JPH0899792A - Running control method and device of unmanned vehicle in branch of unmanned conveyer system - Google Patents

Abstract

PURPOSE: To eliminate the unnecessary stopping operation and starting operation of an unmanned vehicle which is going to pass a branch,at the near side of the branch. CONSTITUTION: An unmanned vehicle 4A runs on a running rail 3 by receiving the power from a trolley line for power feeding. Converting rails 6a and 6b are provided at the branch 5a of the running rail 3, and a branching device 7 to arrange the converting rails 6a and 6b at the positions corresponding to a specific running rail 3 is provided. A branching control device 1 0 drives and controls the branching device 7, it confirms that the branching device 7 is arranged to a specific position by the detecting signals of limit switches LS1 and LS2, and an advancing permitting signal is transmitted to the unmanned vehicle 4A from a trolley communication device 12. When the CPU of the unmanned vehicle 4A decides that the advancing permitting signal is received from the branching control device 10, the unmanned vehicle 4A continues the running without stopping once at the near side of the branch 5a, and passes the branch 5a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device at a branch portion of an unmanned transportation system having an unmanned vehicle traveling on a traveling rail.

[0002]

2. Description of the Related Art Conventionally, as this type of unmanned transfer system, there has been proposed a transfer system which moves along a traveling rail installed on a ceiling and transfers a load from a station in a factory or a warehouse to another station. ,It has been implemented. In some unmanned transport systems, a traveling rail that serves as a traveling path for an unmanned vehicle has a branch portion. For example, as shown in FIG. 8, a branching device 52 including switching rails 52a and 52b is provided in a branching portion 51 of a traveling rail 50 that is bifurcated so as to be movable in parallel. The branching device 52 is drive-controlled by the branching controller 53, and when the unmanned vehicle 54 moves along the branching part 51 to the main line side (straight line), the switching rail 52a can be continuous with the traveling rail 50 as shown in FIG. It is arranged in the first switching position. Further, when the unmanned vehicle 54 advances to the branch side, the switching rail 52b is arranged at the second switching position which is moved upward from the state of FIG.

When the unmanned vehicle 54 enters the branching portion 51 without the branching device 52 being arranged at a predetermined position, the unmanned vehicle 54 derails. In order to prevent derailment of the unmanned vehicle 54, conventionally, the unmanned vehicle 54 temporarily stops before the branching portion 51, and after the branching controller 53 confirms that the branching device 52 is arranged at a predetermined switching position, the unmanned vehicle 54 54 was allowed to enter the diverging section 51. That is, the branch portion 51
Is provided with a limit switch LS1 for detecting that the branching device 52 is arranged at the first switching position and a limit switch LS2 for detecting that the branching device 52 is arranged at the second switching position. In addition, an unmanned vehicle 54 is in front of the branching portion 51.
An optical communication device 55 that communicates with the optical communication device 54a equipped in the unmanned vehicle 54 is provided at a position corresponding to the stop position of the unmanned vehicle 54. After confirming that the branching device 52 is arranged at a predetermined switching position, the branching controller 53 outputs an entry permission signal to the branching part to the unmanned vehicle 54 via the optical communication device 55. Then, the unmanned vehicle 54 starts traveling after receiving the entry permission signal from the branch controller 53 to the branch portion.

[0004]

That is, the unmanned vehicle 5 is conventionally used.
When 4 reaches the branch 51, the switching rail 5
Even if 2a and 52b are arranged at predetermined positions, the unmanned vehicle 54 always stops once before the branching portion 51 regardless of the state of the switching rails 52a and 52b. As a result, not only needless stop operation and restart operation need to be performed, but also wasteful time is spent passing through the branch portion 51, the time required to reach the target station becomes long, and the operating rate of the unmanned vehicle increases. There was a problem that it decreased.

The present invention has been made in view of the above problems, and an object thereof is to prevent an unmanned vehicle passing through a branch from performing unnecessary stop and start operations before the branch. It is an object of the present invention to provide a traveling control method and device in a branch portion of an unmanned conveyance system that can perform the operation.

[0006]

In order to achieve the above object, according to the invention of claim 1, in an unmanned transfer system equipped with an unmanned vehicle that travels on a traveling rail having a divergence portion, the unmanned transfer system is operated from a divergence controller. Information about whether or not the vehicle can enter the bifurcation is transmitted to the vehicle via the communication means, and the unmanned vehicle stops in front of the bifurcation only when the state of the bifurcation interferes with traveling based on the information. When the condition of the branching part does not hinder driving, the vehicle will enter the branching part without pausing.

