Control device, vehicle system, and deactivation method

Abstract

[Problem] To prevent users from misunderstanding the removal of prohibited areas that should not be removed. [Solution] The control device of the present invention is a control device (5) for controlling the movement of a traveling vehicle (3) in a track (2), which includes: a prohibited area setting unit (30) that sets a predetermined area in the track (4) as a prohibited area; and a prohibited area removal unit (31) that performs a specific process, including checking whether the removal of a prohibited area by a second user different from the first user has been approved, if the removal of a prohibited area by a first user has been performed. If the removal of a prohibited area by a second user is confirmed, the prohibited area is removed.

Description

Technical Field

[0001] This invention relates to a control device, a vehicle system, and a release method. Prior Technology

[0002] Patent Document 1 discloses a traffic control device that regulates the passage of an overhead conveyor traveling along a track. This device uses a mechanical stop to temporarily prohibit passage in the area where maintenance work is being performed when an operator is carrying out maintenance work on the track. This ensures the safety of the operator performing maintenance work.

[0003] In the methods described above, users (e.g., operators) prohibit passage through restricted areas by installing mechanical stops. However, in addition to mechanical stops, software-based methods for prohibiting the passage of overhead conveyor vehicles are also considered. For example, the user sets a restricted area on the control device that controls the movement of the overhead conveyor vehicle. The control device controls the movement of the overhead conveyor vehicle by preventing it from traveling within the designated restricted area, thereby temporarily prohibiting passage through the restricted area. [Previous Technical Documents] [Patent Literature]

[0004] [Patent Document 1] Japanese Patent No. 6589820 Summary of the Invention

[0005] (The problem the invention aims to solve) When a user removes a restricted area set via software, the control device must perform a removal operation. This may lead to the user mistakenly removing a restricted area that should not have been removed. Therefore, it is desirable to prevent such misoperations.

[0006] The purpose of this invention is to prevent users from misunderstanding the prohibition zone that should not be removed. (Technical means to solve the problem)

[0007] The control device of the present invention controls the movement of a vehicle on a track. The control device includes: a prohibition setting unit, which sets a predetermined area in the track as a prohibition zone; and a prohibition release unit, which, if a prohibition zone release operation is performed by a first user, performs a specific process including checking whether the prohibition zone release is approved by a second user different from the first user. If the prohibition zone release is approved by a second user, the prohibition release unit releases the prohibition zone.

[0008] The present invention provides a vehicle system comprising: a vehicle; a track on which the vehicle travels; and a control device for controlling the vehicle to travel along the track. The control device comprises: a prohibition setting unit for setting a prohibited area in a predetermined zone on the track; and a prohibition release unit for performing specific processing, including confirming whether the prohibition release was approved by a second user (different from the first user), if a prohibition release operation by a first user is performed. The prohibition release unit releases the prohibited area if it confirms that the prohibition release was approved by a second user.

[0009] The method for removing a restricted area in a predetermined zone on the track traveled by a vehicle according to the present invention includes: if a restricted area removal operation performed by a first user has been performed, a specific process including confirming whether there is approval for the removal of a restricted area by a second user different from the first user; and if approval for the removal of a restricted area by a second user is confirmed, the restricted area is removed. (Effects of the invention)

[0010] By using the aforementioned control device, vehicle system, and release method, when releasing a restricted area, the approval of a second user, different from the first user who performed the release operation, is required. This can prevent users from misunderstanding the release of a restricted area that should not have been released.

[0011] Furthermore, in the control device described above, the prohibition setting unit can also set a predetermined area as a prohibited area if the first user performs a setting operation, provided that the setting of a prohibited area by a second user has been approved. Additionally, if the prohibition setting unit performs a setting operation for a prohibited area by the first user, it can also check whether the setting of the aforementioned prohibited area by a second user (different from the first user) has been approved. With the configuration described above, if the first user performs a setting operation, the approval of the second user is required, thus preventing the first user from mistakenly setting an area that should not be set as a prohibited area.

[0012] Furthermore, in the aforementioned control device, when the restricted area is set as a restricted area by the prohibition setting unit, an input screen with an input field for inputting the reason for setting the restricted area is displayed on the display device. This establishes a correspondence between the information entered in the input field and the information indicating the restricted area, and stores it in the memory device. With the configuration described above, the first user can understand the reason for setting the restricted area when deactivating it, thus reducing operational errors during the deactivation operation.

[0013] Furthermore, the control device described above may specifically include the following processing: a first confirmation process, which, if a release operation is performed, displays the identification information of the second user who performed the restriction setting operation and information on either or both of the reasons for the restriction setting on the display device to confirm the first user's intention to release the restriction; and a second confirmation process, which, if the first confirmation process confirms the first user's intention to release the restriction, confirms whether the restriction release is approved by the second user. With the above-described configuration, the first user can confirm the reasons for the restriction to be released on the display screen of the display device, thus preventing operational errors during the release operation.

[0014] Furthermore, in the aforementioned control device, the prohibition release mechanism can also serve as a second confirmation process. If a confirmation screen is displayed on the display device confirming whether the prohibition has been approved by a second user, and a predetermined operation is performed on the confirmation screen, the prohibited area is released. Through this configuration, the first user is alerted twice, thus reducing the risk of operational errors during the release operation.

[0015] Furthermore, in the aforementioned control device, the prohibition release unit can also serve as a second confirmation process. If the approval request for the removal of the prohibition request made by the second user is transmitted to the information terminal used by the second user, and the information terminal receives the approval information, the prohibited area is released. With the configuration described above, when releasing a prohibited area, the operation for approval made by the second user must be performed at the information terminal, thus suppressing operational errors during the release operation.

[0016] Furthermore, in the aforementioned control device, either a Level 1 or a Level 2 prohibition zone can be set. When the prohibition zone is set to Level 2, the prohibition release unit performs specific processing; when it is set to Level 1, no specific processing is performed. The prohibition of the predetermined area set to Level 1 is released based on the release operation performed by the first user. With the configuration described above, since the release of a Level 2 prohibition zone only requires the approval of a second user, which necessitates monitoring the release of the prohibited zone, the processing efficiency for releasing prohibited zones is improved.

