TW517183B

TW517183B - Unmanned transportation vehicle system

Info

Publication number: TW517183B
Application number: TW091102515A
Authority: TW
Inventors: Homare Komoto
Original assignee: Murata Machinery Ltd
Priority date: 2001-07-16
Filing date: 2002-02-08
Publication date: 2003-01-11
Also published as: JP3682547B2; KR20030006922A; JP2003029837A

Abstract

The present invention relates to an unmanned transportation vehicle system. The object of the present invention is to reduce the amount of data of the transportation instructions from the master controller to each transportation vehicle for an unmanned transportation vehicle system. To achieve the object, a determined main track 11 is preset in driving route, and an on-vehicle controller of the unmanned transportation vehicle 13 is pre-stored with a map of driving route, operating direction information of a splitting device that makes the unmanned transportation vehicle 13 not to depart from the determined main track for selecting route with respect to the splitters a1, a2 a3 and a4 on the main track 11. When the unmanned transportation vehicle 13 must depart the splitters a1, a2 a3 and a4 on the main track 11 from the determined main track 11 for transportation, the master controller includes the position of its splitter, and the operating direction of the splitting device made by the splitter in a transportation instruction for the unmanned transportation vehicle 13. The unmanned transportation vehicle 13 receives the transportation instruction. In the splitter that is not indicated by the transportation instruction, the said splitter operates by maintaining the said predetermined main track 11 according to the information pre-stored in the car controller.

