1287183. (1) 九、發明說明 【發明所屬之技術領域】 該發明，是關於：對空架行走車或地上行走的有軌道 台車、無軌道行駛的無人搬運車等的搬運台車所進行的防 止衝突用控制。 羲 【先前技術】 _ 在專利文獻1，是記載著：針對無人搬運車等的搬運 台車所進行的防止衝突控制。是沿著行走路線設置複數的 區點，在搬運台車通過區點之前，要對控制器求取區點的 行走許可。當控制器許可行走動作時，會鎖定該區點，而 不會給予其他的搬運台車行走許可。當搬運台車通過區點 時，會對控制器報告。控制器會解除鎖定，對其他搬運台 車給予行走許可。該系統的問題，是在於：當搬運台車增 加時，行走許可要求、行走許可、或解除鎖定要求等的通 Φ 訊量會增加。當搬運台車對於行走路線的密度增加時，無 法獲得行走許可的機率會增加。 > 專利文獻1，是提出了：針對直到分歧部或會合部之 •前的區點，藉由一倂進行行走許可的要求，以刪減通訊量 。由於很難進行：一倂給予從遠處到分歧部或會合部的行 走許可的控制，所以用另外的方式來給予分歧部或會合部 的行走許可。可是如果將較大的範圍一倂進行行走許可的 話’要鎖定其他的搬運台車的範圍也會增加，搬運效率就 會降低。是要對每個區點進行行走許可、還是一倂進行行 -5- (2) 1287183 #許可’是要如何兼顧通訊量與搬運效率的問題，即使一 倂給予行走許可，也無法根本性地解決問題。 【專利文獻1】 日本特開平11 一 143538號公報 【發明內容】 【發明欲解決的課題】 該發明的課題，是要減少搬運台車的衝突防止控制所 用的通訊量，並且鎖定過大的區間，而防止搬運效率降低 的情形。在第2發明所增加的課題，是要提供關於鎖定/ 解除鎖定的新的方法。第3發明所增加的課題，是在行走 許可後能夠進行取消動作。 【用來解決課題的手段】 該發明，是從搬運台車對控制器，要求行走路線上的 區點的行走許可，控制器會許可對於所要求的區點的行走 動作，並且對於其他搬運台車鎖定該區點的搬運台車系統 ，在搬運台車設置防止衝突用感應器，除了特定的區間之 外並不求取行走許可，以防止衝突用感應器監測先前的搬 運台車行走，且只限於上述特定的區間，會從搬運台車對 控制器要求行走許可。作爲特定的區間，例如是彎曲部、 會合部、分歧部、或直線區間，而也有像站台（進料口）密 集的區間。而也有將特定的區間稱作排他性控制區間。 -6 - (3) 1287183 除了上述特定區間之外的區間，除了將站台以較防止 衝突用感應器的防止衝突界限更窄的間隔進行配置的站台 過密部之外，是作成直線部。 ^ 在控制器設置有用來監測搬運台車的位置的手段，在 上述特定的區間監測有無其他搬運台車，如果:有其他搬運 龜 台車存在的話，則不給予上述的彳了走許可。並且，在從搬 運台車對控制器的行走許可要求、及從控制器對搬運台車 φ 的行走許可的通訊格式，是可自由記述：行走許可的取消 要求及該取消動作的確認。 【發明效果】 在該發明，在特定的區間以外，搬運台車是以防止衝 突用感應器監測先前的搬運台車行走，僅在特定的區間， 接受控制器的行走許可的控制。因此，能徹底地減少搬運 台車與控制器之間的通訊。並且，在原來的搬運台車系統 φ ，爲了達到減少通訊量與搬運效率的平衡，不得不將某程 度的區間一倂進行行走許可，而對於遠方的搬運台車，會 β 對尙未行走的區間進行行走動作的許可。在該發明中，則 '藉由防止衝突用感應器，搬運台車僅確保需要的前方車間 距離來行走，能改善搬運效率。 在特定區間設置複數的可停止的區點，並且在控制器 設置用來監測搬運台車的位置的手段，當在特定區間監測 有無其他搬運台車時，能夠簡單地判斷可否進行行走許可 。特別是當以許可要求的先後順序來進行在特定的區間的 -7- (4) 1287183 行走許可時，雖然有可能會忽視先前的搬運台車’而對後 面的搬運台車給予行走許可，而並不會產生這種問題。 如果在從搬運台車對控制器的行走許可要求、及從控 制器對搬運台車的行走許可的通訊格式’是可自由記述： 行走許可的取消要求及該取消動作的確認的話’則容易進 ， 行行走許可的取消動作的管理。例如將通訊格式中的其他 言己述，與行走要求時或行走許可時的格式共通化時’則能 多句簡單地記述··對於任何搬運台車要求在任何區間的行走 I _可的取消動作、或者許可取消動作。 【實施方式】 以下顯示實施本發明的最佳實施例。 【實施例】 在第1圖〜第7圖，是顯示實施例與其變形型態。在 圖中，2是搬運台車系統，搬運台車的種類，是空架行走 車、地上行走的有軌道台車、或是無軌道的無人搬運車。 在實施例中，是以投入了數百台搬運台車的大規模的搬運 台車系統作爲對象。4是區間式（interbay)路線相當於幹線 路線。6是區內式（intrabay)路線’是從區間式（interbay) 路線在分歧部1 〇產生分歧，在會合部8予以會合。區間 式（interbay)路線4或區內式（intrabay)路線6是有其中一 方通行，是在適當的位置設置捷徑7。作爲設定區間（特定 區間，已知採用了區域控制器30或搬運台車36)的成爲區 (5) 1287183 域控制器3 0的排他控制的對象的區間’是會合部8與分 歧部1 0、曲線部1 1、以及站台過密部1 2或維修部1 3。 在會合部8，由於防止衝突用感應器並不能檢測出從 其他方向會合過來的搬運台車，所以作爲區域控制器30 來進行行走許可的對象。在分歧部1 〇，由於無法以防止衝 突用感應器檢測出分歧側前方的先前的台車，所以將其作 爲行走許可的對象。在站台過密部1 2，由於站台是以較防 ρ 止衝突用感應器的防止衝突界限更窄的間隔配置，所以藉 由區域控制器來控制行走動作。在維修部1 3，是藉由進行 :利用人工方式來投入搬運台車、或使空架部的行走路線 升降來進行搬運台車的出入動作，而將其作爲行走許可的 對象。 在第1圖的右上方顯示曲線部1 1的構造，在曲線部 1 1的前側例如設置要求區點1 5，當搬運台車通過該區點 時，會對區域控制器3 0要求曲線部1 1的行走許可，區域 φ 控制器會一倂給予直到曲線部1 1的出口區點1 6的行走許 可，當搬運台車通過非鎖定區點1 7時，會對區域控制器 3 〇進行報告，區域控制器會藉此解除對曲線部1 1的鎖定 ‘ 。而搬運台車，也可取代通過報告的方式，而對區域控制 器要求解除鎖定。 搬運台車系統2，是藉由複數的搬運台車控制器26所 、 控制’哪個搬運台車控制器所管理的交界則是搬運台車控 制器間交界1 8。而以哪個區域控制器所管理的交界，則是 區域控制器間交界1 9。 (6) 1287183 2〇是基幹LAN。22是物流控制器，來管理搬運台車 控制器2 6，與沒有圖示的上位階層控制器2 4進行通訊， 來接受搬運的委託，報告搬運結果。在搬運台車控制器2 6 ^ ’是連接著區域間LAN28，在複數的區域控制器30與搬 運台車控制器26之間通訊。 在第2圖，是顯示捷徑7附近的分歧或會合的控制。 圖中的32是來路，搬運台車36是從左邊朝向右邊朝一方 φ 通行。34是去路，搬運台車36是從右邊朝左邊朝一方通 行。在分歧部1 0分歧到捷徑7，在會合部8回到來路3 2 ’實際上是成爲交叉部。在搬運台車36的例如前方，是 設置有··使用光學式、紅外線式、或超音波等方式的防止 衝突用感應器3 8，檢查在直到防止衝突界限3 9的範圍是 否存在有其他的先前的台車。防止衝突界限3 9，是以用來 防止搬運台車36與停止中的先前的台車的衝突所需要的 車間間隔，而當在直到防止衝突界限39的範圍內檢測出 φ 其他搬運台車時，會使其減速或停止以防止衝突。 搬運台車3 6，在分歧部1 0或會合部8等的設定區間 ~ 以外，是用防止衝突感應器3 8來進行行走控制。結果， • 能夠顯著地減少與區域控制器3 0的通訊量，搬運台車3 6 所佔據的範圍，是搬運台車3 6的車體長度加上防止衝突 界限的程度，讓搬運效率提昇。 當搬運台車3 6通過會合部8時，例如當通過其前側 的要求區點40、41時，會對區域控制器30要求行走許可 。在所要求的行走許可的範圍，一倂要求例如通過會合部 -10- (7) 1287183 8所需要的區點的部分。當在來路3 2要求時，求取對區點 P 1〜P 4的行走許可。當從捷徑7要求時，要求對區點p 5 、P3、P4的行走許可。相對地，區域控制器3 0也可對於 、 所要求的區間一倂許可其行走動作，或者也可以僅對於其 中可許可行走的部分給予行走許可。而當搬運台車3 6通 秦 過各區點時，對每個完成通行的區點取消其行走許可，而 可對於其他搬運台車進行行走許可。而當分歧於分歧部1 0 φ 時，搬運台車36會在其前側的要求區點42要求行走許可 ，例如一倂要求從行走區點P6到P8的行走許可。