According to the second aspect of the present invention, in an unmanned conveyance system including an unmanned vehicle traveling on a traveling rail having a branching portion, the traveling rail is provided at a position corresponding to the branching portion and is divided at the branching portion. A branching device having a switching rail that allows the unmanned vehicle to move from one side to the other side and arranging the switching rail at a position corresponding to a predetermined traveling rail; and the switching rail arranged at a position corresponding to the predetermined traveling rail. Detecting means for detecting that the branching device has been driven, a branching control device for driving and controlling the branching device, a communication means provided in the branching control device for transmitting an entry permission signal to the branching part to the unmanned vehicle, and an unmanned vehicle. A communication means which is provided and receives a transmission signal from the communication means of the branch control device; and whether or not the communication means is provided in an unmanned vehicle and the communication means has received an entry permission signal to the branch portion. Determining means for determining, provided unmanned vehicle, and control means for performing running control based on the determination result of said determining means.

According to a third aspect of the present invention, in the second aspect of the present invention, the branch control device includes a communication means capable of communicating with the operation management device of the unmanned vehicle, and the branch device is operated in accordance with a command from the operation management device. Drive control.

In the invention according to claim 4, the invention according to claim 2
Alternatively, in the invention according to claim 3, the communication means is a trolley communication device that uses a trolley wire arranged along a traveling rail.

[0010]

In the invention described in claim 1, the unmanned vehicle travels on the traveling rail. The branch control device transmits information regarding whether or not to enter the branch section via the communication means. The unmanned vehicle stops in front of the bifurcation only when the state of the bifurcation interferes with traveling based on the information. If the condition of the branching point does not hinder driving, the unmanned vehicle enters the branching point without pausing. Therefore, there is no wasted time due to the temporary stop in front of the branch portion.

According to the second aspect of the invention, the unmanned vehicle travels on the traveling rail, and moves from one of the divided traveling rails to the other at the branching portion through the switching rail. By the operation of the branching device driven and controlled by the branching control device, the switching rail is arranged at a predetermined position that allows the unmanned vehicle to move from one of the traveling rails to the other. The detection means detects whether or not the switching rail is arranged at a predetermined position. The branch control device transmits an entry permission signal to the branch section to the unmanned vehicle via the communication means. The unmanned vehicle receives the transmission signal from the branch control device through the communication means, and the determination means determines whether or not the communication means receives the entry permission signal to the branch portion. Then, when the entry permission signal is received, the vehicle enters the branch section without pausing before the branch section.

In the invention according to claim 3, the branch control device receives a command signal from the operation management device of the unmanned vehicle through the communication means. Then, the branch device is drive-controlled in accordance with a command from the operation management device. Other functions are the same as the invention according to claim 2.

In the invention according to claim 4, the trolley communication device using the trolley wire arranged along the traveling rail communicates with the branch control device and the unmanned vehicle and between the branch control device and the operation management device. Be seen. The other action is claim 2.
Alternatively, it is the same as the invention described in claim 3.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIG. 2, the transport system 1
The traveling path 2 is formed by the traveling rail 3 in a closed loop shape so that a plurality of (3 in this embodiment) unmanned vehicles 4A to 4C travel on the traveling rail 3 in the same direction (direction of arrow A). Has become. A plurality of (three in this embodiment) stations ST1 to ST3 are provided along the traveling rail 3. A conveyor (not shown) is provided at each of the stations ST1 to ST3, and the unmanned vehicles 4A to 4C are designed to carry out the work at each of the stations ST1 to ST3.