Description

517183 A7 B7 五、發明説明（1 ) 〔產業.上之利用領域〕 (請先閲讀背面之注意事項再填寫本頁) 本發明係關於無人運搬車系統，尤其是有關自動行駿於行駛路線的無人運搬車的行駛控制。 .〔先前之技術〕以往，半導體製造工場等、灰塵的發生成爲問題的無塵室中，爲了運搬物品，已知有：使無人運搬車沿著行駛路線自動行駿的無人運搬車系統。此行駛路線，具有複數的分岐部，該分岐部之前，使導輪從運搬車出沒，並使該導輪沿著一方的路線抵接溝部，導引運搬車的行駿路線。且，沿著該行駿路線，複數配置進行物品的移載的站。經濟部智慧財產局員工消費合作社印製在無塵室的一角等的適當位置設置主控制器，從該主控制器，對於搭載於各運搬車的車上控制器，進行其車號的呼叫。從收到該呼叫的運搬車，返送行駛路線上的現在位置等的資訊，依據此返送資訊，該主控制器對於各運搬車的車上控制器，送訊指示成爲運搬目的的站等的停止位置、或分岐點上的路線選擇等的運搬指令。〔本發明所欲解決的課題〕但是，行駛路線中分岐部多數的話，從主控制器朝各運搬車送訊的資料量變得很多。也就是說，主控制器對於存在於行駛路線上的各運搬車，必需送訊指示在各分岐部的路線的選擇的運搬指令。此運搬指令的訊號量係具有越本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -4 - 517183 A7 B7 五、發明説明（2 ) 多的分岐部的大規模的系統越大，而使主控制器的負荷增大。且，收訊該運搬指令的運搬車的車上控制器，也不希望因運搬指令的訊號量的增大，而使車上控制器的處理負荷增大。因此，本發明的課題，便在於解決上述這些問題。〔用以解決課題的手段〕爲解決上述的課題，本發明係使用下述手段。首先，如申請專利範圍第1項所記載，針對具備具有複數的分岐部的行駿路線，且在沿著該行駛路線自動行駛的運搬車搭載有選擇前述分岐部進行路線的分岐裝置的無人運搬車系統，其特徵爲：在前述行駛路線預先設定既定的路線，在搭載於該運搬車的車上控制器，預先記憶前述行駿路線的地圖，且，對於含有前述既定的路線的各分岐部，運搬車爲了維持前述既定的路線行駛，一倂記憶前述分岐裝置應動作方向的資訊，控制管理無人運搬車系統的主控制器，對於運搬車送訊運搬指令時，爲了運搬而對於前述既定的路線上的分岐部必需選擇從該既定路線脫離的方向的路線的情況時，該運搬指令，包含指示其分岐部的位置的資訊、及對於該分岐部指示前述分岐裝置動作方向的資訊，收訊了該運搬指令的前述運搬車的前述車上控制器，對於前述運搬指令所示指示的分岐部，則依據預先記憶在該車上控制器的資訊，使維持前述既定路線地使前述本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁) 訂經濟部智慧財產局員工消費合作社印製 -5- 517183 A7 _B7____ 五、發明説明（3 ) 分岐裝置動作。 (請先閲讀背面之注意事項再填寫本頁) 且，如申請專利範圍第2項所記載，將時機指示構件設在前述行駛路線上的分岐部前的位置，且，在運搬車設置檢測該時機指示構件的檢測手段，當行駛的運搬車檢測到該時機指示構件時，使前述分岐裝置動作。又，如申請專利範圍第3、4項所記載，前述分岐裝置至少具有一對的分岐滾子，將該分岐滾子的一方抵接設在前述分岐路的分岐導引部使進行路線的選擇，前述車上控制器，依據預先記憶在該車上控制器的資訊、或前述運搬指令所指示的方向資訊，來控制前述分岐滾子的出沒。〔實施例〕茲佐以圖面說明本發明之無人運搬車系統。以下，說明本發明之無人運搬車系統1的一實施例。線經濟部智慧財產局員工消費合作社印製第1圖係爲無人運搬車系統1的模式圖，第2圖係顯示無人運搬車1 3的正面剖面圖，第3圖係顯示同側面剖面圖，第4圖係顯示導輪2 4、2 4…的配置結構的無人運搬車1 3的平面圖，第6圖係顯示在分岐點的主軌道 1 1副軌道1 2的下部的平面圖，第7圖係顯示主軌道 1 1及副軌道1 2的平面圖，第8圖係顯示無人運搬車系統1的控制結構方塊圖。第1圖所示的無人運搬車系統1係由複數的運搬系 1 A、1 B、1 C…所組成，在各運搬系1 A.、1 B、 1 C…環狀地舖設有成爲無人運搬車1 3的移動路線的主本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） ~ -6 - 517183 A7 ______B7_ 五、發明説明（4 ) (請先閱讀背面之注意事項再填寫本頁} 軌道1 1 、1 1…，相鄰的主軌道1 1 、1 1分別由副軌道1 2、1 2所連結。各主軌道1 1係爲單向通行，各主軌道1 1上的無人運搬車1 3，被控制成沿著第1圖所示的箭頭方向行駛。複數的站1 0、1 〇…沿著前述主軌道1 1配置，無人運搬車1 3依據來自後述的主控制器5的運搬指令，栘動於站1 0、1 0之間，而可以將物品從一方的站i 〇蓮搬至他方的站1 0。且，沿著主軌道1 1 、1 1…、及由該主軌道1 1 、 1 1…所分岐的副軌道1 2，架設有由絕緣材料覆蓋銅線等的導電線的供電線2、2 (第2圖）、及使用饋電線的通訊線8、8 (第2圖）。接者，說明無人運搬車1 3的結構。如第2及3圖所示，在無人運搬車13，在車體的前後兩側部設置有供從前述供電線2、2獲得電力用的拾波單元9、9…。經濟部智慧財產局員工消費合作社印製前述主軌道1 1 (或副軌道1 2 )形成從剖面看呈略「凹」字狀。行駛於該主軌道1 1 (或副軌道1 2 )上的無人運搬車1 3，在其下部設有行駛車體2 1，且該行駿車體2 1，係由：中央的主框架3 1、及位在該主框架 3 1的前後的車輪支撐部3 2、3 2所組成。如第4圖所示，車輪支撐部3 2、3 2及主框架3 1 ，介由轉動支點軸3 3、3 3所連結，使車輪支撐部3 2 、3 2對於主框架3 1可轉動自如。本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -7- 517183 A7 B7__ 五、發明説明（5 ) 且，在前述行駿車體2 1的上方，設有可以搭載物品的物品支撐部2 2。行駛車體2 1及物品支撐部2 2係由連結體3 6所連結，使物品支撐部2 2被支撐在行駿車體 2 1。且，在連結體3 6的左右，有前述拾波單元9、9 固設在前後左右。在前述主軌道1 1 (或副軌道1 2 )的一側面（在第 2圖中的右側面）上部，面對拾波單元9配置有供電線架 3〇° 在前述拾波單元9，固定有將剖面作成略「E」字型的鐵氧體製的芯3。在該芯3的中央的突出部捲有拾波線圈4。該芯3，在形成於上下的突出部及其間的中央的突出部之間的2個凹部空間內，各設置有一條的被保持在供電線架3 0、3 0的內端部的供電線2、2。將在該供電線2、2內流動的高頻率電流所發生的磁場，以拾波線圈 4承接。且利用電磁感應現象，從發生於拾波線圈4的感應電流取出電力。如此，從供電線2、2以非接觸電力供給電力，來驅動馬達1 4、或供給電力於後述的車上控制器2 0等的控制機器。如第2至4圖所示，在前述車輪支撐部32的左右兩側的上端部、及下端部，配置有具有左右方向的車軸的駛行車輪2 3、2 3…、2 6、2 6…。在前述主軌道1 1 (或副軌道1 2 )的上部，設有從左右朝內側突出的部分，作爲一對的行駛導軌4 0、4 0 。行駛導軌4 0的天板面，形成水平面，駿行車輪2 3、本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁)517183 A7 B7 V. Description of the invention (1) [Use fields in industry.] (Please read the precautions on the back before filling out this page) This invention is about unmanned moving vehicle systems, especially about automatic travel on the driving route. Driving control for unmanned vehicles. [Previous Technology] In the past, in a clean room such as a semiconductor manufacturing plant where dust generation has become a problem, an unmanned moving vehicle system for automatically moving an unmanned moving vehicle along a driving route is known for moving articles. This driving route has a plurality of branching sections. Before this branching section, the guide wheel was transported from the transport vehicle, and the guide wheel abutted the ditch section along one of the routes to guide the traveling route of the transport vehicle. Furthermore, a plurality of stations for transferring articles are arranged along the route. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. A main controller is installed at an appropriate corner of the clean room, etc., and the main controller is used to call the vehicle number of the controller mounted on each truck. Based on the return information from the transport vehicle that received the call, the current position on the driving route, etc., the main controller sends a signal to the on-board controller of each transport vehicle to instruct the stop of the station or the like that is the destination of the transport Location, or route selection at a branch point. [Problems to be Solved by the Invention] However, if there are many branches in the driving route, the amount of data transmitted from the main controller to each transport vehicle becomes large. That is, the main controller must send a transportation instruction indicating the selection of the route in each branch for each transportation vehicle existing on the driving route. The signal amount of this transport instruction is that the larger the paper size, the larger the paper size, the applicable Chinese National Standard (CNS) A4 specification (210X297 mm) -4-517183 A7 B7 V. Description of the invention (2) Large-scale system with more branches To increase the load on the main controller. Moreover, the on-board controller of the transport vehicle receiving the transport instruction does not want to increase the processing load of the on-board controller due to the increase in the signal amount of the transport instruction. Therefore, the problem of the present invention is to solve these problems. [Means for Solving the Problems] In order to solve the problems described above, the present invention uses the following means. First, as described in item 1 of the scope of patent application, an unmanned transportation system is equipped with a branching device that selects the branching unit for a traveling route that has a plurality of branching units and is automatically driven along the driving route. The vehicle system is characterized in that a predetermined route is set in advance on the driving route, a controller mounted on the transportation vehicle stores a map of the traveling route in advance, and each branch including the predetermined route is stored in a map. In order to maintain the aforesaid predetermined route, the transportation vehicle once stores the information of the movement direction of the branching device, and controls and manages the main controller of the unmanned transportation system. When the transportation vehicle sends a transportation instruction, When the diverging unit on the route must select a route in a direction away from the predetermined route, the transportation instruction includes information indicating the location of the diverging unit and information indicating the operating direction of the diverging device for the diverging unit. The on-vehicle controller of the aforementioned transport vehicle that has fulfilled the transport instruction. According to the information from the controller stored in the car, the branch of the instruction indicated in the instruction will be maintained in accordance with the information of the controller on the vehicle, so that the aforementioned paper size will be adapted to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please first Read the notes on the back and then fill out this page) Order printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs -5- 517183 A7 _B7____ 5. Description of the invention (3) Operation of the divergent device. (Please read the precautions on the back before filling out this page.) And, as described in item 2 of the scope of the patent application, set the timing indicator member in front of the branch on the driving route, and detect the The detection means of the timing indicating member causes the diverging device to operate when the traveling vehicle detects the timing indicating member. In addition, as described in items 3 and 4 of the scope of patent application, the branching device has at least one pair of branching rollers, and one of the branching rollers abuts a branching guide provided on the branching road to select a route. The aforementioned on-vehicle controller controls the presence and absence of the aforementioned divergent rollers based on information previously stored in the on-vehicle controller or direction information indicated by the aforementioned transportation instruction. [Embodiment] The invention will be described with reference to drawings. Hereinafter, an embodiment of the unmanned moving vehicle system 1 of the present invention will be described. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, the first picture is a schematic diagram of the unmanned moving vehicle system 1, the second picture is a front sectional view of the unmanned moving vehicle 1, and the third picture is the same side sectional view. FIG. 4 is a plan view showing the unmanned trucks 1 3 of the arrangement structure of the guide wheels 2 4, 2 4... FIG. 6 is a plan view showing the lower part of the main track 1 1 and the auxiliary track 12 at the divergence point, FIG. 7. FIG. 8 is a plan view showing a main track 11 and a sub track 12; FIG. 8 is a block diagram showing a control structure of the unmanned moving vehicle system 1. The unmanned moving vehicle system 1 shown in FIG. 1 is composed of a plurality of moving systems 1 A, 1 B, 1 C, ..., and each of the moving systems 1 A., 1 B, 1 C, ... is looped to be unmanned. The main paper size of the moving route of the transport vehicle 1 3 is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) ~ -6-517183 A7 ______B7_ 5. Description of the invention (4) (Please read the precautions on the back before filling This page} Tracks 1 1, 1 1 ..., adjacent main tracks 1 1, 1 1 are connected by sub-tracks 1 2, 1 2 respectively. Each main track 1 1 is a one-way traffic, and each main track 11 1 The unmanned vehicles 1 3 are controlled to travel in the direction of the arrow shown in Fig. 1. A plurality of stations 10, 10, ... are arranged along the main track 11 described above, and the unmanned vehicles 1 3 are based on the following from the main The moving instruction of the controller 5 is moved between the stations 10 and 10, and the articles can be moved from one station i 0 to the other station 10. Moreover, along the main track 1 1, 1 1 ... And the sub-tracks 1 2 divided by the main tracks 1 1, 1 1... Are provided with power supply wires 2 and 2 that are covered with conductive wires such as copper wires by insulating materials (FIG. 2). And communication lines 8, 8 using feeder cables (Figure 2). Then, the structure of the unmanned moving vehicle 1 3 will be described. As shown in Figures 2 and 3, in the unmanned moving vehicle 13, the two Pick-up units 9, 9 for obtaining electricity from the aforementioned power supply lines 2, 2 are provided on the side. The above-mentioned main track 1 1 (or sub-track 1 2) is printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs as viewed from a section It has a slightly “concave” shape. The unmanned transport vehicle 1 3 traveling on the main track 1 1 (or the sub-track 1 2) is provided with a traveling vehicle body 2 1 at the lower part, and the traveling vehicle body 2 1. It is composed of a main frame 3 1 in the center, and wheel support portions 3 2 and 3 2 located in front of and behind the main frame 31. As shown in FIG. 4, the wheel support portions 3 2, 3 2 and the main frame 3 1 is connected via the pivot axis 3 3 and 3 3 so that the wheel support 3 2 and 3 2 can rotate freely to the main frame 3 1. This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) ) -7- 517183 A7 B7__ V. Description of the invention (5) Furthermore, an article supporting part capable of carrying articles is provided above the traveling car body 21 above. 2 2. The traveling vehicle body 21 and the article supporting portion 22 are connected by a connecting body 36, so that the article supporting portion 2 2 is supported on the traveling car body 21. Further, on the left and right sides of the connecting body 36, there are The pickup units 9, 9 are fixed at the front, rear, left, and right. On one side (on the right side in FIG. 2) of the main rail 1 1 (or the secondary rail 1 2), an upper surface is provided facing the pickup unit 9. Wire rack 30 ° A ferrite core 3 having a substantially "E" shape in cross section is fixed to the pickup unit 9 described above. A pickup coil 4 is wound around a projection in the center of the core 3. In this core 3, a power supply line held by the inner ends of the power supply wire racks 30 and 30 is provided in each of the two recessed spaces formed between the upper and lower protruding portions and the central protruding portion therebetween. 2, 2. The magnetic field generated by the high-frequency current flowing in the power supply lines 2 and 2 is received by the pickup coil 4. In addition, the electromagnetic induction phenomenon is used to extract electric power from the induced current generated in the pickup coil 4. In this way, electric power is supplied from the power supply lines 2 and 2 with non-contact power to drive the motor 14 and control equipment such as the on-board controller 20 described later. As shown in FIGS. 2 to 4, on the upper and lower ends of the left and right sides of the wheel support portion 32, running wheels 2 with axles in the left and right directions are arranged. …. On the upper part of the main track 11 (or the sub-track 12), there are provided portions protruding from the left and right to the inside as a pair of traveling guide rails 40 and 40. The top plate surface of the driving rail 40 forms a horizontal plane, and the running wheels 2 3. This paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling this page)