相對地 ，區域控制器3 0會在可進行行走許可的範圍許可其行走 動作，搬運台車36,在每個完成通過的區點會對區域控制 器3 0進行報告，取消每一區點的行走許可。或者不是每 次通過區點，而是每次通過位置辨識區點44，會報告其位 置。當在設定區間內設置位置辨識區點時，則以位置辨識 區點的通過報告，則能夠確認從設定區間的退避情形。因 φ 此相對於從要求區點到非鎖定區點的區間，藉由防止衝突: 感應器與區點的鎖定，能夠確實地防止衝突。 在第3圖，當顯示實施例的防止衝突控制的計算步驟 * 時，當搬運台車通過要求區點時，會要求行走許可，在其 他的區間以防止衝突感應器來進行控制。當通過要求區點 時，對控制器要求設定區間的行走許可，控制器會針對所 要求的區間來檢查是否爲鎖定中的狀態。如果不是鎖定中 的狀態的話，則會將許可的區間鎖定，給予搬運台車行走 許可，搬運台車會行走於許可的區間。這裡所許可的區間 -11 - (8) 1287183 的單位，也可以將設定區間全體統整起來，也可以設爲設 定區間內的一個〜複數的每個區點。當搬運台車沒有得到 行走許可時，會以在進入到設定區間之前停止的方式，以 預定的模式進行減速。當搬運台車行走於許可的區點時、 或者通過設定區間的下一個位置辨識區點時，會對控制器 進行報告，控制器會將行走完成的區間解除鎖定。 第4圖顯示變形例的會合部8或分歧部1 0的行走控 g 制。除了特別指出的地方之外，是與第2圖、第3圖相同 ，僅將會合部8的區點P 9及分歧部1 0的區點P 1 〇的各一 區點作爲排他控制的對象，將進行排他控制的區間調整成 最短。而在會合部8的出口側設置非鎖定區點46，在分歧 部1 0的出口側設置非鎖定區點4 8，當搬運台車3 6通過這 些區點時，會對區域控制器3 0進行報告。區域控制器3 0 ，會根據這些訊號或通過了第3圖的位置辨識區點的內容 的訊號，來監測搬運台車的位置，將分歧部8、1 0解除鎖 φ 定。該結果，以會合部8或分歧部10進行排他控制的區 間，會變成最短，區域控制器3 0與搬運台車3 6之間的通 > 訊量也會減少，且由於沒有鎖定廣泛的區間，所以搬運效 率也會增加。 第5圖是顯示要求區點在會合部8或分歧部10的速 度模式圖。在該情況，要求區點的位置，當在通常的延遲 時間內從區域控制器3 0接收行走許可時，如實線的速度 模式，能夠不減速而行走於會合部8或分歧部1 0，當在通 常的延遲時間內沒有得到行走許可時，在虛線的速度模式 -12 - (9) 1287183 ，在分歧部1 〇或會合部8之前能夠停止的範圍，能夠靠 近會合部8或分歧部1 〇。當以位置辨識部確認在會合部8 或分歧部1 〇沒有其他的搬運台車時，則得到行走許可， 不進行減速而能通過這些區間。當沒有得到行走許可時， 會以預定的速度模式減速，而在進入到會合部8或分歧部 * 1 〇之前停止。 在第6圖，是顯示實施例的區域控制器30與搬運台 ρ 車36之間的通訊。在搬運台車36設置了適當的位置感應 器50 ’檢測出光學性的標誌或由通訊終端所構成的標誌 5 2(位置辨識區點的標誌），來辨識位置。當使用通訊終端 來作爲標誌時，會從通訊終端側將位置通訊到位置感應器 5 〇。搬運台車3 6在以這種方式所得到的位置，加上從行 走車輪的轉數所求出的行走距離，來辨識現在位置，例如 每次檢測出標誌52，而每次通過非鎖定區點，都將現在位 置對區域控制器30的位置辨識部54進行報告。藉此，則 φ 區域控制器3 0，能監測各搬運台車3 6的現在位置。 行走許可部5 5，當對於會合部或分歧部、曲線部、站 < 台過密部、維修部等的設定區間，進行對搬運台車3 6的 •行走許可時，伴隨著會進行對於其他搬運台車的鎖定。行 走的許可動作，會以行走許可要求的例如接受訊號順序的 優先度來進行。搬運台車，例如在到達要求區點之前不要 求行走許可，防止從設定區間的遠處來要求行走許可的情 形。會以位置辨識部54檢測出搬運台車從設定區間退出 的情形，來解除鎖定。 -13 - (10) 1287183^ 在行走指令分配到搬運台車之後，有時需要取消來自 於上位階層控制器的要求的搬運指令。當爲了執行搬運指 令而搬運台車取得設定區間的行走許可時，當沒有取消該 許可時，會就這樣將設定區間鎖定。在該情況，會從搬運 台車對區域控制器要求取消行走許可，則區域控制器會許 A 可取消動作。除此之外，當設定區間產生行走上的障礙時 ，則對於給予了行走許可的搬運台車，從區域控制器要求 p 取消行走許可，而從搬運台車接收許可取消動作。5 6是取 消動作處理部，來進行這些處理。 第7圖，是顯示：從區域控制器對搬運台車的通訊文 60、及從搬運台車對區域控制器的通訊文62的格式。在 通訊文60記載著：搬運台車的機體號碼和其他的ID資料 、以及記載著行走許可要求或搬運指令等的指令種類及各 種指令的詳細情形的資料。通訊文62，除了機體號碼和其 他的ID資料之外，記載著··指令的種類、搬運台車的錯 φ 誤狀態等的報告、及指令的詳細情形或狀態報告的詳細情 形等的資料。在通訊文60、62，有取消動作要求的1位元 ^ 與取消動作許可的1位元的兩個標誌，當將其設定時，通 _ 訊文的內容會成爲行走許可等的取消動作要求、取消動作 的許可。在行走許可的取消動作要求時、及對於取消動作 要求給予許可時，通訊文的格式本身，也與行走許可要求 或行走許可同樣地，將要求行走許可或許可行走的區點記 載於資料中。而在通訊文60、62，雖然有設置取消要求位 元或取消許可位元，而只要將其記載於資料中即可，對於 -14- (11) 1287183 資料的表現方式則是隨意的。 【圖式簡單說明】 第1圖是實施例的搬運台車系統的方塊圖。 第2圖是實施例的會合部附近的佈置方式的顯示圖。 第3圖是顯示實施例的防止衝突計算步驟的流程圖。 第4圖是變形例的會合部附近的佈置方式的顯示圖。 第5圖是變形例的會合部（交叉點）附近的行走速度模 式的顯示圖。 第6圖是實施例的區域控制器與搬運台車的構造的顯 示圖。 第7僵是實施例所用的區域控制器與搬運台車之間的 通訊格式的顯示圖。 【主要元件符號說明】 2 :搬運台車系統 4 :區間式（interbay)路線 6 :區內式（intrabay)路線 7 :捷徑 8 :會合部 1 0 :分歧部 1 1 :曲線部 1 2 :站台過密部 1 3 :維修部 -15- (12) (12)1287183 1 5 :要求區點 1 6 :出口區點 1 7 :非鎖定區點 1 8 :搬運台車控制器間交界1287183. (1) 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明Use control. [Prior Art] In Patent Document 1, it is described that collision prevention control is performed for a transport vehicle such as an automated guided vehicle. It is a point where a plurality of points are set along the travel route, and the controller is required to obtain a travel permission for the area point before the transport trolley passes through the area point. When the controller permits the walking action, the zone point is locked and no other handling trolleys are allowed to travel. When the handling trolley passes the zone point, it will report to the controller. The controller will unlock and give permission to travel to other handling vehicles. The problem with this system is that as the handling trolley increases, the amount of traffic that passes the permit request, the travel permit, or the unlock request increases. When the density of the traveling trolley