[0017] Furthermore, the control device described above may also include a notification unit that notifies all users, including the first user and the aforementioned second user, if the restricted area has been removed. With this configuration, all users can share the information that the restricted area has been removed, thus improving the security of the restricted area. Additionally, the restricted area setting unit may, when a restricted area setting operation is performed by the first user, check whether a restricted area setting by a second user (different from the first user) has been approved. If such approval is confirmed, the restricted area is set. Simple Explanation of the Diagram

[0018] [Figure 1] is a schematic diagram of the vehicle system of this embodiment. [Figure 2] is a diagram showing one example of the track in this embodiment. [Figure 3] is a diagram showing an example of the hardware configuration of the control device in this embodiment. [Figure 4] is a functional block diagram of the processor in this embodiment. [Figure 5] is an example of the management screen of this implementation. [Figure 6] is a diagram showing an example of the input screen of this embodiment. [Figure 7] is an example of the first confirmation screen of this embodiment. [Figure 8] is a diagram showing one example of the second confirmation screen of this embodiment. [Figure 9] is an example of a message screen showing this embodiment. [Figure 10] is a flowchart of the deactivation process in this embodiment. [Figure 11] is a flowchart of the cancellation process when making an approval request in this embodiment. Implementation

[0019] The present invention is described below through embodiments; however, these embodiments are not intended to limit the scope of the relevant patent applications. Furthermore, not all combinations of the features described in the embodiments are necessary for the solution of the invention. In the drawings, there are instances where identical or similar parts are labeled with the same symbols and repeated descriptions are omitted. Additionally, the shapes and sizes of elements in the drawings may be exaggerated for clarity.

[0020] Figure 1 is a schematic diagram of the traveling vehicle system 1 of this embodiment. The traveling vehicle system 1 controls the traveling vehicle 3 to travel along the track 2. If there is a restricted area on the track 2 (hereinafter referred to as "restricted area"), the traveling vehicle system 1 controls the travel of the traveling vehicle 3 to avoid passing through the restricted area.

[0021] The first user can set a restricted area by inputting information about the restricted area into the control device 5 of the vehicle system 1. Furthermore, if the first user wants to remove the restricted area, they perform a removal operation (hereinafter referred to as a "removal operation") on the control device 5 of the vehicle system 1, thereby removing the restricted area. The first user is, for example, an operator. When the vehicle system 1 removes the restricted area using a removal operation performed by the first user, the removal of the restricted area is conditional upon the approval of a second user different from the first user. The structure of the vehicle system 1 is explained below. The second user is, for example, an operator manager. The operator manager is the coordinator responsible for the operators.

[0022] As shown in Figure 1, the mobile vehicle system 1 includes: a track 2, multiple mobile vehicles 3, a management terminal 4, and a control device 5. The track 2 is the path that the mobile vehicles 3 can travel on. Figure 2 shows an example of the track 2 in this embodiment. For example, the track 2 is a grid-like track. That is, the track 2 is configured as a grid-like track when viewed from above. The grid-like track is an example of the track 2. The track 2 is laid on or near the ceiling (not shown) of a building such as a cleanroom.

[0023] The track system 2 includes: a first track R1, a second track R2, and a portion of a track R3. The first track R1 is arranged along the X direction (first direction). The second track R2 is arranged along the Y direction (second direction). In this embodiment, the plurality of first tracks R1 and the plurality of second tracks R2 are arranged in mutually orthogonal directions, but are not directly intersecting each other. The portion of track R3 is disposed at the intersection where the first track R1 and the second track R2 intersect.

[0024] Track 2 is arranged orthogonally to track 1 R1 and track 2 R2. Track 2 has a configuration in which grid-like units (hereinafter referred to as "grid units") G are adjacent when viewed from above. The traveling vehicle 3 is formed to be housed within one grid unit G when viewed from above. With this configuration, it can pass by other traveling vehicles 3 traveling on adjacent tracks 2. If multiple traveling vehicles 3 are arranged on track 2, the range in which each traveling vehicle 3 can travel without interfering with other traveling vehicles 3 can be expanded.

[0025] Track 1 R1, track 2 R2, and part of track R3 are installed in a state where they are suspended from the ceiling through a suspension member (not shown). Track 1 R1, track 2 R2, and part of track R3 are installed along the same or substantially the same horizontal plane (XY plane).

[0026] The traveling vehicle 3 travels along track 2. For example, the traveling vehicle 3 is a transport vehicle (e.g., an overhead transport vehicle) that moves items. As an example, the traveling vehicle 3 moves items containing semiconductor wafers in a cleanroom, such as in a semiconductor manufacturing plant. These items are, for example, FOUPs (Front-Opening Unified Pods) or grating boxes containing optical gratings. The traveling vehicle system 1 can also be applied to equipment outside the semiconductor device manufacturing field.

[0027] The vehicle 3 is connected to the control device 5 via a communication network NW, and transmits and receives information with the control device 5. The communication network NW can be a wireless communication transmission path, or a combination of a wireless communication transmission path and a wired communication transmission path. For example, the communication network NW can also be a mobile communication network such as a mobile phone network, a wireless packet communication network, a short-range wireless communication standard such as ZigBee (registered trademark), Wi-Fi (registered trademark), BLE, or a combination thereof.

[0028] The administrator terminal 4 is the terminal used by the second user and is connected to the control device 5 via a communication network NW. The administrator terminal 4 has a display screen 4a for displaying information. The administrator terminal 4 transmits and receives information with the control device 5 via the communication network NW. For example, the administrator terminal 4 displays the information transmitted and received with the control device 5 on the display screen 4a via the communication network NW. For example, the administrator terminal 4 may be a computer. However, it is not limited to this; the administrator terminal 4 may also be a wearable terminal or a portable information terminal. An example of a portable information terminal is a smartphone or a tablet.

