Traveling vehicle system

Abstract

The present application provides a kind of travel car system, it limits the number of existence in the divided area to the number of pre-determined, so as to be able to inhibit the situation that the travel car is limited to enter the divided area, thereby being able to inhibit the reduction of transport efficiency.The travel car system (1) has controller (40), if the number of existence of travel car (5) in the divided area (A) reaches the first specified value, then the controller (40) limits the travel car (5) to enter the divided area (A).In addition to monitoring the number of existence, controller (40) also monitors the predetermined number of travel car (5) to enter the divided area, based on the total number of the number of existence and the predetermined number of entry, to determine whether the travel car that is predetermined to enter the divided area can enter the divided area when the total number is obtained, and to determine whether the path containing the divided area in the travel path can be reset, and to control the travel of the travel car based on the determined entry possibility and the possibility of setting.

Description

Technical Field

[0001] One aspect of the present invention relates to a vehicle system. Background Technology

[0002] It is known that a vehicle system, controlled by a computer, automatically drives multiple vehicles on a pre-set driving path on a ceiling or floor (e.g., Patent Document 1). The vehicles in this system travel on electricity supplied from a power source. Since the power supply capacity of this power source is limited, multiple zones are defined that receive power from a single power source. However, if a predetermined number of vehicles enter a defined zone, the power supply to each vehicle becomes insufficient, resulting in a decrease in speed or stopping of each vehicle. Therefore, conventionally, control measures are implemented to limit the number of vehicles that can enter each defined zone (hereinafter referred to as the "number of vehicles present") to a predetermined number.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2002-351546

[0004] However, if a predetermined number of vehicles are prohibited from entering the designated area, a new problem arises, such as a decrease in the transport efficiency of the vehicle system, where subsequent vehicles stop near the designated area, or vehicles attempting to avoid the designated area concentrate on the same path. Summary of the Invention

[0005] Therefore, one aspect of the present invention is to provide a vehicle system that limits the number of vehicles in a divided area to a predetermined number, thereby suppressing situations that restrict vehicles from entering the divided area, thereby suppressing a decrease in transport efficiency.

[0006] In one aspect of the present invention, a vehicle system has at least one partitioned area in a driving path for the vehicle to travel. The vehicle system includes a controller that restricts the entry of vehicles into the partitioned area if the number of vehicles in the partitioned area reaches a first predetermined value. In addition to monitoring the number of vehicles present, the controller also monitors the predetermined number of vehicles to enter the partitioned area. Based on the total number of vehicles present and the predetermined number of vehicles to enter, the controller determines whether a vehicle that is to enter the partitioned area when the total number of vehicles is obtained can enter the partitioned area, and determines whether the path including the partitioned area in the driving path can be reset. Based on the determined permission to enter and the reset permission, the controller controls the driving of the vehicle.

[0007] In this vehicle system, in addition to monitoring the number of vehicles present, the system also monitors the planned number of vehicles to enter a designated area. Based on this new metric—the total number of vehicles present and planned entry—it determines whether a vehicle planned to enter the designated area can proceed, and whether the route including the designated area can be reset. This allows for the execution of vehicle entry suppression processing corresponding to the urgency of the number of vehicles present reaching a first predetermined value. As a result, in a vehicle system that limits the number of vehicles present in a designated area to a predetermined number, it is possible to suppress situations that restrict vehicle entry into that designated area, thereby preventing a decrease in transport efficiency.

[0008] In one aspect of the vehicle system of the present invention, if the total number of vehicles reaches a second predetermined value less than the first predetermined value or a predetermined proportion of the first predetermined value, the controller allows vehicles destined for the designated area to enter the designated area when the second predetermined value or the predetermined proportion is reached. Furthermore, when resetting the driving path, the priority of driving paths bypassing the designated area is given higher priority than driving paths entering the designated area. In this structure, situations that restrict vehicles from entering the designated area can be relatively mildly suppressed.

[0009] In one aspect of the vehicle system of the present invention, if the total number of vehicles reaches or exceeds a first predetermined value, then vehicles destined for a designated area when the first predetermined value is reached or exceeds the first predetermined value are allowed to enter the designated area, and the resetting of the driving path to the designated area is prohibited. In this structure, a situation that restricts vehicles from entering the designated area can be suppressed relatively quickly.