increases with respect to the walking route, the probability that the walking permission cannot be obtained increases. > Patent Document 1 proposes to reduce the amount of communication by requesting a travel permit until the front of the branch or the meeting. It is difficult to carry out: once the control of the permit from the distance to the branch or the meeting is given, the driving permission of the branch or the meeting is given in another way. However, if the larger area is allowed to travel, the range of other transporting trolleys will be increased, and the handling efficiency will be reduced. Is it necessary to carry out the permit for each location, or to carry out a trip-5- (2) 1287183 #license is how to balance the traffic and handling efficiency, even if given the permission to walk, can not be fundamentally Solve the problem. [Problem to be Solved by the Invention] The problem of the invention is to reduce the amount of communication used for the collision prevention control of the conveyance trolley and to lock an excessively large section. Prevent the situation of reduced handling efficiency. An additional problem in the second invention is to provide a new method for locking/unlocking. An additional problem of the third invention is that the cancel operation can be performed after the travel permission. [Means for Solving the Problem] The present invention permits the travel of the vehicle to the controller to require the travel point on the travel route, and the controller permits the travel operation for the required area and locks the other transport vehicles. In the transportation trolley system of the area, a collision prevention sensor is provided in the transportation vehicle, and a walking permission is not required except for a specific section to prevent the collision sensor from monitoring the previous transportation trolley walking, and is limited to the above specific one. In the section, the travel permit is required from the transport trolley to the controller. The specific section is, for example, a curved portion, a meeting portion, a branching portion, or a straight line portion, and there is also a section in which a station (feed port) is densely packed. There is also a specific interval called an exclusive control interval. -6 - (3) 1287183 A section other than the above-described specific section is a straight line except that the station is arranged at an interval which is narrower than the collision prevention limit of the collision preventing sensor. ^ The controller is provided with means for monitoring the position of the transporting trolley. It is monitored whether there are other transporting trolleys in the above-mentioned specific section. If there are other transporting turtles, the above-mentioned permission is not given. Further, in the communication format from the transporting carriage to the controller and the communication permission from the controller to the transporting carriage φ, it is possible to freely describe the cancellation request of the travel permit and the confirmation of the cancellation operation. [Effect of the Invention] In the present invention, the transport carriage is monitored by the collision preventing sensor to monitor the previous transport carriage travel, and the control of the travel permission of the controller is accepted only in a specific section. Therefore, the communication between the transport trolley and the controller can be completely reduced. In addition, in the original transportation trolley system φ, in order to reduce the balance between the communication amount and the transportation efficiency, it is