、1T, 1T

經濟部智慧財產局員工消費合作社印製 -8 - $17183 A7 B7 五、發明説明（6 ) 2 3…抵接在該行駛導軌4 0的天板面，使無人運搬車 1 3沿著行駛導軌4 0、4 0行駛。且，在前述行駛導軌4 0、4 0之間，設有可讓行駛車體2 1通過的左右寬的間隙。該間隙沿著主軌道1 1 ( 或副軌道1 2 )設置，且在主軌道1 1 (或副軌道1 2 ) 形成溝1 1 S (或1 2 S )。如第2、3及5圖所示，在前述車輪支撐部3 2的上部的左右兩側，配置有具有垂直方向的車軸的導輪2 4 ' 2 4…，該車軸從車輪支撐部3 2垂設。導輪2 4、2 4 …，在各車輪支撐部3 2、3 2的左右，分別在前後設有 2個，而共配置有8輪。在前述主軌道1 1 (或副軌道1 2 )的左右兩側，從行駛導軌4 0、4 0的外側的端部朝向側方（下方）形成側部4 1 、4 1 。而且，將該側部4 1作爲前述導輪2 4 、2 4…的導引面，而可以防止無人運搬車1 3的左右方向的偏離。無人運搬車1 3，在主軌道1 1 (或副軌道1 2 )的直線部中，呈使全導輪2 4、2 4…略抵接在側部4 1、 4 1的狀態下行駿。這種情況，連結左右的導輪2 4、 2 4的直線、及與抵接其導輪2 4的導引面的接線垂直的線一致。一方面，在曲線部中，分別設在無人運搬車1 3 的前輪2 6及後輪2 6的前後的導輪2 4、2 4抵接於曲線部的導引面的情況時，連結左右的導輪2 4、2 4的直線、及與抵接在該導輪2 4的導引面的接線垂直的方向的本紙張尺度適用中國國家標準（CNS M4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁)Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs -8-$ 17183 A7 B7 V. Description of the invention (6) 2 3 ... abuts on the top surface of the driving rail 40, and makes the unmanned moving vehicle 1 3 along the driving rail 4 0, 40 driving. In addition, between the traveling guide rails 40 and 40, there is provided a left-right wide gap through which the traveling vehicle body 21 can pass. This gap is provided along the main track 1 1 (or the sub track 12), and a groove 1 1 S (or 1 2 S) is formed in the main track 1 1 (or the sub track 1 2). As shown in FIGS. 2, 3 and 5, on the left and right sides of the upper part of the wheel support section 32, guide wheels 2 4 ′ 2 4... Having a vertical axis are arranged from the wheel support section 3 2. Erected. The guide wheels 2 4 and 2 4 are provided at the front and rear of each of the wheel support portions 3 2 and 3 2 respectively, and a total of 8 wheels are arranged. On the left and right sides of the main track 1 1 (or the sub track 1 2), side portions 4 1 and 4 1 are formed from the outer ends of the traveling guide rails 40 and 40 toward the side (downward). In addition, the side portion 41 serves as a guide surface for the guide wheels 2 4, 2 4,... So that the unmanned transport vehicle 13 can be prevented from deviating in the left-right direction. The unmanned moving vehicle 1 3 descends on the straight portion of the main track 1 1 (or the auxiliary track 1 2) such that the full guide wheels 2 4, 2 4... Abut the side portions 4 1, 4 1. In this case, the straight line connecting the left and right guide wheels 24 and 24 and the line perpendicular to the wiring contacting the guide surface of the guide wheels 24 are aligned. On the other hand, in the curved portion, when the guide wheels 2 4 and 2 4 provided in front and rear of the front wheel 26 and the rear wheel 26 of the unmanned transport vehicle 1 3 are in contact with the guide surface of the curved portion, the left and right are connected. The straight lines of the guide wheels 2 4 and 24 and the direction perpendicular to the wiring abutting on the guide surface of the guide wheels 24 are applicable to the Chinese national standard (CNS M4 specification (210X297 mm) (please first (Read the notes on the back and fill out this page)

、1T 經濟部智慧財產局員工消費合作社印製經濟部智慧財產局員工消費合作社印製 517183 A7 _B7___ 五、發明説明（7 ) 直線不同，而會在導輪2 4及導引面之間產生間隙。因此，在曲線部中，因離心力而多少會朝水平方向移動。對於前述主軌道1 1 (或副軌道1 2 )，係利用下部 4 2連結在側部4 1、4 1的下端間。而且，由行駛導軌 4 0、4 0及側部4 1、4 1及下部4 2的以下的結構，形成主軌道1 1 (或副軌道1 2 ) ° 馬達1 4配置在前述行駛車體2 1的前後方向中央部。馬達1 4，以該馬達1 4的下方固設在支撐體3 4 °該支撐體3 4，一端對於行駿車體2 1的主框架3 1可朝上下方向擺動自如地被支撐，他端被安裝在壓縮彈簧3 5 ° 因此，支撐體3 4，成爲通常朝下方推迫，而使設在支撐體3 4的驅動車輪2 5，按壓凸設在下部4 2中央的行駿面4 3。在前述支撐體3 4，可轉動自如地設有具有左右方向的驅動軸的驅動車輪2 5，該驅動車輪2 5係由前述馬達 1 4所驅動。前述行駛面4 3的上面呈水平形成，驅動車輪2 5，使可抵接在行駛面4 3地設在行駛車體2 1內的左右中央。而且，利用由前述壓縮彈簧3 5的朝下方的推迫力，使驅動車輪2 5時常抵接行駛面4 3。且，在前述下部4 2的兩側部，凸設有行駛導軌4 4 、4 4。該行駛導軌4 4的上面係形成水平面，且在該行駛導軌4 4的上面抵接有前述行駛車輪2 6、2 6…。且，藉由在前述驅動車輪2 5的驅動軸設置旋轉檢測本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁)1T Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 517183 A7 _B7___ V. Description of the Invention (7) The straight lines are different, and there will be a gap between the guide wheel 24 and the guide surface . Therefore, in the curved portion, the centrifugal force moves to some extent in the horizontal direction. The main track 1 1 (or the sub track 1 2) is connected between the lower ends of the side portions 4 1 and 4 1 by a lower portion 4 2. The main track 1 1 (or the sub-track 1 2) is formed by the following structures of the traveling guide rails 40 and 40, and the side portions 41, 41, and the lower portion 42. The motor 14 is disposed on the traveling vehicle body 2. 1 central part in the front-rear direction. The motor 14 is fixed to the support body 3 4 below the motor 14. The support body 3 4 is supported at one end to the main frame 3 1 of the traveling car body 2 1 and can be swingably supported in the up-down direction. It is mounted on a compression spring 3 5 °. Therefore, the support body 3 4 is usually pushed downward, so that the driving wheels 2 5 provided on the support body 3 4 are pressed against the running surface 4 3 protruding in the center of the lower portion 4 2. . The support body 34 is rotatably provided with drive wheels 25 having a drive shaft in the left-right direction, and the drive wheels 25 are driven by the motor 1 4. The upper surface of the running surface 43 is formed horizontally, and the wheels 25 are driven so as to be provided in the left and right centers in the running vehicle body 21 so as to be in contact with the running surface 43. The driving wheels 25 are constantly brought into contact with the running surface 43 by the downward urging force of the compression spring 35. In addition, traveling guide rails 4 4 and 4 4 are provided on both sides of the lower portion 4 2. The upper surface of the traveling guide rail 4 4 forms a horizontal plane, and the traveling wheels 2 6, 2 6... Are in contact with the upper surface of the traveling guide rail 4 4. In addition, by setting rotation detection on the drive shaft of the aforementioned driving wheels 25, the paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling this page)

