 6 of

In the traveling vehicle system 1 of the above embodiment, since the traveling vehicle controller 40 is provided so as to be able to communicate with a plurality of relay controllers 50, the processing of the relay controller 50 is distributed, and the processing load per relay controller 50 is reduced. can be reduced.

Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment. Various modifications are possible without departing from the gist of the invention.

In the traveling vehicle system 1 of the above embodiment, an example in which follow-up traveling is executed based on broadcast distribution of information about the state by the relay controller 50 has been described, but the present invention is not limited to this.

For example, the traveling vehicle system 1 may perform communication state confirmation processing based on the above-described broadcast delivery. Specifically, the communication state confirmation process is triggered by transmission of information regarding the state of the own vehicle to the relay controller 50 in response to a periodic inquiry from the traveling vehicle controller 40 via the relay controller 50 . be. In the traveling vehicle system 1 of the above-described embodiment, the information about the state of the own vehicle transmitted to the relay controller 50 is distributed not only to the other traveling vehicles 6 but also to the own vehicle. The control unit 61 of the traveling vehicle 6 in the traveling vehicle system 1 according to the modification receives the information regarding the state of the vehicle from the relay controller 50 within a predetermined time after transmitting the information regarding the state of the vehicle to the relay controller 50 . If not, it is determined that the communication unit 62 of the traveling vehicle 6 and/or the communication unit 52 of the relay controller 50 has a problem.

Also, for example, the traveling vehicle system 1 may execute congestion avoidance processing based on the above-described broadcast delivery. For example, if there is information as to whether or not the own vehicle is holding an article as information relating to the state of another vehicle that is periodically distributed, the control unit 61 of the traveling vehicle 6 will determine whether the own vehicle is holding the article. If it is not held, it can execute a process of moving itself to a position that does not interfere with other traveling vehicles that are being transported. Further, when the blocking position for the other traveling vehicle 6 is obtained as the information about the state of the other vehicle that is periodically distributed, the control unit 61 of the traveling vehicle 6 directs the route so as not to pass through the blocking position. You can make changes.

In the above embodiment and modified example, relay controllers 50 (first relay controller 50A to fourth relay controller 50D) communicating with traveling vehicle 6 are provided for each area (first area A1 to fourth area A4). , but a relay controller 50 is provided to collectively communicate with the traveling vehicles 6 located in the first area A1 to the fourth area A4, and the relay controller 50 communicates with the first area A1 to the fourth area A4. The broadcast distribution described in the above embodiment may be performed for all the traveling vehicles 6 located.

In the above embodiment and modified example, the relay controller 50 broadcasts the information about the state of the own vehicle transmitted from each traveling vehicle 6 to all the traveling vehicles 6 under its jurisdiction. may be transmitted to the traveling vehicle 6 with a time difference provided for each traveling vehicle or for each of a plurality of traveling vehicles.

In the above embodiment and modified example, the relay controller 50 broadcasts the information about the state of the own vehicle transmitted from each traveling vehicle 6 to all the traveling vehicles 6 under its jurisdiction. It may be distributed to at least some of the traveling vehicles 6 below. In this case, the relay controller 50 may distribute the information about the state of the own vehicle transmitted from each traveling vehicle 6 to at least some of the traveling vehicles 6 under its jurisdiction one by one, or distribute the information to a plurality of vehicles. It may be distributed one by one, or may be distributed by broadcast.

In the above-described embodiment and modification, an example in which the present invention is applied to the traveling vehicle system 1 in which the traveling vehicle 6 travels on the track 4 provided on the ceiling has been described. It may be a traveling vehicle system that travels. Moreover, the present invention may be applied to a traveling vehicle that travels, for example, on a predetermined route on the ground without traveling on a laid track.

1 Traveling vehicle system 6 Overhead traveling vehicle (traveling vehicle) 6A Front traveling vehicle 6B Rear traveling vehicle 40 Traveling vehicle controller 50 Relay controller 50A First relay controller 50B Second Relay controller 50C...Third relay controller 50D...Fourth relay controller 51...Control unit 52...Communication unit 61...Control unit 62...Communication unit 90...Transport controller (upper controller).

Claims

a plurality of vehicles;
a vehicle controller;
a relay controller communicable with both the traveling vehicle controller and the traveling vehicle;
The traveling vehicle controller assigns a transport command to one of the traveling vehicles via the relay controller,
The traveling vehicle transmits information about the state of the own vehicle to the relay controller,
The traveling vehicle system, wherein the relay controller transmits the received information regarding the state of the own vehicle to at least a part of the traveling vehicles with which communication is possible without going through the traveling vehicle controller.
The traveling vehicle system according to claim 1, wherein the relay controller broadcasts the received information regarding the state of the own vehicle to the traveling vehicles with which communication is possible.
The traveling vehicle controller inquires about the state of the own vehicle to each of the plurality of traveling vehicles via the relay controller;
When each of the traveling vehicles receives an inquiry from the traveling vehicle controller, each of the traveling vehicles transmits information regarding the state of the own vehicle to the relay controller,
3. The relay controller according to claim 1, wherein the relay controller transmits the information about the state of the own vehicle received from the traveling vehicle to at least a part of the traveling vehicles with which communication is possible, and also to the traveling vehicle controller. running car system.
Claims 1 to 3, wherein the information on the state of the own vehicle is at least one of information on the position, speed, acceleration/deceleration, possible stop position of the traveling vehicle, presence/absence of an article to be conveyed, an identifier of the article to be conveyed, and travel regulation. The traveling vehicle system according to any one of .
The traveling vehicle system according to any one of claims 1 to 4, wherein the relay controller transmits the received information regarding the state of the own vehicle to the traveling vehicle capable of communication, including the traveling vehicle that is the transmission source. .
A plurality of the relay controllers are provided so as to control areas different from each other,
The traveling vehicle controller is provided to communicate with a plurality of the relay controllers, and each of the plurality of relay controllers is provided to communicate with the traveling vehicle located in an area under its jurisdiction. The traveling vehicle system according to any one of .