[0029] The operator / manager uses the manager terminal 4 to approve the removal of restricted areas. For example, if the manager terminal 4 receives an approval request from the control device 5, it notifies the display screen 4a of the request. If the operator / manager confirms the content of the approval request and grants it, they are performing an approval request operation on the manager terminal 4. If the manager terminal 4 grants the approval request, it transmits the approval notification to the control device 5. If the operator / manager does not grant the approval request, they are performing a disapproval operation on the manager terminal 4. If the manager terminal 4 disapproves the approval request, it transmits a disapproval notification to the control device 5.

[0030] The control device 5 communicates wirelessly with multiple traveling vehicles 3 to control the movement of the traveling vehicles 3 on track 2. The control device 5 selects the travel path of each traveling vehicle 3 in a way that avoids prohibited areas, and makes the traveling vehicles 3 move along the selected travel paths. In addition, the control device 5 has the function of setting and deactivating prohibited areas.

[0031] Figure 3 shows an example of the hardware configuration of the control device 5 according to this embodiment. As shown in Figure 3, the control device 5 includes: a memory device 20, a communication device 21, an input device 22, and a processor 24. The control device 5 is connected to a display device 23. The display device 23 displays various information. For example, the display device 23 is a monitor for a personal computer. However, it is not limited to this; the display device 23 can also be a display element (monitor) of a portable device such as a mobile phone, smartphone, or tablet computer. The control device 5 may also include a display device 23. The memory device 20 may also be an external memory device, and not part of the configuration of the control device 5. If the memory device 20 is an external memory device, the control device 5 is connected to the memory device 20 via wired or wireless connection to transmit and receive information with the memory device 20.

[0032] The memory device 20 stores, for example, programs (software) used to set and remove restricted areas, and data processed by those programs. Furthermore, the memory device 20 stores information required for setting and removing restricted areas.

[0033] The memory device 20 includes non-volatile memory such as ROM (Read Only Memory), HDD (Hard Disk Drive), and SSD (Solid State Drive). The aforementioned program can also be provided via computer-readable media or via an external device through a communication network (NW). The provided program is stored in the memory device 20 and executed by the processor 24.

[0034] Communication device 21 is a communication interface used to communicate with external devices. Communication device 21 communicates with the vehicle 3 via communication network NW. Communication device 21 communicates with the administrator terminal 4 via communication network NW. In addition, communication device 21 can communicate with communication terminals other than vehicle 3 and administrator terminal 4 via communication network NW.

[0035] Input device 22 accepts input operations from the user. For example, if input device 22 accepts input operations from the user, it transmits information corresponding to the accepted input operation to processor 24 or memory device 20. For example, input device 22 is a touch panel, touch pad, mouse or other pointing device, button, switch, motion-sensitive controller, keyboard, mouse, gesture input element, or voice input element (e.g., microphone).

[0036] The processor 24 performs the processing of setting and deactivating restricted areas. Furthermore, the processor 24 creates a path to avoid restricted areas and controls the movement of the vehicle 3 according to this path. The processor 24 executes a program stored in the memory device 20, and can perform actions described in the program, namely, the processing of setting and deactivating restricted areas. For example, the processor 24 includes at least one CPU (Central Processing Unit), MPU (Micro Processing Unit), and GPU (Graphics Processing Unit).

[0037] The aforementioned program can also be provided via computer-readable memory media. The program is read from the computer-readable memory media, installed in memory device 20, and executed by processor 24. The aforementioned program can also be configured to be downloaded from an external device via a communication network NW.

[0038] For example, computer-readable memory media can include electronic memory media, magnetic memory media, optical memory media, electromagnetic memory media, semiconductor memory media, etc. More specifically, computer-readable memory media can include magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), optical disc read-only memory (CD-ROM), digital optical disc drive (DVD), Blu-ray (RTM) discs, memory sticks, integrated circuit cards, etc.

[0039] Using Figure 4, the functional parts of the processor 24 of this embodiment will be explained. Figure 4 is a functional block diagram of the processor 24 of this embodiment. As shown in Figure 4, the processor 24 includes: a prohibition setting unit 30, a prohibition deactivation unit 31, and a notification unit 32. The prohibition setting unit 30, the prohibition deactivation unit 31, and the notification unit 32 are implemented by the processor 24 executing the aforementioned program stored in the memory device 20.

[0040] The management screen CP is displayed on display device 23. The management screen CP allows for functions such as confirming the movement status of the traveling vehicle 3 on track 2, issuing movement commands to the traveling vehicle 3, setting prohibited zones, and deactivating prohibited zones. When a user logs into the control device 5 system via user authentication, the processor 24 displays the management screen CP on display device 23. This user authentication involves the user using an IC card or input device 22 to input authentication information from user information pre-registered in memory device 20 into the control device 5, thereby making the control device 5 usable. Authentication information includes email address, user ID, password, and other information required for user authentication. In addition to authentication information, memory device 20 stores user information such as name and access information for each user. Access information refers to information indicating, for example, whether the user is an operator or an operator administrator.

[0041] Figure 5 shows an example of a management screen CP of this embodiment. The management screen CP includes, for example, a first display area DA1, a second display area DA2, a third display area DA3, and a fourth display area DA4.

[0042] The first display area DA1 displays a simulated overhead view of the entire track 2, shown as a track screen 100. On this track screen 100, the current position of the moving vehicle 3 is indicated by a vehicle icon 101. The vehicle icon 101 moves according to the actual movement of the moving vehicle 3. Furthermore, the location of a container storage device for storing items is displayed on the track screen 100 using a storage device icon 102. This container storage device, for example, can be used by a container handling vehicle to move containers and is located near the ceiling. Additionally, if a no-entry zone is defined, it is displayed on the track screen 100 as the no-entry zone NA (the diagonally lined area in Figure 5). For example, the no-entry zone NA displayed on the track screen 100 is shown in a way that distinguishes it from other zones. For example, the no-entry zone NA is displayed in a different color than other zones.