-10- 517183 A7 B7 經濟部智慧財產局員工消費合作社印製五、發明説明（8 ) 器，而可以進行無人運搬車1 3的位置控制。例如··依據方疋轉檢測器的檢測結果，可以特定無人運搬車1 3的位置。且，可控制：朝無人運搬車1 3的車上控制器2 0，輸入從現在位置至目的地爲止所需的（驅動車輪2 5的）旋轉數，並驅動無人運搬車1 3至輸入値與檢測値相等爲止，使無人運搬車1 3到達目的地。旋轉檢測器，將驅動軸的旋轉數變換成脈衝訊號並取出，以該旋轉檢測器所具備的編碼器進行脈衝變換，並測量旋轉數。在前述的車輪支撐部3 2、3 2，設有：供對於從主軌道1 1分岐的分岐點選擇行駛副軌道1 2或主軌道1 i 用的分岐浪t 2 8、2 8。也就是說，如第2及5圖所示，在朝呈左右方向橫架的切換軸2 7上的左右兩側，將支撐軸2 8 a、2 8 a挪動9 0度位置且對於切換軸2 7呈直角方向突出，並將分岐滾子2 8、2 8可旋轉自如地配置在該支撐軸2 8 a、2 8 a。在該切換軸2 7上固設有錐齒輪3 7且與切換馬達2 9連動連結，藉由使該切換馬達2 9正轉或反轉，使切換軸2 7轉動，並使分岐滾子 28 ' 28的一方朝向下方。如第6圖所示，在主軌道1 1、副軌道1 2的下部 4 2，設有分岐滾子2 8、2 8可抵接的導溝1 1 a、 1 2 a (分岐導引部）。而且，利用導溝1 1 a 、1 2 a 的溝部內的左右兩壁，導引分岐滾子2 8。一方的導溝 1 1 a沿著主軌道1 1設置，他方的導溝1 2 a沿著副軌 (請先閲讀背面之注意事項再填寫本頁) -l-t»-10- 517183 A7 B7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. 5. Description of the invention (8) The device can be used for position control of unmanned vehicles. For example, the position of the unmanned moving vehicle 13 can be specified based on the detection result of the square turn detector. And, it can be controlled: the onboard controller 20 of the unmanned truck 13 is inputted the number of rotations (driving the wheels 25) required from the current position to the destination, and the unmanned truck 13 is driven to input 値Until it is equal to the detection threshold, the unmanned transport vehicle 13 is brought to the destination. The rotation detector converts the rotation number of the drive shaft into a pulse signal and extracts it. The encoder is equipped with the rotation detector to perform pulse conversion and measures the rotation number. The aforementioned wheel support portions 3 2 and 3 2 are provided with branch waves t 2 8 and 2 8 for selecting a traveling sub-track 12 or a main track 1 i from a branch point of the main track 11. That is, as shown in FIGS. 2 and 5, the support shafts 2 8 a and 2 8 a are shifted at 90 ° positions on the left and right sides of the switching shaft 27 that is horizontally oriented in the horizontal direction, and the switching shaft 2 7 protrudes in a right-angle direction, and the diverging rollers 2 8 and 2 8 are rotatably arranged on the support shafts 2 8 a and 2 8 a. A bevel gear 3 7 is fixed on the switching shaft 27 and is connected to the switching motor 2 9. By rotating the switching motor 2 9 forward or reverse, the switching shaft 27 is rotated and the diverging roller 28 is rotated. The '28 side faces downward. As shown in FIG. 6, the guide rails 1 1 a and 1 2 a which can be contacted by the branch rollers 2 8 and 2 8 are provided on the lower portion 4 2 of the main rail 11 and the secondary rail 12 (a branch guide portion) ). Then, the divided rollers 28 are guided by the left and right walls in the groove portions of the guide grooves 1 1 a and 1 2 a. One guide groove 1 1 a is set along the main track 1 1 and the other guide groove 1 2 a is set along the auxiliary track (please read the precautions on the back before filling this page) -l-t »

τ 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -11 - 517183 A7 B7 五、發明説明（9 ) 道1 2設置。對於這種結構，當無人運搬車1 3進入從主軌道1 1 的分岐點時，藉由驅動切換馬達，且使左右任一方的分岐滾子2 8朝向下方，使朝下方突出的分岐滾子2 8***導溝1 1 a (或1 2 a )，他方的分岐滾子2 8呈退避狀態地從導溝1 2 a (或1 1 a )脫離，使沿著插有分岐滾子 2 8的導引溝行駛。如此，可以選擇主軌道1 1或副軌道 1 2的任一方行駿。也就是說，無人運搬車1 3，配置成一方的分岐滾子 2 8對於一方的導溝1 1 a (或1 2 a )成爲抵接位置，並且，搭載配置成使他方的分岐滾子2 8對於他方的導溝 1 2 a (或1 1 a )成爲非抵接位置的切換機構，且利用該切換機構的動作將分岐滾子2 8切換於抵接位置及非抵接位置之間，而可以選擇主軌道1 1或副軌道1 2行駛。接著，說明無人運搬車1 3的行駛控制。在無人運搬車1 3，搭載有與橫跨各運搬系1 A、 1 B、1 C.配設的前述通訊線8、8接近面對的收訊器 5 1、5 2，來進行與前述主控制器5的通訊。如第8圖所示，前述主控制器5中，輸入判斷來自數據機5 4的各無人運搬車1 3、1 3 ···的各回饋訊號，例如現在位置的位址訊號或是否有物品等的訊號，並介由主控制器5的介面將對於各無人運搬車1 3、1 3…的目的地及是否進行移載等的控制訊號朝數據機5 4輸出。此數據機5 4，.將從主控制器5輸入的各無人運搬車本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本頁)τ This paper size applies to China National Standard (CNS) A4 specification (210X297 mm) -11-517183 A7 B7 V. Description of the invention (9) Channel 12 setting. With this structure, when the unmanned moving vehicle 1 3 enters the divergence point from the main track 1 1, the switching motor is driven by driving, and the diverging rollers 2 8 on either side are directed downward, so that the diverging rollers protruding downward 2 8 is inserted into the guide groove 1 1 a (or 1 2 a), and the other diverging roller 2 8 is disengaged from the guide groove 1 2 a (or 1 1 a) in a retracted state, so that the diverging roller 2 8 is inserted along the guide groove 1 8 Of the guide ditch. In this way, either the main track 11 or the sub track 12 can be selected. In other words, the unmanned moving vehicle 1 3 is arranged so that one of the diverging rollers 2 8 is in contact with one of the guide grooves 1 1 a (or 1 2 a), and is equipped with the diverging rollers 2 arranged so that the other 8 For other guide grooves 1 2 a (or 1 1 a) to become a non-contact position switching mechanism, and use the action of the switching mechanism to switch the divergent roller 2 8 between the abutment position and the non-contact position, Instead, you can choose the main track 11 or the sub-track 12 to travel. Next, the travel control of the unmanned transport vehicle 13 will be described. The unmanned transport vehicle 1 3 is equipped with receivers 5 1 and 5 2 which are close to the communication lines 8 and 8 provided across each transport system 1 A, 1 B, 1 C. Communication of the main controller 5. As shown in FIG. 8, the main controller 5 inputs and judges the feedback signals from the unmanned vehicles 1 3, 1 3 ··· from the modem 5 4, such as the current location address signal or the presence of items And other signals, and the interface of the main controller 5 will output control signals for the destinations of each unmanned vehicle 1 3, 1 3,. This modem 5 4: Each unmanned truck input from the main controller 5 The paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling this page)