necessary to carry out a certain amount of sections for walking, and for a distant transportation trolley, Permission to walk. In the present invention, 'by preventing the collision sensor, the transportation trolley can only ensure the required front workshop distance to travel, and the transportation efficiency can be improved. A plurality of stopable zone points are set in a specific section, and a means for monitoring the position of the transporting trolley is provided in the controller. When it is monitored whether there is another transporting trolley in a specific section, it is possible to easily judge whether or not the walking permission can be performed. In particular, when the -7-(4) 1287183 walking permit in a specific section is performed in the order of permission, although the previous transporting trolley may be ignored, the walking carriage of the rear transporting trolley is given, and This problem will arise. If it is arbitrarily described in the communication permission request from the transport vehicle to the controller and the communication permission from the controller to the transport vehicle, it is easy to enter if the travel permit cancellation request and the cancellation operation are confirmed. Management of the cancellation action of the walking permit. For example, when the other words in the communication format are common to the format when walking or when the permission is permitted, 'there can be a simple sentence in a few sentences. · For any transporting trolley, it is required to cancel the movement in any section. Or permission to cancel the action. [Embodiment] The preferred embodiment for carrying out the invention is shown below. [Embodiment] Figs. 1 to 7 show an embodiment and a modified form thereof. In the figure, 2 is a transporting trolley system, and the type of the transporting trolley is an empty-seat traveling vehicle, a railcar that travels on the ground, or an unmanned transport vehicle without a track. In the embodiment, it is targeted at a large-scale transportation trolley system in which hundreds of transportation trolleys are put in. 4 is the interbay route equivalent to the main route. 6 is an intrabay route. The division is caused by the interbay route in the branching section 1 and is met at the meeting section 8. The interbay route 4 or the intrabay route 6 has one of the routes, and the shortcut 7 is set at an appropriate position. As the setting section (the specific section, it is known that the area controller 30 or the transporting carriage 36 is used), the section (5) of the exclusive control of the domain controller 30 is the meeting section 8 and the branching section 10, The curve portion 1 1 and the station over-tight portion 1 2 or the maintenance portion 13 are. In the meeting portion 8, since the collision preventing sensor cannot detect the transporting vehicle that has been brought in from another direction, the area controller 30 is the target of the travel permission. In the branching unit 1 〇, since the preceding vehicle in front of the diverging side cannot be detected by the collision preventing sensor, it is used as the target of the walking permission. In the station over-tight portion 12, since the station is arranged at a narrower interval of the collision prevention limit of the anti-collision sensor, the area controller controls the walking operation. In the maintenance unit 13 , the transportation of the transportation vehicle is carried out manually, and the traveling route of the empty carriage unit is moved up and down to perform the transportation operation of the transportation vehicle, and this is the target of