[0043] The second display area DA2 displays the following buttons: main button 200, transport command button 210, setting button 220, and maintenance button 230.

[0044] If the user operates the main button 200, the processor 24 will display the main screen on the management screen CP. If the user operates the main button 200, the processor 24 will display the main screen on the display device 23. Here, "operation" refers to operation via input devices 22 such as a keyboard, mouse, or touch panel, or it can refer to operation on the display screen of the touch display device 23, or operation of keyboard icons such as text input displayed on the display screen of the display device 23.

[0045] If the processor 24 is activated by the user pressing the transport command button 210, a transport command screen for transmitting transport commands to the traveling vehicle 3 is displayed on the display device 23. In the transport command screen, the traveling vehicle 3 and its destination can be specified, and route information up to the destination is recorded. This route information is generated as a transport command and transmitted to the traveling vehicle 3 that issued the command. If the processor 24 is activated by the user pressing the setting button 220, a setting screen for performing various settings on the traveling vehicle system 1 is displayed on the display device 23.

[0046] If the processor 24 is activated by the maintenance button 230, a maintenance menu screen 240 is displayed on the display screen of the display device 23. The maintenance menu screen 240 displays multiple buttons corresponding to various maintenance procedures in the vehicle system 1. Among these multiple buttons is a route setting button 250. If the user activates this route setting button 250, a predetermined area (hereinafter referred to as a "specific area") of the track 2 can be selected on the management screen CP (e.g., track screen 100). A specific area refers to one or more grid cells G. The processor 24 manages the state of each grid cell G in the track 2. The state of a grid cell G refers to either a prohibited or passable state. For example, the memory device 20 stores information identifying the grid cell G and information indicating the state of the grid cell G. In other words, the memory device 20 stores the state of each grid cell G. The processor 24 manages the state information of each grid cell G stored in the memory device 20. If the route setting button 250 is pressed, the processor 24 reads the state of each grid unit G from the memory device 20 and displays the state of each grid unit G of track 2 in the track screen 100.

[0047] If the route setting button 250 is activated, the information of the currently set prohibited areas will be displayed in the third display area DA3. For example, in the third display area DA3, pressing each prohibited area will display the information of the grid cell G that is set as a prohibited area. In addition, when the route setting button 250 is not activated, the route information of each vehicle 3 can also be displayed in the third display area DA3.

[0048] The fourth display area DA4 displays the following buttons: route setting button 300, route deactivation button 310, route setting restriction button 400, and route deactivation restriction button 410. For example, if the route setting button 250 is operated, the fourth display area DA4 will display the following buttons: route setting button 300, route deactivation button 310, route setting restriction button 400, and route deactivation restriction button 410.

[0049] The route downlink setting button 300 is operated when a specific area (e.g., one or more grid cells G) selected by the user is set as a restricted area. The route downlink deselection button 310 is operated when a restricted area selected by the user is deselected.

[0050] The downlink restriction setting button 400 and the downlink derestriction button 410 are buttons that can only be operated by the operator / manager among users. The downlink restriction setting button 400 is operated by the operator / manager when setting a restricted access zone. The downlink derestriction button 410 is operated by the operator / manager when derestricting a restricted access zone. Here, restriction means that the operator / manager's approval is required. That is, setting a restricted access zone by operating the downlink restriction setting button 400 requires the operator / manager's approval. Similarly, derestricting a restricted access zone by operating the downlink derestriction button 410 requires the operator / manager's approval. Whether the user who pressed the downlink restriction setting button 400 or the downlink derestriction button 410 is an operator or an operator / manager can also be determined based on permission information. For example, the restricted access setting unit 30 can also determine whether the user who pressed the downlink restriction setting button 400 or the downlink derestriction button 410 is an operator or an operator / manager based on the permission information of the registered user.

[0051] The prohibition setting unit 30 sets the prohibition of passage in a predetermined area of ​​track 2. For example, when the prohibition setting unit 30 receives information indicating that a setting operation has been performed to prohibit passage in a specific area consisting of one or more grid units G, it senses that a setting operation has been performed and sets that specific area as a prohibited area. The setting operation refers to, for example, pressing the route down setting button 300.

[0052] If the restricted access setting unit 30 is operated (e.g., pressed) when a specific area is selected by the user, the route setting button 300 will be activated, and that specific area will be set as a restricted access area. For example, if the restricted access setting unit 30 is operated with the route setting button 300 activated while a specific area is selected, the state of the grid cell G of that specific area stored in the memory device 20 will be set as a restricted access area. Here, if there are no restrictions on the setting of restricted access areas, the restricted access setting unit 30 will set the selected specific area as a restricted access area when the route setting button 300 is activated, regardless of whether there is operator or administrator approval. Furthermore, if there are restrictions on the setting of restricted access areas, the restricted access setting unit 30 will set that specific area as a restricted access area only if the route setting button 300 is activated while a specific area is selected, provided that the operator or administrator approves the setting. For example, if there are restrictions on the setting of a restricted area, if the restricted area setting unit 30 is operated by the route setting button 300 when a specific area is selected, an approval request is sent to the administrator terminal 4. If the approval request is granted by the operator administrator, the specific area is set as a restricted area.

[0053] The prohibition setting unit 30 can set either a Level 1 or Level 2 prohibition zone. The handling of deactivating a Level 1 or Level 2 prohibition zone differs. Deactivating a Level 1 prohibition zone does not require operator / manager approval. However, deactivating a Level 2 prohibition zone requires operator / manager approval. For example, if the route downlink setting button 300 is pressed, the prohibition setting unit 30 sets the prohibition zone to Level 1. Then, after setting the prohibition zone, the prohibition setting unit 30 can change the prohibition zone from Level 1 to Level 2. For example, if the prohibition zone is selected by the operator / manager, and the downlink derestriction button 410 is pressed by the operator / manager, the prohibition zone's level is set to Level 2. In some cases, the setting of the prohibition zone by the prohibition setting unit 30 is referred to as setting processing.