、1T 線蠢· 經濟部智慧財產局員工消費合作社印製 -12- 517183 Α7 Β7 五、發明説明（10) (請先閲讀背面之注意事項再填寫本頁) 1 3、1 3…的各數位訊號F Μ變調，並介由阻抗匹配箱 5 6，將通訊線8、8作爲天線送訊至各無人運搬車1 3 、1 3…的車上控制器。而且，由無人運搬車1 3的收訊器5 1 (或5 2 )所收訊的控制訊號被輸入數據機5 5。該數據機5 5只有替換前述主控制器5的數據機5 4及送收信機機能的局部發振頻率，其他係爲同一結構，由收訊器5 1 (或5 2 )輸入的訊號被變換至被復調的數位訊號，並朝無人運搬車 1 3本身的控制手段的車上控制器2 0輸出。前述車上控制器2 0，所連接的檢測器，係有：由檢測無人運搬車1 3的載置台上物品的有無及物品的位置的光電開關所組成的物品檢測器、及檢測與先行的無人運搬車1 3是否接近的受光器、及檢測衝突的保險桿開關、及以驅動車輪2 5的行駛馬達的旋轉數檢測行駛距離的編碼器等，依據來自各檢測器的訊號、及從數據機5 5輸入的主控制器5的控制訊號來判斷，並藉由變頻器控制前述行駿馬達等，來控制無人運搬車1 3的自動行駛。經濟部智慧財產局員工消費合作社印製且，車上控制器2 0的供後行的無人運搬車1 3檢測接近用的投光係利用投光器進行。從車上控制器2 0朝主控制器5的前述回饋訊號，係以數位訊號朝數據機5 5輸出，該數據機5 5將此回饋訊號F Μ變調並送訊至送訊器 5 3。由該送訊器5 3所送訊的來自車上控制器2 0的回饋訊號，係由通訊線8、8所收訊且介由阻抗匹配箱5 6 以數據機5 4復調並被輸出至主控制器5。主控制器5依本紙張尺度適用中國國家標準（CNS ) Α4規格（21〇Χ；297公釐） -13- 517183 A7 B7 五、發明説明（11 ) 據由數據機5 4所輸入的車上控制器2 0的回饋訊號把握無人運搬車1 3的狀況。如此，藉由將數據機5 4及數據機5 5作爲送收訊裝置，將收訊器5 1、52、送訊器53及通訊線8、8作爲天線，進行主控制器5及車上控制器2 0的訊號的傳送 0 且，如第7圖所示，在主軌道1 1 、及副軌道1 2的預定位置，例如：站1 0、1 0…的設置位置，各貼設有記錄有固有的位置資訊的條碼6 1、6 1…，且在分岐點之前及合流點之後，貼設有條碼6 2、6 2…。且，在無人運搬車1 3的適當位置，安裝有供讀取條碼6 1、6 1 …6 2、6 2…用的條碼讀取器5 7。而且，利用前述條碼讀取器5 7，讀取主軌道1 1 、副軌道1 2上的條碼6 1 (或6 2 )的話，其位置資訊被輸出至搭載於無人運搬車1 3上的車上控制器2 0。在該車上控制器2 0，記憶記載有條碼間的距離資訊、及其間的通過速度資訊的行駛路線地圖，無人運搬車1 3的條碼讀取器5 7讀取條碼6 1 (或6 2 )的話，可在該車上控制器2 0認識該車自身的現在行駛位置，並且，可參照該行駛路線地圖進行行駿控制。前述無人運搬車1 3，到達被貼在目的的停止位置的條碼6 1的前一個條碼6 1 (或6 2 )位置爲止，依照前述行駿路線地圖的資訊行駛，當檢測到該前一個條碼6 1 (或6 2 )時，開始減速。此減速，係依據從該前一個條本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁) 訂 -線經濟部智慧財產局員工消費合作社印製 -14 - 517183 A7 ___B7_ 五、發明説明（12 ) 碼6 1 (或6 2 )的位置，至前述行駛路線地圖所記憶的 (請先閲讀背面之注意事項再填寫本頁) 該目的的停止位置爲止的距離資訊進行，並控制使無人運搬車1 3可正確地停止在目的的停止位置。接著，說明本發明的進路選擇控制。首先，控制的前提，將前述行駿路線中的一部分的路線，預先設定爲既定路線。在本實施例中，將各運搬系 1 A、1 B、1 C的主軌道1 1 (在第1圖中以粗線表示 )設定爲既定路線。前述副軌道1 2，係爲脫離該既定的路線的路線。此既定的路線的設定方法雖爲任意，但最好設定多含可從該既定的路線脫離的方向分岐的分岐部。在無人運搬車1 3的車上控制器2 0雖記憶有前述行駿路線地圖，但加上條碼間的距離資訊及通過速度資訊，在上述既定路線上的複數的分岐部，爲了使不會從該既定路線脫離地行駿，而預先記憶：應將前述分岐滾子2 8的任一個突出或沒入的資訊。經濟部智慧財產局員工消費合作社印製以具體例說明的話，例如：在運搬系1 B的既定路線 (主軌道）1 1，雖如第1圖所示含有複數的分岐部a 1 、a 2、a 3、a 4，但爲了使該既定的路線1 1上的無人運搬車1 3不會從該既定的路線1 1脫離地行駿，必需使在分岐部a 1左轉，在分岐部a 2直進，在分岐部a 3 左轉，在分岐部a 4左轉地，選擇是否突出前述分岐滾子 2 8° 在此，在記憶於前述車上控制器2 0的前述行駛路線本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -15- 517183 A7 B7 五、發明説明（13 ) (請先閲讀背面之注意事項再填寫本頁) 地圖中，藉由預先記請供行駿通常行駿的路線用的分岐方向（應使那一個分岐滾子2 8動作），而可以減少爲了行駿預定的路線，必需由主控制器5指示的資訊量。而且，對於系統實際稼動的情況時，假設需將行駛於該運搬系1 B的既定的路線1 1上的無人運搬車1 3，朝向某站1 0 (第1圖中顯示有1 0 *的站），進行物品的移載。爲了使運搬系1 B的既定的路線1 1上的無人運搬車 1 3到達該站1 〇 * ,如第1圖所示，必需在分岐部a 2 右轉，並從既定的路線1 1脫離。因此，這種情況，管理前述運搬系1 B的主控制器5 ，將含有（1 )目的地的站1 〇 *的位置的指示、（2 ) 右轉所必要的分岐部a 2的位置的指示、及（3 )爲了在其分岐部a 2右轉而使前述分岐滾子2 8突出側的指示，之運搬指令，給與行駛於運搬係1 B上的無人運搬車1 3 (例如：第1圖中顯示有1 3 *的運搬車）。然而，運搬指令中並不包含其他的分岐部a 1、a 3、a 4。經濟部智慧財產局員工消費合作社印製接受了運搬指令的無人運搬車1 3 *的車上控制器 2 0，在該車上控制器2 〇所具備的適當的記憶手段（例如：記憶體）記憶其運搬指令，並如以下所示地朝向其目的的站1 0 *。首先，無人運搬車1 3 *朝箭頭方向行駛於既定的路線1 1上，並停在分岐部a 4。讀取了該分岐部a 4之前的條碼6 2 (無圖示）的無人運搬車1 3 *的車上控制器本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐1 一 -16 - 經濟部智慧財產局員工消費合作社印製 517183 A7 B7 五、發明説明（14) 2 0，參照記憶於前述記憶手段的運搬指令，調查是否含有關於分岐部a 4的運搬指令。這種情況，因爲不含有關分岐部a 4的指令，所以車上控制器2 0，遵從前述所記憶的資訊（在分岐部a 4左轉的資訊），朝不會脫離既定的路線1 1的方向，控制分岐裝置來選擇進路。因此，這種情況，無人運搬車1 3 * 會在分岐部a 4左轉。然而，前述無人運搬車1 3 *，藉由檢測前述條碼 6 2，使分岐裝置的分岐滾子2 8動作。換言之，此條碼 6 2，發揮指示對於無人運搬車1 3 *的分岐裝置的動作時機的時機指示構件之功能，並使條碼讀取器5 7，發揮在無人運搬車1 3側檢測時機指示構件的檢測手段之功能〇因此，不需要將爲了在全部的分岐部使分岐裝置動作的位置資訊，包含於運搬指令及移動指令來一倂送訊。但是，不限定於使用條碼6 2作爲時機指示構件，使用其他的構件，例如：時機桿的構件也可以。這種情況，前述條碼讀取器5 7之外，需在無人運搬車1 3另設檢測該時機桿的檢測器等的檢測手段。接著，無人運搬車1 3 *沿著箭頭方向進行於既定的路線1 1上，並停在分岐部a 1。讀取了此分岐部a 1之前的條碼的無人運搬車1 3 *的車上控制器2 0，再參照記憶於前述記憶手段的搬送指令，調查是否含有關於分岐部a 1的運搬指令。本紙張尺度適用中國國家標準（CNS ) A4規格（210Χ297公釐） (請先閲讀背面之注意事項再填寫本頁)、 1T line stupid Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs-12- 517183 Α7 Β7 V. Description of the invention (10) (Please read the notes on the back before filling this page) 1 3, 1 3 ... The signal FM is transposed, and the communication lines 8 and 8 are used as antennas to transmit the signals to the on-board controllers of the unmanned vehicles 1 3, 13,... Via the impedance matching box 56. In addition, the control signal received by the receiver 5 1 (or 5 2) of the unmanned moving vehicle 1 3 is input to the modem 5 5. This modem 5 5 only replaces the local oscillation frequency of the modem 5 4 and the function of the transmitter-receiver of the main controller 5 described above. The others have the same structure, and the signal input by the receiver 5 1 (or 5 2) is The signal is converted to a digital signal that is tuned and output to the on-board controller 20 of the unmanned moving vehicle 1 3 itself. The on-board controller 20 and the connected detector are: an article detector composed of a photoelectric switch that detects the presence or absence of an article and the position of the article on the mounting platform of the unmanned transport vehicle 13, and a detection and advance Receiver for unmanned vehicle 1 3 is close to the photoreceptor, bumper switch to detect collision, and encoder to detect the distance traveled by the number of rotations of the driving motor driving the wheel 25, etc., based on the signals from each detector and the data The control signal of the main controller 5 input by the machine 5 5 is used for judging, and the aforementioned traveling motor and the like are controlled by the inverter to control the automatic driving of the unmanned moving vehicle 13. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. The on-board controller 20 is used for the rear unmanned moving vehicle 13 to detect the approach. The projected light is used for the approach. The aforementioned feedback signal from the onboard controller 20 to the main controller 5 is output to the modem 5 5 as a digital signal. The modem 5 5 transposes the feedback signal F M and sends it to the transmitter 53. The feedback signal from the on-board controller 20 sent by the transmitter 5 3 is received by the communication lines 8 and 8 and is adjusted by the impedance matching box 5 6 and the modem 5 4 and output to The main controller 5. The main controller 5 applies the Chinese National Standard (CNS) A4 specification (21〇 ×; 297 mm) according to the paper size. -13- 517183 A7 B7 V. Description of the invention (11) According to the data input by the data machine 5 4 The feedback signal from the controller 20 grasps the status of the unmanned moving vehicle 13. In this way, by using the modem 5 4 and the modem 5 5 as transmitting and receiving devices, and using the receivers 5 1 and 52, the transmitter 53 and the communication lines 8 and 8 as antennas, the main controller 5 and the vehicle are carried out. The signal transmission of the controller 2 0 is 0. As shown in FIG. 7, at the predetermined positions of the main track 1 1 and the sub track 12, for example, the installation positions of the stations 1 0, 1 0, ... Barcodes 6 1, 6, 1 ... with inherent position information recorded, and bar codes 6 2, 6 2 ... are pasted before the divergence point and after the confluence point. Furthermore, a bar code reader 5 7 for reading bar codes 6 1, 6 1 ... 6 2, 6 2 ... is installed at an appropriate position of the unmanned truck 13. In addition, if the barcode reader 5 7 is used to read the barcode 6 1 (or 6 2) on the main track 1 1 and the sub track 12, the position information is output to the car mounted on the unmanned moving vehicle 13. On the controller 2 0. The controller 20 on the vehicle memorizes the distance information between the barcodes and the driving route map of the passing speed information. The unmanned truck 1 3 barcode reader 5 7 reads the barcode 6 1 (or 6 2 ), The controller 20 in the vehicle can recognize the current driving position of the vehicle itself, and can perform travel control with reference to the driving route map. The aforementioned unmanned transport vehicle 1 3 reaches the previous barcode 6 1 (or 6 2) of the barcode 6 1 pasted at the destination stop position, and travels according to the information of the aforementioned travel route map. When the previous barcode is detected When 6 1 (or 6 2), deceleration starts. This deceleration is based on the paper size applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) from the previous article. (Please read the precautions on the back before filling this page.) Printed by the cooperative -14-517183 A7 ___B7_ V. The location of the invention description (12) code 6 1 (or 6 2) to the memory of the aforementioned driving route map (please read the precautions on the back before filling this page) The distance information up to the stop position of the vehicle is carried out, and the control is performed so that the unmanned vehicle 1 3 can be accurately stopped at the intended stop position. Next, the route selection control of the present invention will be described. First of all, the premise of control is to set a part of the aforementioned traveling routes as a predetermined route in advance. In this embodiment, the main track 1 1 (indicated by a thick line in FIG. 1) of each transportation system 1 A, 1 B, 1 C is set as a predetermined route. The aforementioned sub-track 12 is a route deviating from the predetermined route. Although the method for setting the predetermined route is arbitrary, it is preferable to set a plurality of branching sections including a branching direction that can be separated from the predetermined route. Although the controller 2 0 of the unmanned moving vehicle 1 3 memorizes the aforementioned traveling route map, the distance information between the barcodes and the passing speed information are added. Depart from the established route, and remember in advance: information that should highlight or immerse any of the aforementioned diverging rollers 28. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs for specific examples. For example, the planned route (main track) 1 1 of the transportation department 1 B, although it contains a plurality of branch divisions a 1 and a 2 as shown in Figure 1. , A 3, a 4, but in order to prevent the unmanned vehicles 13 on the established route 11 from leaving the planned route 11, you must turn left at the branch a 1 and at the branch a 2 go straight, turn left at branch a 3, turn left at branch a 4 and choose whether to highlight the branch roller 2 8 ° Here, the above driving route memorized in the vehicle controller 2 0 The scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -15- 517183 A7 B7 V. Invention Description (13) (Please read the precautions on the back before filling this page) In the map, please provide for Xing Jun usually uses the diverging direction of the traveling line (that diverging roller 2 8 should be operated), and the amount of information that must be instructed by the main controller 5 in order to travel the traveling line can be reduced. In addition, for the actual situation of the system, it is assumed that the unmanned vehicle 1 3 traveling on the predetermined route 11 of the transportation system 1 B is directed toward a certain station 10 (the 1 in the figure shows 1 0 * Station) to transfer the items. In order for the unmanned transport vehicle 1 3 on the established route 11 of the transportation system 1 B to reach the station 1 0 *, as shown in the first figure, it is necessary to turn right at the branch a 2 and leave from the established route 11 . Therefore, in this case, the main controller 5 that manages the aforementioned transportation system 1 B will include (1) an indication of the position of the station 1 0 * at the destination, and (2) the position of the branching unit a 2 necessary for turning right. Instructions, and (3) an instruction to make the aforementioned diverging roller 2 8 protrude to turn right in its diverging section a 2, and a transportation instruction to the unmanned transportation vehicle 1 3 traveling on the transportation system 1 B (for example: Figure 1 shows 1 3 * transport vehicles). However, the moving instructions do not include other branching units a1, a3, a4. The consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs has printed the unmanned moving vehicle 1 3 * on-vehicle controller 20 that has accepted the moving instruction, and the appropriate memory means (for example, memory) in the vehicle controller 20. Memorize its transportation instructions and head toward its destination station 10 * as shown below. First, the unmanned vehicle 1 3 * travels on the predetermined route 11 in the direction of the arrow, and stops at the branch a 4. Read the barcode 6 2 (not shown) of the unmanned vehicle 1 3 * on-board controller before the branch a 4 This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm 1 1-16 -Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 517183 A7 B7 V. Description of the invention (14) 20, referring to the transportation instructions memorized in the aforementioned memory means, to investigate whether there is a transportation instruction regarding the branch a 4. Because there is no instruction about the divergence section a 4, the controller 20 in the car follows the information stored above (information for turning left at the divergence section a 4) and controls in a direction that will not deviate from the established route 11 The diverging device selects the route. Therefore, in this case, the unmanned moving vehicle 1 3 * will turn left at the diverging section a 4. However, the aforementioned unmanned moving vehicle 1 3 * will detect the foregoing barcode 6 2 to make the diverging device divergent. The roller 2 8 acts. In other words, this barcode 6 2 functions as a timing indicating member that indicates the timing of the operation of the divergent device 1 3 * for the unmanned truck 1, and makes the barcode reader 5 7 play on the unmanned truck 1 3 side checks The function of the detection means of the timing instruction member. Therefore, it is not necessary to include the position information for operating the divergence device in all the divergence sections in the transportation instruction and the movement instruction. However, it is not limited to using the barcode 6 2 As the timing indicating member, other members may be used, for example, a member of a timing lever may be used. In this case, in addition to the aforementioned barcode reader 5 7, a detector for detecting the timing lever needs to be provided in the unmanned vehicle 1 3. Next, the unmanned truck 1 3 * goes along the direction of the arrow on the predetermined route 11 1 and stops at the branching section a 1. The unmanned trucking 1 that reads the bar code before this branching section a 1 * On-board controller 20, and then refer to the transportation instructions memorized in the aforementioned memory means to investigate whether it contains the transportation instructions for the branch division a 1. This paper size applies the Chinese National Standard (CNS) A4 specification (210 × 297 mm) ( (Please read the notes on the back before filling out this page)