Branches 5a and 5b are provided on the traveling path 2, and the traveling rail 3 is divided at the branching portions 5a and 5b. As shown in FIG. 1, unmanned vehicles 4A to 4A from one of the divided traveling rails 3 to the other are divided into branch portions 5a and 5b.
A branching device 7 including switching rails 6a and 6b that allow the movement of 4C is provided (only the branching portion 5b is shown). The running rail 3 is stopped for dog D ₁ to D ₃ of the detected portion in positions corresponding to the respective stations ST1 ～ST3 provided. In addition, the unmanned vehicle 4A of each traveling rail 3 that has been divided is
An origin dog Dn _{1 to} Dn ₃ is provided as an inspected portion indicating the block number of the traveling rail 3 at the end on the approach side of 4C. Each dog Dn _{1 to} Dn ₃ is its running rail 3 respectively.
Indicates the origin (running origin) of. Stop dogs Ds are provided at predetermined positions in front of the branch portions 5a and 5b. Stop dog D ₁ ~D _3, Ds is formed in the same shape. On the other hand, since the dogs Dn _{1 to} Dn ₃ for origin can be identified to which traveling rail 3 they correspond,
They are formed in different shapes.

As shown in FIG. 3, the traveling rail 3 is provided with a trolley wire L1 for power supply and a trolley wire L2 for communication. The unmanned vehicles 4A to 4C are supplied with electric power from the trolley line L1 for power supply and used as power sources, and can communicate with the operation management device 8 via the trolley line L2 for communication. The operation management device 8 includes a microcomputer (not shown) and a trolley communication device 9 as a communication means, and issues a command such as a target station and work content to the controllers of the unmanned vehicles 4A to 4C.

As shown in FIG. 1, the branching device 7 supports both switching rails 6a and 6b, and is provided with a movable frame 7a which is reciprocally moved by a driving means (not shown) such as an air cylinder. The movable frame 7a is provided with a driving means at a first predetermined position shown in FIG. 1 in which the first switching rail 6a corresponds to the traveling rail 3 and a second predetermined position in which the second switching rail 6b corresponds to the traveling rail 3. It is movable by the operation of. In the vicinity of the branching device 7, a switching rail 6a,
Limit switch LS as detecting means for detecting that 6b is arranged at a position corresponding to a predetermined traveling rail 3.
1, LS2 are provided. The first limit switch LS1 outputs an ON signal when the movable frame 7a is arranged at the first predetermined position, and the second limit switch LS1.
2 outputs an ON signal when the movable frame 7a is arranged at the second predetermined position.

Branch control device 1 for driving and controlling the branch device 7.
Reference numeral 0 includes a controller 11 and a trolley communication device 12 as a communication means, and is capable of communicating with the unmanned vehicles 4A to 4C and the operation management device 9. The branch control device 10 drives and controls the branch device 7 based on a command from the operation management device 9, and moves the movable frame 7a to a position where the unmanned vehicles 4A to 4C can pass predetermined switching rails 6a and 6b.
In addition, the branch control device 10 uses limit switches LS1, LS
The state of the branching device 7 is determined based on the output signal of No. 2 and the trolley communication device 12 transmits an entry permission signal to the branching parts 5a and 5b to the unmanned vehicles 4A to 4C. This entry permission signal is an entry permission signal that specifies an unmanned vehicle.
That is, for example, even if the entry permission signal is applied to the unmanned vehicle 4A, the entry permission signal is not applied to the unmanned vehicles 4B and 4C.

A similar branching device and branching control device are also provided in the branching portion 5b. However, in the branching portion 5b, the traveling path 2 branches in a direction opposite to the traveling direction of the unmanned vehicles 4A to 4C, and two traveling rails 3 merge in the traveling direction.

As shown in FIG. 3, each unmanned vehicle 4A-4C
Is a traveling motor 13 composed of a variable speed motor and a cargo handling model.
And a driving wheel (not shown) are provided for driving the vehicle.
The vehicle is driven by the motor 13 to travel on the traveling rail 3. For traveling
A motor equipped with a brake 15 is used as the motor 13.
Has been done. Stop dog D for each unmanned vehicle 4A-4C₁~
D₃, Ds Detected part detecting sensor
16a and dog Dn₁~ Dn₃Origin detection means for detecting
All sensors 16b are provided. Both sensors 16
An optical sensor is used for a and 16b, and the sensor 16a is stopped.
Stop Dog D₁~ D ₃When Ds is detected, a dog detection signal is output.
Force, and the sensor 16b is dog Dn₁~ Dn₃Origin is detected
Output the detection signal.