[0054] The following describes a specific example of the setting process. If the down-line setting button 300 is pressed, the input screen 500 is displayed on the display device 23. Figure 6 shows an example of the input screen 500. The input screen 500 has multiple input fields for inputting the setting period and the setting reason. The setting period refers to the period during which a specific area is set as a restricted area. The setting reason refers to the reason for setting the specific area as a restricted area.

[0055] The user operates the input device 22 to input the setting period and setting reason on the input screen 500, and presses the OK button 510 on the input screen 500. When the OK button 510 is pressed, the prohibition setting unit 30 sets that specific area as a prohibited area. For example, the prohibition setting unit 30 establishes a correspondence between the information entered into the input field of the input screen 500 and the information indicating the prohibited area, and stores it in the memory device 20. The information indicating the prohibited area is the information defined by the prohibited area, and may also include the identification information and location information of the prohibited area. Specifically, when the OK button 510 is pressed on the input screen 500, the prohibition setting unit 30 establishes a correspondence between the identification information of the set prohibited area, the information indicating the location of the prohibited area, the setting period, the setting reason, and the identification information of the user setting the prohibited area (e.g., name, ID number, etc.) and stores it in the memory device 20. The identification information of the prohibited area refers to the information used to distinguish it from other prohibited areas. Information indicating the location of a restricted area refers to, for example, information about the grid cells G that constitute the restricted area.

[0056] If a restricted area is set, the restricted area NA will be displayed on the track screen 100 in a way that distinguishes it from other areas. For example, the restricted area may be displayed in a different color than other areas. Furthermore, for example, if the cursor is hovered over the restricted area, information such as the setting period and the reason for setting the restricted area will be displayed.

[0057] When the user selects a Level 1 restricted area and the downlink unrestriction button 410 is pressed, the restricted area 31 is unblocked regardless of whether an operator or administrator has approved it. On the other hand, when the operator selects a Level 2 restricted area and the downlink unrestriction button 410 is pressed, the restricted area 31 is unblocked only if an operator or administrator has approved it.

[0058] The following describes the setting process when there are restrictions on the setting of restricted access zones. When there are restrictions on the setting of restricted access zones, the restricted access setting unit 30 checks whether a restricted access zone setting has been approved by a second user (e.g., an operator administrator) when a restricted access zone setting operation has been performed by a first user (e.g., an operator). The restricted access zone setting operation refers to, for example, pressing the route setting button 300 when a specific zone is selected by the operator. For example, when there are restrictions on the setting of restricted access zones, if the restricted access setting unit 30 operates the route setting button 300 while the specific zone is selected by the operator, it notifies the administrator terminal 4 of an approval request to set the specific zone as a restricted access zone (restricted access zone setting). The operator administrator uses the administrator terminal 4 to approve the restricted access zone setting.

[0059] For example, if the administrator terminal 4 receives an approval request for setting a restricted area from the control device 5, it notifies the display screen 4a of the purpose of the approval request. The operator / manager confirms the content of the approval request for setting a restricted area on the display screen 4a. If the approval request is granted, the administrator terminal 4 performs an operation to approve the request. If the administrator terminal 4 performs an operation to approve the approval request for setting a restricted area, it transmits an approval notification to the control device 5. If the operator / manager does not approve the approval request for setting a restricted area, it performs an operation to disapprove the approval request to the administrator terminal 4. If the administrator terminal 4 performs an operation to disapprove the approval request for setting a restricted area, it transmits an approval disapproval notification to the control device 5. If the restricted area deactivation unit 31 is granted an approval request to set a specific area selected by the operator as a restricted area, that is, if it receives an approval notification, it sets that specific area as a restricted area.

[0060] The following describes the method for removing a Level 2 restricted area. If a Level 2 restricted area is selected via input device 22, and the operator presses the operation downlink release button 410, the restricted area release unit 31 displays a first confirmation screen 600 on the display screen of display device 23. The first confirmation screen 600 confirms the intention to remove the restricted area from the first user's access. Figure 7 shows an example of the first confirmation screen 600. The first confirmation screen 600 displays the identification information of the user (e.g., operator / manager) who performed the setting operation for the restricted area to be removed, and confirmation information including the reason for setting the restricted area and the setting period. Furthermore, the first confirmation screen 600 displays a message confirming the removal of the restricted area, such as "The setting of the selected restricted area is as shown below. Are you sure you want to remove it?" (hereinafter referred to as the "first confirmation message").

[0061] Furthermore, the first confirmation screen 600 displays a "Yes" button 610 and a "No" button 620. After confirming the confirmation message and information, the first user presses the "Yes" button 610 to remove the restricted area. If the "Yes" button 610 is pressed, the second confirmation screen 700, as illustrated in Figure 8, is displayed on the display device 23. After confirming the confirmation message and information, the first user presses the "No" button 620 if they do not wish to remove the restricted area. If the "No" button 620 is pressed, the restricted area removal unit 31 cancels the removal of the restricted area. As shown above, if the restricted area removal unit 31 performs a removal operation, it displays confirmation information on the display device and performs the first confirmation process, confirming the first user's intention to remove the restricted area.

[0062] Figure 8 shows an example of a second confirmation screen 700. The second confirmation screen 700 confirms whether the removal of the restricted area has been approved by a second user. The second confirmation screen 700 displays a message such as "Has the operator / manager approved?" confirming whether the removal of the restricted area has been approved by the operator / manager (hereinafter referred to as the "second confirmation message"). Furthermore, the second confirmation screen 700 includes an input field for comments. These comments can refer to, for example, the reason for removal or contact information. After confirming the second confirmation message, if the first user has received approval from a second user (e.g., an operator / manager), they press the "Yes" button 710. The first user can also enter the reason for removal in the remarks field 730 when pressing the "Yes" button 710. If the first user has not received approval from an operator / manager after confirming the second confirmation message, they press the "No" button.