-17- 經濟部智慧財產局員工消費合作社印製 517183 A7 _B7_ 五、發明説明（15 ) 這種情況，因爲不含有關分岐部a 1的指令，所以車上控制器2 0，遵從前述所記憶的資訊（在分岐部a 1左轉的資訊），朝不會脫離既定的路線1 1的方向，控制分岐裝置來選擇進路。因此，這種情況，無人運搬車1 3 * 會在分岐部a 1左轉。無人運搬車1 3 *更沿著箭頭方向進行，並停在分岐部a 2。讀取了此分岐部a 2之前的條碼的無人運搬車 1 3 *的車上控制器2 0，再參照記憶於前述記憶手段的搬送指令，調查是否含有關於分岐部a 2的運搬指令。這種情況，如前述，因爲含有關於分岐部a 2的指示，所以車上控制器2 0，遵從其運搬指令的指示，控制分岐裝置的分岐滾子2 8並選擇進路。因此，這種情況，無人運搬車1 3 *在分岐部a 2右轉，脫離既定的路線（主軌道）1 1轉移至副軌道1 2，並馬上到達目的的站 1 0氺。如此，本發明中的無人運搬車1 3 、1 3…的各分岐部a 1 、a 2、a 3、a 4的進路選擇的控制，除了在該分岐部有必要從前述既定的路線1 1脫離的情況之外，搭載於各無人運搬車1 3的車上控制器2 0，自動地遵從預先記憶的資訊行駿（不需依照來自主控制器5的指令）。因此，主控制器5側，只要含有脫離前述既定的路線 1 1所必要的分岐部a 2的進路選擇指示的運搬指令即可，而不需要含有其他的分岐部a 1、a 3、a 4的進路指示的運搬指令。此結果，主控制器5的運搬指令製作的負本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁)-17- Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 517183 A7 _B7_ V. Description of Invention (15) In this case, because there is no instruction about the branch a 1, the controller 20 on the vehicle complies with the previous memory Information (turn left in the divergence section a 1), control the divergence device to select the route in a direction that will not deviate from the established route 11. Therefore, in this case, the unmanned moving vehicle 1 3 * will turn left at the branch a 1. Unmanned moving vehicle 1 3 * Go further in the direction of the arrow and stop at the branching section a 2. The unmanned vehicle 1 3 * having read the bar code before the divergence section a 2, the on-board controller 20, and then referring to the transfer instruction stored in the aforementioned memory means to investigate whether it contains the divergence instruction for the divergence section a 2. In this case, as mentioned above, because the instructions on the branching part a 2 are included, the on-board controller 20, in accordance with the instructions of its transportation instruction, controls the branching roller 28 of the branching device and selects the route. Therefore, in this case, the unmanned moving vehicle 1 3 * turn right at the branch a 2 and deviate from the established route (main track) 1 1 to the secondary track 1 2 and immediately reach the destination station 10 0 氺. In this way, in the present invention, the control of the route selection of the branching sections a 1, a 2, a 3, a 4 of the unmanned vehicles 1 3, 1 3,... Except in the case of detachment, the onboard controller 20 mounted on each of the unmanned vehicles 13 automatically follows the information stored in advance (without having to follow the instruction from the main controller 5). Therefore, the main controller 5 side only needs to include the transport instruction of the route selection instruction of the branching section a 2 necessary for deviating from the aforementioned predetermined route 1 1, and it is not necessary to include other branching sections a 1, a 3, a 4 The transportation instructions indicated by the approach. As a result, the negative paper size produced by the transport instruction of the main controller 5 applies the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling this page)