Further, each unmanned vehicle 4A to 4C is provided with a controller 17 and a trolley communication device 18 as a communication means. The controller 17 includes a determination unit, a calculation unit,
It is provided with a central processing unit (hereinafter referred to as CPU) 19 which constitutes a control means, a program memory 20 which is a read-only memory (ROM), and a work memory 21 which is a readable and rewritable memory (RAM). . The CPU 19 is a program memory 2 as a storage means.
0 and the work memory 21 and executes various processes according to predetermined program data stored in the program memory 20. The working memory 21 temporarily stores various calculation results of the CPU 19. The working memory 21 has a backup battery (not shown).

The CPU 19 is connected to both sensors 16a, 16b via an input interface 22. Further, each of the unmanned vehicles 4A to 4C is equipped with a rotary encoder (hereinafter, referred to as an encoder) 23 as a traveling amount detecting means. The encoder 23 is adapted to output a pulse signal corresponding to the amount of rotation of a measuring wheel (not shown) mounted on each unmanned vehicle 4A to 4C.
The side surface of the traveling rail 3 rolls as C moves. or,
The CPU 19 is connected to both the motors 13 and 14 via an output interface 24, a drive circuit 25 and an inverter 26 which constitutes a control means, and controls both motors 13 and 14 via the inverter 26.

The controller 17 is provided with a counter 27 for counting the number of output pulses of the encoder 23. In the working memory 21, the number of output pulses (station position) from the encoder 23 when the unmanned vehicles 4A to 4C travel from the origin position of each traveling rail 3 to each station ST1 to ST3, and each stop dog Ds from each origin position. The traveling data such as the number of pulses up to, the number of pulses for one round of the traveling road (total length of traveling road), etc. are stored. These travel data are stored at the time of travel learning performed prior to the work travel of the unmanned vehicles 4A to 4C that perform the work of transporting the load.

When the origin detection signal is input, the CPU 19 resets the counter 27 and calculates the traveling positions of the unmanned vehicles 4A to 4C from the traveling origin based on the count number from the origin position. This traveling position is transmitted from the trolley communication device 18 to each of the unmanned vehicles 4A to 4C and the operation management device 8 via the communication trolley line L2. CPU 19 is an unmanned vehicle 4A to 4C
The traveling motor 13 is controlled so as to recognize the traveling position and maintain the distance between them at a predetermined distance or more.

The CPU 19 controls the traveling motor 13 so as to move to the instructed station on the basis of the instruction from the operation management device 8, and the cargo handling motor 14 for loading or unloading the load at the station. To control. CPU19 while driving, and outputs the deceleration command and than the target stop position reaches the position of the predetermined number of pulses before and sensor 16a detects the stop dog D ₁ to D _3, DS,
A braking command is output and a stop command is output to the traveling motor 13. CPU19 except for emergency stop, and outputs only the braking command and a stop command of the driving motor 13 upon detection of a stop dog D ₁ to D _3, DS during the stop program.

Next, the operation of the transport system 1 configured as described above will be described. When the operation management device 8 instructs the destination station, the traveling motor 13 is driven via the inverter 26 by the instruction from the CPU 19, and the unmanned vehicles 4A to 4C travel on the traveling rail 3.
After stopping at the target station, the cargo handling motor 14 is driven via the inverter 26 by a command from the CPU 19, and the unmanned vehicles 4A to 4C perform cargo handling work.

The destination instruction is given by instructing the block number of the traveling rail 3 and the station number. The CPU 19 recognizes the block number of the traveling rail _{3 based on} the detection signals of the dogs Dn _{1 to} Dn ₃ for origin, and also recognizes the current positions of the unmanned vehicles 4A to 4C from the count value of the counter 27. Then, the CPU 19 outputs a deceleration command at a point of a predetermined count value before a predetermined distance from the target station (for example, ST2) and then outputs a braking command to the brake 15 when the detection signal of the stop dog D ₂ is input from the sensor 16a. , And outputs a motor stop command to the inverter 26 to stop the unmanned vehicles 4A to 4C. In addition, CPU
19 transmits from the trolley communication device 18 the block number of the traveling rail 3 at the present position, which is always the position data of the unmanned vehicle, and the count value of the counter 27.