[0063] When the "Yes" button 710 is pressed, the restricted area of ​​the restricted area is removed from the restricted area. For example, when the "Yes" button 710 is pressed, the restricted area setting unit 30 records the information indicating that the restricted area has been removed, the reason for removal, and the identification information of the user whose restricted area has been removed (such as name, ID number, etc.) as log information in the memory device 20. For example, when the restricted area removal unit 31 removes the restricted area of ​​the restricted area and records the log information in the memory device 20, as shown in FIG9, a screen (hereinafter referred to as the "message screen") 800 displaying a message indicating that the restricted area has been removed and the log information has been recorded is displayed on the display device 23.

[0064] If the "No" button 720 is pressed, the prohibition removal unit 31 will display a message urging the operator to obtain approval, such as "Please obtain approval from the operator manager," and will either retain or stop the removal of the prohibited area. As shown above, after the first confirmation process, the prohibition removal unit 31 performs a second confirmation process to check whether the removal of the prohibition was approved by a second user who is different from the first user. The process that includes the first confirmation process and the second confirmation process is called the specific process.

[0065] For example, the method for removing a Level 1 restricted area involves executing only the first confirmation process, without performing the second confirmation process. That is, when the removal button 410 is pressed while a Level 1 restricted area is selected, the restriction removal unit 31 displays the first confirmation screen 600 on the display device 23. Subsequently, if the "Yes" button 610 is pressed on the restriction removal unit 31, the second confirmation screen 700 will not be displayed, meaning the restricted area is removed. At this time, an input field for entering the reason for removal can also be provided on the first confirmation screen 600.

[0066] When the restricted area is removed by the restricted area removal unit 31, the notification unit 32 notifies all users registered on the control device 5 (including the first user and the second user) that the restricted area has been removed. For example, when the restricted area is removed by the restricted area removal unit 31, the notification unit 32 notifies all information terminals registered as notification destinations, such as via the communication device 21, of notification information including the identification information of the restricted area, the fact that the restricted area has been removed, and the identification information (e.g., name) of the removed user. However, it is not limited to this; the notification unit 32 may also notify only the terminal used by the operator / manager, i.e., the manager's terminal 4. The notification issued by the notification unit 32 may also be an email notification, a pop-up notification, or a notification using SNS.

[0067] The following uses Figure 10 to illustrate the process of removing a Level 2 restricted area. Figure 10 is a flowchart of the process of removing a Level 2 restricted area. The operator selects the restricted area to be removed in the management screen CP to perform the removal operation. When the operator performs the removal operation on the restricted area, the restricted area removal unit 31 displays the first confirmation screen 600 on the display device 23 (step S101). The removal operation is performed, for example, when the operator presses the operation downlink removal restriction button 410 while the Level 2 restricted area is selected. However, it is not limited to this, and the situation where the information terminal used by the operator receives information about the purpose of removing the restricted area is also included in the case of removing the restricted area.

[0068] If the prohibition-of-passage release unit 31 senses that the "Yes" button 610 has been pressed in the first confirmation screen 600 (step S102: YES), it displays the second confirmation screen 700 on the display device 23 (step S103). On the other hand, if the prohibition-of-passage release unit 31 senses that the "No" button 620 has been pressed in the first confirmation screen 600 (step S102: NO), it ends the process of releasing the prohibited passage area.

[0069] If the prohibition zone removal unit 31 senses that the "Yes" button 710 has been pressed in the second confirmation screen 700 (step S104: YES), the operator / manager approves the removal of the prohibited area and removes the prohibited area (step S105). At this time, the prohibition zone removal unit 31 records the information entered into the remarks column 730 along with the removal of the prohibited area in the memory device 20 and displays the message screen on the display device 23. On the other hand, if the prohibition zone removal unit 31 senses that the "No" button 720 has been pressed in the second confirmation screen 700 (step S104: NO), it will prompt the operator / manager to display the approval message on the display device 23 and either retain or end the removal process of the prohibited area.

[0070] Here, the second confirmation process is illustrated by showing the second confirmation screen 700 to the first user to confirm whether the removal of the access restriction has been approved by the second user. However, it is not limited to this; the access restriction removal unit 31 may also request the second user to approve the removal of the access restriction as part of the second confirmation process. For example, the access restriction removal unit 31 may also transmit information (the aforementioned approval request) to the administrator terminal 4 to confirm whether the removal of the access restriction has been approved by the operator administrator as part of the second confirmation process. The access restriction removal unit 31 may also remove the restricted area when the administrator terminal 4 receives information indicating approval (the aforementioned approval notification).

[0071] The following uses Figure 11 to illustrate the process of cancelling an approval request when it is being processed as the second confirmation process. Figure 11 is a flowchart of the process of cancelling an approval request when it is being processed as the second confirmation process. Steps S201 and S202 are the same as steps S101 and S102, so their description is omitted.

[0072] If the access restriction removal unit 31 senses that the "Yes" button 610 has been pressed in the first confirmation screen 600 (step S202: "Yes" button), it sends an approval request to the administrator via terminal 4 (step S203). On the other hand, if the access restriction removal unit 31 senses that the "No" button 620 has been pressed in the first confirmation screen 600 (step S202: "No" button), it ends the process of removing the restricted area.

[0073] When the administrator terminal 4 performs an approval operation through the operator administrator, it sends an approval notification to the access control removal unit 31. If the access control removal unit 31 receives the approval notification from the administrator terminal 4 (step S204: YES), the operator administrator approves the removal of the restricted area, and the restricted area is removed (step S205). On the other hand, if the access control removal unit 31 receives an approval denial notification from the administrator terminal 4 (step S204: NO), the access control removal process ends due to lack of approval. Alternatively, if the access control removal unit 31 receives an approval denial notification from the administrator terminal 4, it can display a message on the display device 23 indicating that the operator administrator did not approve the access.