-18- 517183 A7 B7 五、發明説明（16) 擔可減輕，使主控制器5及各無人運搬車1 3的車上控制器2 0之間的通訊順暢，並且，無人運搬車1 3的車上控制器2 0側，也可以減輕運搬指令處理的負擔。然而，目的的站，例如：第1圖的1 〇 ’所示，在既定的路線1 1上的情況時，無人運搬車1 3只要沿著既定的路線1 1行駿，就可到達其目的的站1 〇 ’ 。也就是說，這種情況，主控制器5側，在運搬指令中，只要含有前述目的的站1 0 ’的位置指示即可，不需要含有任何的分岐部a 1、a 2、a 3、a 4的進路選擇指示。〔發明之效果〕因爲本發明具有上述之結構，所以可以達到以下的效果。首先，藉由申請專利範圍第1項之，針對具備具有複數的分岐部的行駛路線，且在沿著該行駛路線自動行駛的運搬車搭載有選擇前述分岐部進行路線的分岐裝置的無人運搬車系統；在前述行駛路線預先設定既定的路線，在搭載於該運搬車的車上控制器，預先記憶前述行駛路線的地圖，且，對於含有前述既定的路線的各分岐部，運搬車爲了維持前述既定的路線行駛，一倂記憶前述分岐裝置應動作方向的資訊，控制管理無人運搬車系統的主控制器，對於運搬車送訊運搬指令時，爲了運搬而對於前述既定的路線上的分岐部必需選擇從該既定路線脫離的方向的路線的情況時，該運搬指令，包含指示其分岐部的位置的資訊、本紙張尺度適用中國國家標準（CNS ) Α4規格（210X29?公釐） (請先閲讀背面之注意事項再填寫本頁)-18- 517183 A7 B7 V. Description of the invention (16) The load can be reduced, and the communication between the main controller 5 and the onboard controllers 20 of each unmanned moving vehicle 1 3 is smooth, and the unmanned moving vehicle 1 3 The controller on the vehicle's 20 side can also reduce the burden of handling transportation instructions. However, the destination station is, for example, as shown in Fig. 1's 10 '. In the case of a predetermined route 11, the unmanned moving vehicle 1 3 can reach its purpose as long as it follows the predetermined route 11 Station 1 〇 '. That is to say, in this case, the main controller 5 side only needs to include the position indication of the station 10 ′ for the aforementioned purpose in the transportation instruction, and does not need to include any branching parts a 1, a 2, a 3, a 4 route selection indication. [Effects of the Invention] Since the present invention has the above-mentioned structure, the following effects can be achieved. First of all, according to the first item of the scope of patent application, an unmanned transport vehicle equipped with a diverging device for selecting a route for the diverging section is provided for a traveling route having a plurality of diverging sections, and a traveling vehicle that automatically travels along the traveling route. System; a predetermined route is set in advance on the driving route, and a controller mounted on the vehicle carrying the vehicle stores a map of the driving route in advance, and for each branch including the predetermined route, the transportation vehicle maintains the foregoing When driving on a predetermined route, once the information of the movement direction of the foregoing branching device is memorized, the main controller that controls and manages the unmanned vehicle moving system is necessary for the transportation vehicle to send the transportation instructions, and it is necessary for the branching unit on the predetermined route for transportation. When selecting a route in a direction away from the established route, the transportation instruction includes information indicating the location of its branch, and this paper size applies the Chinese National Standard (CNS) Α4 specification (210X29? Mm) (Please read first (Notes on the back then fill out this page)

、1T, 1T

經濟部智慧財產局員工消費合作社印製 -19- 517183 A7 B7 五、發明説明（17 ) 及對於該分岐部指示前述分岐裝置動作方向的資訊，收訊了該運搬指令的前述運搬車的前述車上控制器，對於前述運搬指令所示指示的分岐部，則依據預先記憶在該車上控制器的資訊，使維持前述既定路線地使前述分岐裝置動作使既定的路線上的各分岐路的進路選擇的控制，除了在該分岐部有必要從前述既定的路線脫離的情況之外，搭載於各無人運搬車的車上控制器，自動地遵從預先記憶的資訊行駛（不需依照來自主控制器的指令）。. 因此，主控制器5側，只要含有脫離前述既定的路線所必要的分岐部的進路選擇指示的運搬指令即可，而不需要含有其他的分岐部的進路指示的運搬指令。此結果，主控制器的運搬指令製作的負擔可減輕，使主控制器及各無人運搬車的車上控制器之間的通訊順暢，並且，無人運搬車的車上控制器側，也可以減輕運搬指令處理的負擔。然而，在本實施例中，主控制器係爲供管理無人運搬車系統用的控制器，對於設在各無人運搬車的車上控制器係爲上位的控制器。例如：將管理所有生產過程的控制作爲主控制器，並在其下位具有統一管理無人蓮搬車的無入運搬車控制器的階層地配置的系統的話，則相當於運搬車控制器。當然，以管理生產過程的主控制器，作成運搬指令，並將其直接或由運搬車控制器中繼送訊至車上控制器也可以。且，藉由申請專利範圍第2項之，如申請專利範圍第本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐1 ~ -20- (請先閱讀背面之注意事項再填寫本頁) 訂Printed by the Employees ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs-19- 517183 A7 B7 V. Description of the invention (17) and the information indicating the operation direction of the branching device by the branching department, received the aforementioned vehicle of the transportation vehicle of the transportation instruction The upper controller, for the branching section indicated by the transportation instruction, based on the information stored in the controller of the vehicle in advance, causes the branching device to operate while maintaining the predetermined route and causes the branching paths of the predetermined route to be maintained. The selected control, except when it is necessary to depart from the above-mentioned route in the branch, the on-board controller mounted on each unmanned transport vehicle automatically follows the pre-memorized information. Instructions). Therefore, the main controller 5 side only needs to include the transportation instruction of the branch selection route instruction necessary to deviate from the aforementioned predetermined route, and does not need to include the transportation instruction of the branch instruction of the other branch division. As a result, the burden of making the transportation instruction of the main controller can be reduced, the communication between the main controller and the on-board controllers of the unmanned vehicles can be smoothed, and the on-board controller side of the unmanned vehicles can be reduced. The burden of handling instructions. However, in this embodiment, the main controller is a controller for managing the unmanned moving vehicle system, and the controller on the vehicles provided in each unmanned moving vehicle is a high-level controller. For example, if the system that controls all production processes as the main controller and has a non-incoming truck controller that uniformly manages unmanned trucks under it, it is equivalent to a truck controller. Of course, with the main controller that manages the production process, it is possible to make a transportation instruction and send it directly or by the transportation vehicle controller to the vehicle controller. And, by applying for the second item of the patent scope, if the paper size of the patent application is the same as the Chinese standard (CNS) A4 specification (210X297 mm 1 ~ -20- (Please read the precautions on the back before filling this page ) Order