Next, the unmanned vehicle 4A at the branch portions 5a and 5b.
4C will be described with reference to the flowcharts of FIGS. 4 and 5. Since both branch portions 5a and 5b have basically the same operation, the branch portion 5a will be described as an example. The operation management device 8 grasps the positions of the unmanned vehicles 4A to 4C from the position data. Then, the branching control device is configured to complete the operation of the branching device 7 before reaching the deceleration start position when the unmanned vehicle that should pass through the branching part 5a stops at the predetermined stop position before the branching part 5a. The operation command of 7 is output. The operation management device 8 instructs the branch control device 10 about the numbers of the unmanned vehicles 4A to 4C passing through the branch portion 5a and the switching position of the branch device 7.

The branch controller 10 operates according to the flowchart of FIG. The branch control device 10 is the operation management device 8
In step S1, it is determined whether or not the state of the branching device 7 is different from the instructed position, that is, whether or not the branching device 7 needs to be operated. If they are in different states, the process proceeds to step S2 to output an operation command to the branching device 7 to drive the branching device 7 to drive the switching rail 6
The a and 6b are moved and arranged at positions corresponding to the predetermined traveling rails 3. For example, when the unmanned vehicle 4A goes straight through the branching portion 5a toward the destination station, as shown in FIG. 1, the switching rail 6a of the movable frame 7a is connected to the traveling rail 3 before the unmanned vehicle 4A approaches the branching portion 5a. Is arranged at a first predetermined position corresponding to. After outputting the operation command, the branch control device 10 proceeds to step S3 and outputs a signal from the trolley communication device 12 indicating that the branch device 7 is operating. Next, in step S4, the limit switch LS1
It is determined whether or not the ON signal is input from the branch management device 1. When the ON signal is input, the process proceeds to step S5, and the branch management device 1
0 transmits the entry permission signal from the trolley communication device 12 to the unmanned vehicle 4A to the branching portion 5a. That is, the branching control device 10 outputs the operation command to the branching device 7 and then outputs the operation command to the branching device 7 until the limit switch LS1 outputs the detection signal that the movable frame 7a is arranged at the predetermined position. A signal is transmitted indicating that 7 is active.

On the other hand, if the state of the branching device 7 is the same as the commanded position in step 1, the process proceeds to step S5, and the branching management device 10 causes the trolley communication device 12 to unmanned vehicle 4A.
To the branching portion 5a is transmitted.

The unmanned vehicles 4A to 4C operate according to the flowchart of FIG. When the count value of the counter 27 reaches a predetermined count value that is smaller by a predetermined number than the predetermined count value at which deceleration is started before the branch portion 5a is temporarily stopped, the CPU 19 executes the control program for running the branch portion. Start execution. In step S11, the CPU 19 determines whether or not there is the entry permission signal, and if there is the entry permission signal, the process proceeds to step S12 to continue the unmanned vehicles 4A to 4C. Then, in step S13, it is determined whether or not a detection signal of the dog (for example, dog Dn ₂ ) for the origin of the traveling rail 3 located on both sides of the branch portion 5a is input from the sensor 16b. When the origin dog detection signal is input, C
The PU 19 ends the execution of this control program.

If there is no entry permission signal in step S11, the CPU 19 proceeds to step S14, and determines whether or not the predetermined count value corresponding to the deceleration start position at the time of temporary stop before the branch portion 5a has been reached, If not reached, the process returns to step S11. If the count value has reached the predetermined count value, the process proceeds to step S15 to output a deceleration command for the traveling motor 13 to decelerate the unmanned vehicles 4A to 4C. Next, in step S16, it is determined whether or not the detection signal of the stop dog Ds from the sensor 16a is input. When the detection signal is input, the process proceeds to step S17, in which an operation command of the brake 15 and the traveling motor 13 are entered. Output the stop command of each. And it progresses to step S18 and unmanned vehicles 4A-4C.
It is determined whether or not the entry permission signal to the branch portion is input in the state in which is stopped. When the entry permission signal is input, the process proceeds to step S19, the CPU 19 outputs a traveling command to the traveling motor 13, the unmanned vehicles 4A to 4C resume traveling, and then the process returns to step S13.

That is, if the switching of the branching device 7 is not completed within a predetermined time for some reason before the unmanned vehicles 4A to 4C approach the branching portion 5a, the unmanned vehicles 4A to 4C temporarily stop at a predetermined position. After that, the vehicle starts traveling and branches 5a
Pass through. When the completion of switching of the branching device 7 is delayed, for example, two unmanned vehicles 4A and 4B continuously approach the branching portion 5a, and both unmanned vehicles 4A and 4B sometimes move to different traveling rails 3. .