[0074] In the above description, the restriction on setting up a restricted area refers to the requirement of operator / manager approval, but it is not limited to this. For example, the restriction on setting up a restricted area could also be that it cannot be set up regardless of whether operator / manager approval is required. Furthermore, in the above description, the restriction on removing a restricted area refers to the requirement of operator / manager approval, but it is not limited to this. For example, the restriction on removing a restricted area could also be that it cannot be removed regardless of whether operator / manager approval is required.

[0075] The restriction on setting a restricted area only applies when an operator sets it. Therefore, if an operator / manager sets a restricted area, the setting is not restricted. Similarly, if an operator / manager removes a restricted area, the removal is not restricted. The restricted area setting unit 30 can also determine, for example, whether the user who performed the restricted area setting operation (e.g., pressing the downlink setting button 300) or the restricted area removal operation (e.g., pressing the downlink removal button 310) is an operator or an operator / manager, based on the logged-in user's permission information. The operator / manager can also use the administrator terminal 4 to log in to the control device 5 to perform restricted area setting or removal operations.

[0076] As described above, when the control device 5 of this embodiment performs a release operation of the access restriction by the first user, it executes a specific process including checking whether the release of the access restriction by the second user has been approved. Then, if the release of the access restriction by the second user has been approved, the control device 5 releases the access restriction. With the configuration shown above, the control device 5 can prevent the access restriction from being released due to user error.

[0077] Furthermore, the vehicle system 1 in this embodiment may also include a mechanical stop. In the vehicle system 1, since the situation where the prohibition zone is lifted due to user error can be suppressed, the situation where the vehicle contacts the mechanical stop due to the lifting of the prohibition zone caused by user error can be suppressed.

[0078] In the above implementation, the second user is not limited to the operator manager, and can be, for example, multiple operators. That is, the approval necessary in the second confirmation process is not limited to the operator manager's approval, and can be, for example, the approval of multiple persons. Furthermore, the second user can be different from the first user, and can also be other operators.

[0079] The present embodiment discloses the following components. (Component 1) A control device (5), which controls the movement of the traveling vehicle (3) in the track (2), comprises: The no-passage setting unit (30) sets a predetermined area in the aforementioned track (2) as a no-passage zone; and The prohibition-free zone release unit (31) performs a specific process, including confirming whether the prohibition-free zone was released by a second user different from the first user, if the aforementioned prohibition-free zone release operation was performed by the first user. The aforementioned prohibition zone removal section (31) shall remove the aforementioned prohibition zone if it is confirmed that the removal of the aforementioned prohibition zone was approved by the aforementioned second user. (Component 2) If the control device (5) constitutes 1, the aforementioned prohibition setting unit (30) sets the aforementioned predetermined area as the aforementioned prohibition area when the aforementioned second user performs a setting operation that instructs the setting of the aforementioned prohibition area, and sets the aforementioned prohibition area of ​​the aforementioned predetermined area as a condition for the approval of the aforementioned prohibition area setting performed by the aforementioned second user when the aforementioned first user performs the aforementioned setting operation. (Component 3) If the control device (5) is configured as 1 or 2, the aforementioned prohibition setting unit (30) displays an input screen with an input field for inputting the reason for setting the aforementioned prohibition zone on the display device (23) when the aforementioned predetermined area is set as the aforementioned prohibition zone, so that the information input into the aforementioned input field and the information indicating the aforementioned prohibition zone are established in correspondence and stored in the memory device (20). (Component 4) If the control device (5) comprises any one of the following configurations (1 to 3), wherein the aforementioned specific processing includes: The first confirmation process involves, if the aforementioned cancellation operation has been performed, displaying the identification information of the second user who performed the aforementioned restricted area setting operation, and the reason for setting the restricted area, on the display device (23), to confirm the first user's intention to cancel the aforementioned restricted area; and The second confirmation process involves confirming whether the removal of the aforementioned restricted area was approved by the aforementioned second user if the first confirmation process confirms the aforementioned first user's intention to remove the restricted area. (Component 5) If the control device (5) constitutes 5, wherein the aforementioned prohibition zone release unit (31) is used as the aforementioned second confirmation process, and if a confirmation screen confirming whether the aforementioned prohibition zone has been approved by the aforementioned second user is displayed on the aforementioned display device (23), and a predetermined operation is performed on the aforementioned confirmation screen, the aforementioned prohibition zone is released. (Composition 6) If the control device (5) constitutes 5, wherein the aforementioned prohibition release unit (31) is used as the aforementioned second confirmation process, if the approval request for the release of the aforementioned prohibited area made by the aforementioned second user is transmitted to the information terminal (4) used by the aforementioned second user, and the aforementioned information terminal (4) receives the information indicating approval, the aforementioned prohibited area is released. (Component 7) The control device (5) comprising any one of the components 1 to 6, wherein either a first level or a second level can be set for the aforementioned prohibited passage zone. The aforementioned prohibition release unit (31) performs the aforementioned specific processing when the aforementioned prohibited area set to the aforementioned level 2 is released; if the aforementioned prohibited area set to the aforementioned level 1 is released, the aforementioned specific processing is not performed, and the aforementioned prohibited area set to the aforementioned level 1 is released according to the aforementioned release operation performed by the aforementioned first user. (Composition 8) The control device (5) may be configured in any of the configurations 1 to 7, and further includes a notification unit (32) that notifies all users, including the first user and the second user registered in the control device (5), if the aforementioned restricted area has been lifted. (Composition 9) If the control device (5) consists of any one of the components 1 to 8, the aforementioned prohibition setting unit (30) checks whether the setting of the aforementioned prohibition zone is approved by a second user different from the aforementioned first user when the aforementioned first user has performed the setting operation of the aforementioned prohibition zone. If the approval of the setting of the aforementioned prohibition zone by the aforementioned second user is confirmed, the aforementioned prohibition zone is set.