the travel permission. The structure of the curved portion 1 1 is displayed on the upper right side of the first figure, and the required area point 15 is provided on the front side of the curved portion 1 1 , for example, when the transport trolley passes the set point, the curve portion 1 is requested to the area controller 30. The travel permission of 1 , the area φ controller will give permission to travel until the exit point 16 of the curve part 1 1 , and when the transport trolley passes the unlocked area point 17 , the area controller 3 报告 will be reported. The zone controller will thereby unlock the curve section 1 1 '. The handling of the trolley can also be used instead of reporting, and the regional controller is required to be unlocked. The transporting carriage system 2 is controlled by a plurality of transporting carriage controllers 26, and controls the intersection of the transporting trolley controllers. The boundary managed by which zone controller is the boundary between the zone controllers. (6) 1287183 2〇 is the backbone LAN. 22 is a logistics controller that manages the transportation trolley controller 2 6 and communicates with the upper-level controller 24 (not shown) to receive the transportation request and report the transportation result. The transport trolley controller 2 6 ^ ' is connected to the inter-area LAN 28, and communicates between the plurality of area controllers 30 and the transport cart controller 26. In Fig. 2, it is a control showing the divergence or convergence near the shortcut 7. In the figure, 32 is the incoming route, and the transporting carriage 36 is routed from the left side toward the right side toward one side φ. 34 is the way to go, and the transport trolley 36 is routed from the right side to the left side. In the divergent portion 10, the difference is to the shortcut 7, and the returning portion 8 is returned to the incoming path 3 2 '. In the front side of the transport carriage 36, for example, an anti-collision sensor 3 that uses an optical type, an infrared type, or an ultrasonic wave is provided, and it is checked whether or not there is another previous range until the collision prevention limit 3 9 exists. Trolley. The collision avoidance limit 309 is a shop interval required to prevent collision between the transport carriage 36 and the preceding vehicle that is stopped, and when the φ other transport trolley is detected within the range of the collision prevention limit 39, It slows or stops to prevent conflicts. The transport carriage 3 6 performs travel control using the collision preventing sensor 38 in addition to the setting section of the branching portion 10 or the meeting portion 8 or the like. As a result, the amount of communication with the area controller 30 can be remarkably reduced, and the range occupied by the transporting carriage 36 is the degree of the vehicle body length of the transporting carriage 36 plus the collision avoidance limit, and the handling efficiency is improved. When the transport carriage 36 passes through the meeting portion 8, for example, when passing through the required side points 40, 41 on the front side thereof, the area controller 30 is required to travel. In the scope of the required walking permit, a request is made, for example, through the portion of the zone required by the meeting section -10- (7) 1287183 8. When requested by the incoming route 3 2, the travel permission for the zone points P 1 to P 4 is obtained. When requested from the shortcut 7, the permission to travel to the points p 5 , P3, and P4 is required. In contrast, the area controller 30 may also permit the walking action