[0010] In one aspect of the vehicle system of the present invention, if the total number of vehicles reaches a second predetermined value less than a first predetermined value or a predetermined proportion of the first predetermined value, the controller allows vehicles destined for a designated area to enter the designated area when the second predetermined value or the predetermined proportion is reached. Furthermore, when resetting the driving path, the priority of driving paths bypassing the designated area is given higher priority than driving paths entering the designated area. If the total number of vehicles reaches or exceeds the first predetermined value, the controller allows vehicles destined for a designated area to enter the designated area when the first predetermined value is reached or exceeds the first predetermined value, and prohibits the resetting of driving paths entering the designated area. In this structure, when the urgency of reaching the first predetermined value is low, the situation of restricting vehicles from entering the designated area can be relatively mildly suppressed; when the urgency of reaching the first predetermined value is high, the situation of restricting vehicles from entering the designated area can be relatively quickly suppressed. That is, the entry suppression process of vehicles into the appropriate designated area can be implemented based on the urgency of reaching the first predetermined value.

[0011] In one aspect of the vehicle system of the present invention, the controller may also be configured to set the range of the divided area. In this configuration, the range of the divided area can be freely set in accordance with the operating conditions.

[0012] According to one aspect of the invention, in a vehicle system that limits the number of vehicles in a divided area to a predetermined number, it is possible to suppress situations that restrict vehicles from entering the divided area, thereby suppressing a decrease in transport efficiency. Attached Figure Description

[0013] Figure 1 This is a structural diagram showing the structure of a vehicle system according to one embodiment.

[0014] Figure 2 "is" means "is". Figure 1 Functional block diagram of the driving vehicle system.

[0015] Figure 3 This is a diagram illustrating an example of the process up to the point where the vehicle system initiates the first preparatory control.

[0016] Figure 4 This is a diagram illustrating an example of the process up to the point where the vehicle system initiates the second preparatory control.

[0017] Figure 5 This diagram illustrates an example of the process up to the point where the vehicle system initiates access restriction control.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1…Tractor system; 3…Tractor controller; 5 (5A, 5C, 5D, 5E, 5F, 5G)…Bridge crane (tractor); 11…Railway; 40…Control unit; 41…Area management unit; 42…Map information management unit; 43…Unit count calculation unit; 44…Unit count management unit; 45…Route exploration unit; 46…Traffic cost management unit; 47…Instruction allocation unit; 48…Tractor control unit; A (A1, A2)…Area. Detailed Implementation

[0020] Hereinafter, one embodiment will be described with reference to the accompanying drawings. In the description of the drawings, the same reference numerals are used for the same elements, and repeated descriptions are omitted. The scale of the drawings is not necessarily consistent with the description.

[0021] The traveling vehicle system 1 is a system for transporting goods using a traveling vehicle 5 that can move along a track (travel path). The traveling vehicle 5 is an unmanned traveling vehicle, such as a crane, a railcar, etc. Here, we will use an example of a traveling vehicle system 1 in a factory or similar facility, where a crane 5 (hereinafter referred to as "traveling vehicle 5") travels along a one-way track laid on the ceiling or other structure of the factory. Figure 1 As shown, the vehicle system 1 mainly includes a track 11, multiple workstations (not shown), multiple vehicles 5, and a vehicle controller 3.

[0022] Track 11 is a component that guides the vehicle 5 and enables the vehicle 5 to move, and it is suspended from the ceiling. Figure 1 This indicates the layout of track 11 in this embodiment.

[0023] The workstation is set along track 11. The workstation is the part where items are transferred between itself and the traveling vehicle 5. For example, an example of a workstation in a semiconductor processing plant includes a loading port for transferring FOUPs between the semiconductor processing unit and the traveling vehicle 5, and a buffer zone for the traveling vehicle 5 to temporarily place FOUPs, etc.

[0024] The vehicle 5 is configured to transfer goods. In addition to having a mechanism for transferring goods, the vehicle 5 also includes... Figure 2 As shown, it includes a position acquisition unit 51 and a driving control unit 53.

[0025] The position acquisition unit 51 is the part that acquires the position of the vehicle on the track 11. The position acquisition unit 51 may be configured, for example, by a reader that reads a barcode or similar object representing location information affixed to the track 11, or by an encoder. The position acquisition unit 51 sends position data to the vehicle controller 3, which includes the location information obtained by the reader and the distance traveled from that location obtained by the encoder.