經濟部智慧財產局員工消費合作社印製 517183 A7 _ B7 五、發明説明（18 ) (請先閲讀背面之注意事項再填寫本頁) 1項之無人運搬車系統，其中，將時機指示構件設在前述行駛路線上的分岐部前的位置，且，在運搬車設置檢測該時機指示構件的檢測手段，當行駛的運搬車檢測到該時機指示構件時，使前述分岐裝置動作：不需從主控制器送訊爲了使分岐裝置動作的位置資訊，就可以在適當的時機作動分岐裝置，而可以減輕主控制窃側的負擔。而且，藉由申請專利範圍第3、4項之，前述分岐裝置至少具有一對的分岐滾子，將該分岐滾子的一·方抵接設在前述分岐路的分岐導引部使進行路線的選擇，前述車上控制器，依據預先記憶在該車上控制器的資訊、或前述運搬指令所指示的方向資訊，來控制前述分岐滾子的出沒：以簡單地使分岐滾子出沒的結構，就可以將無人運搬車導引至目的的方向。〔圖面之簡單說明〕第1圖係爲無人運搬車系統1的模式圖。經濟部智慧財產局員工消費合作社印製第2圖係顯示無人運搬車1 3的正面剖面圖。第3圖係顯示無人運搬車1 3的側面剖面圖。第4圖係顯示駿行車輪2 3、2 3…的配置結構的無人運搬車1 3的平面剖面圖。第5圖係顯示導輪2 4、2 4…的配置結構的無人運搬車1 3的平面圖。第6圖係顯示在分岐點的主軌道1 1及副軌道1 2的本紙張尺度適用中國國家標準(CNS ) A4規格（210X297公釐）一 -21 - 517183 A7 B7 五、發明説明（19) 下部的平面圖。第7圖係顯示主軌道1 1及副軌道1 2的平面圖。 (請先閱讀背面之注意事項再填寫本頁) 第8圖係顯示無人運搬車系統1的控制結構的方塊圖〔圖號說明〕 1 無人運搬車系統 5 主控制器 1 〇站 1 1 主軌道 1 1 a 導溝 1 2 副軌道 1 2 a 導溝 1 3 te 人運搬車 2 〇車上控制器 2 8 分岐滾子 5 7 條碼讀取器 6 1 條碼 6 2 條碼經濟部智慧財產局員工消費合作社印製本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -22 -Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs' Consumer Cooperatives 517183 A7 _ B7 V. Description of the invention (18) (Please read the precautions on the back before filling out this page) The unmanned moving vehicle system of item 1, in which the timing instruction component is set at The position in front of the diverging section on the aforementioned driving route, and a detection means for detecting the timing indicating member is provided in the transport vehicle, and when the traveling transport vehicle detects the timing indicating member, the aforementioned diverging device is caused to operate: no need to control from the master In order to make the position information of the divergent device actuate, the divergent device can be operated at an appropriate timing, which can reduce the burden of the main control of theft. In addition, according to items 3 and 4 of the scope of patent application, the branching device has at least one pair of branching rollers, and one side of the branching rollers abuts a branching guide provided on the branching road to perform a route. Selection, the on-board controller controls the presence and absence of the diverging rollers based on the information stored in the controller of the vehicle or the direction information indicated by the transportation instruction in advance: a structure that simply causes the diverging rollers to infest , You can guide the unmanned vehicle to the direction of the destination. [Brief Description of Drawings] FIG. 1 is a schematic diagram of the unmanned moving vehicle system 1. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. Figure 2 is a front sectional view showing the unmanned moving vehicle 1 3. FIG. 3 is a side sectional view showing the unmanned transport vehicle 13. Fig. 4 is a plan sectional view of the unmanned transport vehicle 13 showing the arrangement structure of the running wheels 2 3, 2 3, .... Fig. 5 is a plan view of the unmanned transport vehicle 1 3 showing the arrangement structure of the guide wheels 2 4, 2, 4 .... Figure 6 shows that the paper size of the main track 1 1 and the sub track 1 2 at the point of divergence applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) -21-517183 A7 B7 V. Description of the invention (19) Lower floor plan. Fig. 7 is a plan view showing the main track 11 and the sub track 12. (Please read the precautions on the back before filling out this page) Figure 8 is a block diagram showing the control structure of the unmanned moving vehicle system 1 [illustration of the drawing number] 1 unmanned moving system 5 main controller 1 〇 station 1 1 main track 1 1 a Guide channel 1 2 Sub-track 1 2 a Guide channel 1 3 te People moving vehicle 2 〇 On-board controller 2 8 Divide roller 5 7 Bar code reader 6 1 Bar code 6 2 Bar code Employees ’Intellectual Property Bureau The paper size printed by the cooperative is applicable to China National Standard (CNS) A4 (210X297 mm) -22-

Claims

517183 經濟部智慧財產局員工消費合作社印製 A8 B8 C8 __D8^、申請專利範圍1 1 · 一種無人運搬車系統，針對具備部的行駛路線，且在.沿著該行駛路線自動載有選擇前述分岐部進行路線的分岐裝置統，其特徵爲：在前述行駛路線預先設定既定的路線，在搭載於該運搬車的車上控制器，預路線的地圖，且，對於含有前述既定的路運搬車爲了維持前述既定的路線行駛，一裝置應動作方向的資訊，控制管理無人運搬車系統的主控制器訊運搬指令時，爲了運搬而對於前述既定部必需選擇從該既定路線脫離的方向的路運搬指令，包含指示其分岐部的位置的資岐部指示前述分岐裝置動作方向的資訊，收訊了該運搬指令的前述運搬車的前至寸於則述運搬指令所不指不的分岐部，則 g亥車上控制器的資訊，使維持前述既定路裝置動作。 2 ·如申請專利範圍第1項之無人運具有複數的分岐行駛的運搬車搭的無人運搬車系先記憶前述行駛線的各分岐部，倂記憶前述分岐，對於運搬車送的路線上的分岐線的情況時，該訊、及對於該分述車上控制器，依據預先記憶在線地使前述分岐搬車系統，其中將時機指示構件設在前述行駛路線上的分岐部前的位置，且，在運搬車設置檢測該時機指示構件的檢測手段，當行駛.的運搬車檢測到該時機指示構件時，使前述分岐裝置動作。匕紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先聞讀背面之注意事項再填寫本頁) 訂 23- 517183 A8 B8 C8 D8 Γ、申請專利範圍2 3 ·如申請專利範圍第1項之無人運搬車系統，其中前述分岐裝置至少具有一對的分岐滾子，將該分岐滾子的一方抵接設在前述分岐路的分岐導引部使進行路線的選擇，前述車上控制器，依據預先記憶在該車上控制器的資訊、或前述運搬指令所指不的方向資訊，來控制前述分岐滾子的出沒。 4 .如申請專利範圍第2項之無人運搬車系統，其中，前述分岐裝置至少具有一對的分岐滾子，將該分岐滾子的一方抵接設在前述分岐路的分岐導引部使進行路線的選擇，前述車上控制器，依據預先記憶在該車上控制器的資訊、或前述運搬指令所指示的方向資訊，來控制前述分岐滾子的出沒。 (請先閲讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製表紙張尺度適用中國國家標準（CNS ) Α4規格（210 X 297公釐） -24-517183 Printed by A8, B8, C8, __D8 ^, Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, patent application scope 1 1 · An unmanned transport system for the driving route of the Ministry, and along the driving route automatically contains the selection of the aforementioned divergence The route dividing device system is characterized in that a predetermined route is set in advance on the driving route, a controller on the vehicle mounted on the transportation vehicle, a map of the predetermined route, and the vehicle including the predetermined transportation vehicle is configured to: In order to maintain the aforementioned predetermined route, a device should act on the direction information, and when the main controller of the unmanned transport system is controlled to send the transport instruction, it is necessary for the aforementioned department to select a direction to move away from the predetermined route for the transport. , Including the information indicating the location of its branching unit, the information indicating the direction of the operation of the branching device, the front of the transportation vehicle that has received the transportation instruction, and the branching unit that is not specified in the transportation instruction, then The information of the controller on the vehicle keeps the aforementioned predetermined road device in motion. 2 · If the unmanned transport vehicle with multiple divergences in item 1 of the scope of the patent application is unmanned, the unmanned transportation vehicles first memorize the divisions of the aforementioned driving lines, and 倂 memorize the aforementioned divisions. In the case of the line, the news and the on-board controller make the aforementioned diverging vehicle moving system online according to the pre-memory, wherein the timing indicating member is provided in a position in front of the diverging section on the aforementioned driving route, and, The transportation vehicle is provided with detection means for detecting the timing indicating member, and when the transportation vehicle detects the timing indicating member, the branching device is operated. The paper size of the dagger is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling in this page) Order 23- 517183 A8 B8 C8 D8 Γ, apply for patent scope 2 3 The unmanned moving vehicle system of the first item in the range, wherein the branching device has at least one pair of branching rollers, and one of the branching rollers abuts a branching guide provided on the branching road to perform route selection. The on-controller controls the presence and absence of the aforementioned diverging rollers based on information previously stored in the controller of the vehicle, or direction information not indicated by the aforementioned transportation instruction. 4. The unmanned vehicle moving system according to item 2 of the patent application scope, wherein the branching device has at least one pair of branching rollers, and one of the branching rollers abuts a branching guide provided on the branching road to perform For the route selection, the on-board controller controls the presence and absence of the diverging rollers based on the information stored in the controller of the vehicle or the direction information indicated by the transportation instruction in advance. (Please read the precautions on the back before filling out this page) The paper size printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs applies the Chinese National Standard (CNS) Α4 specification (210 X 297 mm) -24-