for the required section, or may only grant the walking permission to the portion of the permitting walk. When the transporting trolley passes through the various districts, the travel permit is cancelled for each of the completed transit points, and the other permitted transporting trolleys are permitted to travel. When it is different from the divergent portion 10 φ, the transport carriage 36 will require a travel permit at the request side point 42 on the front side thereof, for example, a travel permit from the walking area point P6 to P8. In contrast, the area controller 30 permits the walking operation in the range in which the permission to travel is permitted, and the transporting carriage 36 reports the area controller 30 at each of the completed points, and cancels the walking of each area. license. Or instead of passing through the zone point each time, each time it passes the location identification zone 44, its location is reported. When the position identification area is set in the setting section, the report of the position identification area can be used to confirm the retreat from the setting section. Since φ is relative to the interval from the required zone point to the non-lock zone point, by preventing the collision: the lock of the sensor and the zone point, the collision can be surely prevented. In Fig. 3, when the calculation step * of the collision prevention control of the embodiment is displayed, when the transportation trolley passes the required area point, the walking permission is requested, and the collision preventing sensor is controlled in other sections. When passing the required zone point, the controller is required to set the travel permission of the zone, and the controller checks whether the state is locked for the required zone. If it is not in the locked state, the permitted section will be locked, and the transport trolley will be given permission to travel. The transport trolley will travel in the permitted section. The unit of the interval -11 - (8) 1287183 permitted here may be integrated with the entire setting interval, or may be set to one for each of the plural points in the setting interval. When the transport trolley does not have permission to travel, it decelerates in a predetermined mode in such a manner as to stop before entering the set interval. When the transporting trolley travels at the permitted zone, or when the zone is identified by the next position in the set zone, the controller is reported and the controller unlocks the zone where the walk is completed. Fig. 4 shows the travel control system of the junction portion 8 or the branch portion 10 of the modification. In the same manner as in the second and third figures, only the region P 9 of the joint portion 8 and the region P 1 〇 of the branch portion 10 are selected as the exclusive control object. , adjust the interval for exclusive control to the shortest. On the exit side of the junction portion 8, an unlocking zone 46 is provided, and on the outlet side of the branching component 10, an unlocking zone 4 is provided. When the transporting carriage 36 passes through the zone, the zone controller 30 is report. The area controller 30 detects the position of the transporting vehicle based on these signals or the signals of the contents of the position recognition area of Fig. 3, and unlocks the different parts 8, 10. As a result, the section where the exclusive control unit 8 or the branching unit 10 performs exclusive control becomes the shortest, and the amount of communication between the area controller 30 and the transporting carriage 36 is also reduced, and since the wide range is not