As described above, when the switching of the branching device 7 is completed before the unmanned vehicles 4A to 4C approach the branching portions 5a and 5b, the unmanned vehicles 4A to 4C differ from the conventional device.
Passes through the bifurcations 5a and 5b without pausing before the bifurcations 5a and 5b. As a result, unmanned vehicles 4A-4C
The time required to arrive at the target station is reduced, and the operating rates of the unmanned vehicles 4A to 4C are improved.

Further, in this embodiment, since the trolley communication devices 9, 12, and 18 using the communication trolley wire L2 arranged along the traveling rail 3 are provided as the communication means, the unmanned vehicles 4A to 4C are connected to each other. Communication between the unmanned vehicles 4A to 4C and the operation management device 8 and between the operation management device 8 and the branch control device 10 can be performed with a simple device and in a state in which the influence of noise is small. Further, when the power supply trolley wire L1 for receiving power supply as a power source is provided along the traveling rail 3,
By arranging the trolley wire L2 for communication together, there is almost no labor for mounting.

Further, the branch control device 10 is an unmanned vehicle 4A-4C.
Since the switching of the branching device 7 is controlled by a command from the operation management device 8 that always keeps track of the positions of the unmanned vehicles, the branching control device 10 branches at an appropriate time without knowing the positions of the unmanned vehicles 4A to 4C. The device 7 can be switched.

The present invention is not limited to the above embodiment, but may be embodied as follows, for example. (1) As the configuration of the branch portion 5a, for example, as shown in FIG. 6A, two linear traveling rails 3 extending in parallel are provided.
A movable frame 28 capable of reciprocating in a direction orthogonal to A and 3B is provided, and the switching rails 6a and 6a are provided on the movable frame 28.
Arrange b in parallel. With this configuration, the unmanned vehicle can be transferred from the traveling rail 3A or the traveling rail 3B to the traveling rail 3B or the traveling rail 3A via the switching rail 6a or the switching rail 6b. This configuration is suitable as a means for guiding the unmanned vehicle to the standby rail for maintenance.

(2) As shown in FIG. 6B, the branching portion 5
a is centered on the turntable 29 and the traveling rail 3 is 4
You may comprise so that it may extend in a direction. When the unmanned vehicle travels straight, the switching rail 6a is placed in a position corresponding to the traveling rail 3 on which the unmanned vehicle is currently traveling.
Pass over a. If the unmanned vehicle changes direction,
When the switching rail 6a is arranged at a position corresponding to the traveling rail 3 of the unmanned vehicle that is currently traveling, the unmanned vehicle is operated by the switching rail 6a.
a) and turntable 29 is 90 ° in that state
After being rotated, the unmanned vehicle moves onto the traveling rail 3.

(3) As a branching portion, as shown in FIG. 7, the traveling rails 3 are arranged vertically in parallel, and the movable frame 30 supporting the switching rail 6a is provided so as to be movable up and down. This configuration is also suitable as a means for guiding the unmanned vehicle to the standby rail for maintenance disposed below the traveling rail 3 during normal traveling.

(4) Instead of trolley communication, other communication means such as wireless communication may be used as the communication means. (5) Instead of the limit switches LS1 and LS2, an optical sensor, a reed switch, a magnetic sensor, or the like may be used as a detection means for detecting that the switching rail is arranged at a predetermined position.

(6) The number of unmanned vehicles and stations may be appropriately changed. For example, the number of unmanned vehicles may be four or more, or two or one, or the numbers of both may be different. (7) As a power source of the unmanned vehicle, one that receives power from a power line in a contactless manner by utilizing electromagnetic induction may be used, or a battery may be used.

(8) The position of each of the stations ST1 to ST3 may be specified with the origin position being one position. Further, instead of the method of determining the deceleration start position based on the number of encoder pulses with the origin position as a reference, the stop dogs D _{1 to} D ₃ ,
A dog for starting deceleration may be provided at a position separated by a predetermined distance before Ds. In this case, a dog that can identify the difference between the station and the branch portions 5a and 5b is used as the dog for starting each deceleration.