[0080] The embodiments described above are not limited to the embodiments described above. Furthermore, those skilled in the art will readily recognize that various modifications or improvements can be made to the embodiments described above. The modifications or improvements described above are also clearly understood from the claims to be included within the scope of this invention. Furthermore, one or more of the elements described in the embodiments described above may be omitted. Furthermore, the elements described in the embodiments described above can be appropriately combined. Furthermore, the execution order of each sequence shown in the embodiments can be arbitrary as long as the result of the preceding sequence is not used in the subsequent sequence. Furthermore, even if terms such as "firstly," "next," or "following" are used for convenience in the description of the actions in the embodiments, they are not necessarily performed in that order. Furthermore, all disclosures in Japanese Patent Application No. 2022-172265 and the documents cited in the embodiments described above are incorporated into this document, provided that the law permits.

[0081] 1: Walking vehicle system 2: Track 3: Walking vehicle 4: Administrator's terminal 4a: Display screen 5: Control device 20: Memory device 21: Communication devices 22: Input device 23: Display device 24: Processor 30: No Entry Setting Department 31: Lifting of Prohibition on Passage 32: Notification Department 100: Track View 101: Walking vehicle icon 102: Storage device icon 200: Main button 210: Moving command button 220: Setting button 230: Repair button 240: Repair Menu Screen 250: Route setting button 300: Route Downward Setting Button 310: Route Downward Cancel Button 400: Downlink setting limit button 410: Downlink Unrestriction Button 500: Input screen 510: Confirm button 600: First Confirmation Screen 610: "Yes" button 620: "No" button 700: Second confirmation screen 710: "Yes" button 720: "No" button 730: Remarks Section 800: Screen (Message Screen) CP: Management Screen DA1: First display area DA2: Second display area DA3: Third display area DA4: 4th display area G: Mesh cell NA: No Entry Zone NW: Communication Network R1: Track 1 R2: Track 2 R3: Partial Track

Claims

1. A control device for controlling the movement of a vehicle in a track, comprising: a prohibition setting unit for setting a predetermined area in the track as a prohibition zone; and a prohibition release unit for performing specific processing, including confirming whether the prohibition zone has been approved by a second user different from the first user, if a first user performs a release operation of the prohibition zone, thereby releasing the prohibition zone.

2. The control device as claimed in claim 1, wherein, The aforementioned no-entry setting unit sets the aforementioned predetermined area as the aforementioned no-entry area when the aforementioned second user performs a setting operation that instructs the setting of the aforementioned no-entry area.

3. The control device as described in claim 2, wherein, The aforementioned no-passage setting unit sets the aforementioned no-passage zone of the aforementioned predetermined area on the condition that the aforementioned first user has approved the setting of the aforementioned no-passage zone by the aforementioned second user.

4. The control device as described in claim 1, wherein, When the aforementioned restricted area is set as the aforementioned restricted area, the aforementioned no-entry setting unit displays an input screen on the display device with an input field for inputting the reason for setting the restricted area, so that the information input into the aforementioned input field and the information indicating the aforementioned restricted area are associated and stored in the memory device.

5. The control device as claimed in claim 1, wherein, The aforementioned specific processing includes: a first confirmation process, which, if the aforementioned cancellation operation is performed, displays the identification information of the aforementioned second user who performed the aforementioned restricted area setting operation and the reason for setting the restricted area on the display device to confirm the aforementioned first user's intention to cancel the aforementioned restricted area; and a second confirmation process, which, if the aforementioned first user's intention to cancel is confirmed in the aforementioned first confirmation process, confirms whether the cancellation of the aforementioned restricted area was approved by the aforementioned second user.

6. The control device as described in claim 5, wherein, The aforementioned prohibition zone removal section is a second confirmation process. If a confirmation screen is displayed on the aforementioned display device to confirm whether the removal of the aforementioned prohibited zone has been approved by the aforementioned second user, and a predetermined operation is performed on the aforementioned confirmation screen, the aforementioned prohibited zone is removed.

7. The control device as described in claim 5, wherein, The aforementioned prohibition zone removal process is the second confirmation process mentioned above. If the approval request for the removal of the aforementioned prohibited zone made by the aforementioned second user is transmitted to the information terminal used by the aforementioned second user, and the aforementioned information terminal receives the information indicating approval, the aforementioned prohibited zone is removed.

8. The control device as claimed in claim 1, wherein, The aforementioned restricted area can be set to either Level 1 or Level 2. If the restricted area is set to Level 2, the restricted area release unit performs the aforementioned specific processing. If the restricted area is set to Level 1, the restricted area is not processed. Instead, the restricted area is released from Level 1 based on the release operation performed by the first user.

9. The control device as claimed in claim 1, wherein, Additionally, it includes a notification unit that notifies all users, including the first user and the second user registered on the aforementioned control device, if the aforementioned restricted area has been lifted.

10. The control device as claimed in claim 1, wherein, If the aforementioned no-entry setting unit performs the setting operation of the aforementioned no-entry zone by the aforementioned first user, it checks whether the setting of the aforementioned no-entry zone by a second user different from the aforementioned first user has been approved. If it is confirmed that the setting of the aforementioned no-entry zone by the aforementioned second user has been approved, the aforementioned no-entry zone is set.

11. A vehicle system comprising: a vehicle; a track along which the vehicle travels; and a control device as claimed in any one of claims 1 to 10, which controls the vehicle traveling along the track.

12. A method for removing a restricted area in a predetermined zone of a track traveled by a vehicle, comprising: if a removal operation of the aforementioned restricted area is performed by a first user, performing a specific process including confirming whether there is approval for the removal of the aforementioned restricted area by a second user different from the aforementioned first user; and if it is confirmed that there is approval for the removal of the aforementioned restricted area by the aforementioned second user, removing the aforementioned restricted area.

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