locked. Therefore, the handling efficiency will also increase. Fig. 5 is a diagram showing the speed pattern of the requesting point at the meeting portion 8 or the branching portion 10. In this case, the position of the zone point is required. When the travel permission is received from the zone controller 30 within the normal delay time, the speed mode of the solid line can travel to the meeting portion 8 or the branching portion 10 without deceleration. When the travel permission is not obtained within the normal delay time, in the dotted speed mode -12 - (9) 1287183, the range that can be stopped before the branching portion 1 or the meeting portion 8 can be close to the meeting portion 8 or the branch portion 1 . When it is confirmed by the position identifying unit that there is no other transporting carriage in the meeting unit 8 or the branching unit 1 , the travel permission is obtained, and the passage can be passed without deceleration. When the walking permission is not obtained, it decelerates in a predetermined speed mode, and stops before entering the meeting portion 8 or the branching portion * 1 〇. In Fig. 6, the communication between the area controller 30 of the embodiment and the transport table car 36 is shown. The transport carriage 36 is provided with an appropriate position sensor 50' to detect an optical mark or a mark 52 (a mark of a position recognition area) formed by the communication terminal to recognize the position. When the communication terminal is used as a flag, the position is communicated from the communication terminal side to the position sensor 5 〇. The conveyance trolley 36 recognizes the current position by the distance obtained from the number of revolutions of the traveling wheel in the position obtained in this manner, for example, the flag 52 is detected each time, and each time the non-locking zone is passed. The current position is reported to the position identifying unit 54 of the area controller 30. Thereby, the φ area controller 30 can monitor the current position of each transport carriage 36. When the travel permitting unit 5 permits permission to move the transport vehicle 36 to the setting section of the meeting part, the branching part, the curve part, the station, the over-tight part, the maintenance part, and the like, the travel permitting unit 5 5 The locking of the trolley. The permitting action of the walking is performed with the priority of the walking permit request, for example, the order of receiving the signals. The transport trolley, for example, does not require a travel permit until it reaches the required zone, and prevents the travel permit from being required from a distance in the set interval. The position recognition unit 54 detects that the transport carriage has exited from the set section, and releases the lock. -13 - (10) 1287183^ After the travel command is assigned to the transport trolley, it may be necessary to cancel the transport command from the higher-level controller. When the travel permit for the set section is acquired by the transporting carriage in order to execute the transport command, the set interval is locked as soon as the permission is not canceled. In this case, the area controller is required to cancel the travel permission from the transport trolley, and the area controller will cancel the action. In addition, when there is an obstacle in walking in the setting section, the transporting vehicle that has given the walking permission requests the p-cancellation permission from the area controller, and receives the permission canceling operation from the transporting vehicle. 