(9) The traveling path 2 does not necessarily have to have a loop shape, and may be applied to a conveying system of a type in which a conveying device reciprocates on the traveling path. The term “unmanned vehicle” used in this specification is defined as follows. An "unmanned vehicle" is a moving body that is equipped with a motor for traveling and mainly self-propels along a predetermined traveling path provided in a factory or a warehouse to transport a load. For example, if the traveling path is composed of traveling rails provided on the floor, the unmanned vehicle moves above the traveling rail, and if the traveling path is composed of traveling rails installed on the ceiling, the unmanned vehicle is Mainly it moves while being supported by the running rail in a suspended state.

Inventions other than those described in the claims that can be grasped from the respective embodiments and modifications will be described below together with their effects. (1) In the invention described in claim 4, the power source of the unmanned vehicle is a power supply trolley wire provided along the traveling rail. In this case, the power supply and communication trolley wires can be attached at the same time along the traveling rail, and the attachment work is not required.

[0045]

As described in detail above, the first to fourth aspects of the invention are described.
According to the invention described in (1), it is possible to eliminate an unnecessary stop operation of the unmanned vehicle trying to pass through the branch portion and a subsequent restart operation before the branch portion, thereby improving the operating rate of the unmanned vehicle. Can be made. According to the third aspect of the present invention, the branch control device can switch the branch devices at an appropriate time. According to the invention described in claim 4, the communication between the unmanned vehicle and the branch control device or between the branch control device and the operation management device can be performed with a simple device and in a state where the influence of noise is small.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration near a branch portion.

FIG. 2 is a configuration diagram showing a transport system.

FIG. 3 is a block diagram showing an electrical configuration of an unmanned vehicle.

FIG. 4 is a flowchart showing the operation of the branch control device.

FIG. 5 is a flowchart showing the operation of the control unit of the unmanned vehicle.

FIG. 6 is a schematic diagram of a branched portion of a modified example.

FIG. 7 is a schematic diagram of a branching unit according to another modification.

FIG. 8 is a schematic plan view of a conventional device.

[Explanation of symbols]

1 ... Transport system, 2 ... Traveling path, 3 ... Traveling rail, 4A
4C ... unmanned vehicle, 5a, 5b ... branching part, 6a, 6b ... switching rail, 7 ... branching device, 8 ... operation management device, 9, 1
2, 18 ... Trolley communication device as communication means, 10 ...
Branch control device, 19 ... Judgment means, arithmetic means, CPU as control means, LS1, LS2 ... Limit switches as detection means, ST1-ST3 ... Stations, Ds ... Stop dogs.

Claims (4)

[Claims] 1. In an unmanned transportation system including an unmanned vehicle that travels on a traveling rail having a branching portion, the branching control device transmits information regarding whether or not to enter the branching portion to the unmanned vehicle through a communication means. , Based on the information, the unmanned vehicle will stop in front of the bifurcation only when the state of the bifurcation interferes with running, and if the state of the bifurcation does not obstruct the running A traveling control method for an unmanned vehicle at a branch portion of an unmanned transportation system which is adapted to enter. 2. An unmanned transportation system including an unmanned vehicle that travels on a traveling rail having a branching portion, the unmanned unmanned vehicle being provided at a position corresponding to the branching portion and separated from the traveling rail at one of the branching portions. A branching device that includes a switching rail that allows movement of the vehicle and that positions the switching rail at a position corresponding to a predetermined traveling rail, and a detection that detects that the switching rail is arranged at a position corresponding to the predetermined traveling rail. Means, a branching control device for driving and controlling the branching device, a communication means provided in the branching control device for transmitting an entry permission signal to the branching part to the unmanned vehicle, and the branching control device provided in the unmanned vehicle Communication means for receiving a transmission signal from the communication means, and a judgment means provided in the unmanned vehicle for judging whether or not the communication means has received an entry permission signal to the branch portion, A traveling control device for an unmanned vehicle in a branch portion of an unmanned transportation system, comprising: a control means that is provided in the unmanned vehicle and that performs traveling control based on the determination result of the determination means. 3. The branching part of the unmanned conveyance system according to claim 2, wherein the branching control device comprises a communication means capable of communicating with the operation management device of the unmanned vehicle, and drives and controls the branching device in accordance with a command from the operation management device. Driving control device for unmanned vehicles. 4. The traveling control of the unmanned vehicle in the branch portion of the unmanned transfer system according to claim 2 or 3, wherein the communication means is a trolley communication device that uses a trolley wire arranged along a traveling rail. apparatus.