5 6 is a cancel operation processing unit to perform these processes. Fig. 7 is a view showing the format of the communication message 60 from the area controller to the transporting vehicle and the communication text 62 from the transporting vehicle to the area controller. In the communication document 60, the body number of the transporting vehicle and other ID data, and the details of the type of the command such as the travel permit request or the transport command and the details of the various commands are described. In addition to the body number and other ID data, the communication message 62 records information such as the type of the command, the error of the transporting carriage, the error state, and the details of the command or the details of the status report. In the communication texts 60 and 62, there are two symbols of the one-bit ^ that cancels the action request and one bit of the one that cancels the action permission. When the message is set, the content of the message will become the cancellation action request for the travel permission or the like. , cancel the permission of the action. When the permission of the travel permit is requested and the permission for the cancellation is requested, the format of the communication text itself is recorded in the data in the same manner as the travel permit request or the travel permit. In the communication texts 60 and 62, although the cancellation request bit or the cancellation permission bit is set, as long as it is recorded in the data, the expression of the -14-(11) 1287183 data is arbitrary. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram of a transport trolley system of an embodiment. Fig. 2 is a view showing the arrangement of the vicinity of the meeting portion of the embodiment. Figure 3 is a flow chart showing the steps of the conflict prevention calculation of the embodiment. Fig. 4 is a view showing the arrangement of the vicinity of the meeting portion in the modification. Fig. 5 is a view showing a traveling speed pattern in the vicinity of the meeting portion (intersection point) of the modification. Fig. 6 is a view showing the configuration of the area controller and the transport trolley of the embodiment. The seventh stiff is a display diagram of the communication format between the area controller and the transport trolley used in the embodiment. [Description of main component symbols] 2: Transportation trolley system 4: Interbay route 6: Intrabay route 7: Shortcut 8: Convergence section 1 0: Branching section 1 1 : Curve section 1 2 : Station platform is too dense Part 1 3 : Maintenance Department -15- (12) (12) 1287183 1 5 : Requirement Area 1 6 : Exit Area 1 7 : Unlocked Area 1 8 : Junction between transport trolley controllers
1 9 :區域控制器間交界 20 :基幹LAN 22 :物流控制器 24 :上位階層控制器 26 :搬運台車控制器1 9 : Inter-area controller interface 20 : backbone LAN 22 : logistics controller 24 : upper-level controller 26 : handling trolley controller
2 8 :區域間LAN 3 0 :區域控制器 32 :來路 3 4 :去路 3 6 :搬運台車 3 8 :防止衝突感應器 3 9 :防止衝突界限 4 0〜4 2 :要求區點 44 :位置辨識區點 4 6、4 8 :非鎖定區點 5 0 :位置感應器 5 2 :標誌 5 4 :位置辨識部 5 5 :行走許可部 5 6 :取消動作處理部 -16 (13)1287183 · 60、62 :通訊文 P 1〜P 1 0 :區點2 8 : Inter-area LAN 3 0 : Area controller 32 : Incoming road 3 4 : Detour 3 6 : Transport trolley 3 8 : Collision prevention sensor 3 9 : Conflict prevention limit 4 0 to 4 2 : Requirement area 44 : Position Identification area point 4 6 , 4 8 : Non-locking area point 5 0 : Position sensor 5 2 : Mark 5 4 : Position recognition unit 5 5 : Travel permission unit 5 6 : Cancel operation processing unit - 16 (13) 1287183 · 60 62: Communication text P 1~P 1 0 : Area point
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