[0026] The driving control unit 53 is the part that controls the driving of the vehicle 5, and is, for example, an electronic control unit composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The driving control unit 53 controls the driving of the vehicle 5 based on the transmission commands sent from the vehicle controller 3.

[0027] The vehicle controller 3 is the part that manages multiple vehicles 5 within areas (divided areas) A1 and A2. For example... Figure 2 As shown, the vehicle controller 3 includes an input unit 31, a display unit 32, a communication unit 33, and a control unit 40. The input unit 31 is for the operator to input various operations and various settings. The display unit 32 is, for example, composed of an LCD screen, and displays various setting screens or input screens for the operator to input settings through the input unit 31, etc.

[0028] The communication unit 33 is a component that communicates with other devices, such as sending transport instructions to the vehicle 5 via a wireless communication network, or receiving information from the vehicle 5 regarding its current location and whether it is carrying transported items. Additionally, the communication unit 33 receives transport instructions from the host controller, for example, via a LAN (Local Area Network), including information about workstations that are the starting point (mobility origin) and / or the destination (mobility destination).

[0029] The control unit 40 is the part of the vehicle system 1 that performs various control processes, as detailed later. It is, for example, an electronic control unit composed of a CPU, ROM, RAM, etc. The control unit 40 includes, as conceptual parts of the vehicle system 1, a region management unit 41, a map information management unit 42, a vehicle count calculation unit 43, a vehicle count management unit 44, a route exploration unit 45, a travel cost management unit 46, an instruction allocation unit 47, and a vehicle control unit 48. These conceptual parts, such as the region management unit 41, map information management unit 42, vehicle count calculation unit 43, vehicle count management unit 44, route exploration unit 45, travel cost management unit 46, instruction allocation unit 47, and vehicle control unit 48, can be configured, for example, as software where a program stored in ROM is loaded into RAM and executed by the CPU. Alternatively, the control unit 40 can also be configured as hardware based on electronic circuits, etc.

[0030] The following is a detailed description of the structure of the vehicle controller 3.

[0031] Regional Management Department 41 is designed for tracks 11 laid in factories, etc. Figure 1The area is divided into regions A (e.g., regions A1, A2). The region management unit 41 sets up region A for the tracks 11 stored in the map information management unit 42. In other words, the region management unit 41 sets the range of the tracks 11 belonging to each region A. The region management unit 41 can freely set the range of region A (the range of the tracks 11 belonging to region A) based, for example, on the available power supply and / or the communication capacity that enables stable communication. The region A is set before the vehicle system 1 begins operation.

[0032] The map information management unit 42 is the part that stores map information. This map information relates to the track 11, workstations, and subdivided areas A; more specifically, it relates to the layout of the track 11, the location of the workstations, and the extent of the track 11 in each subdivided area A. The layout of the track 11 is shown by multiple nodes and multiple links. The location of the workstations is shown in association with these nodes or the locations defined for each node. The extent of subdivided area A is shown in a state where the information defining these nodes and / or links for each subdivided area A is associated with them.

[0033] The vehicle count calculation unit 43 monitors the number of vehicles 5 present in each divided area A (hereinafter also referred to as "existing vehicle count"). The unit 43 obtains the location information of each vehicle 5 based on information periodically or continuously sent from the location acquisition unit 51 of each vehicle 5, and calculates the number of vehicles 5 present in each divided area A based on this location information. Furthermore, the unit 43 monitors the number of vehicles 5 scheduled to enter each divided area A (hereinafter also referred to as "scheduled entry vehicle count"). The unit 43 derives the scheduled entry vehicle count by referring to the driving path explored by the path exploration unit 45, which will be detailed later. In addition, during the period until the delivery based on the delivery command ends, the driving path explored by the path exploration unit 45 is temporarily stored in a storage unit such as the path exploration unit 45 or the map information management unit 42. The unit 43 calculates the total number of vehicles present and scheduled entry vehicles. The number of existing units, the number of units scheduled to enter, and the total number of existing units and the number of units scheduled to enter, calculated by the unit count calculation unit 43, are managed by the unit count management unit 44.

[0034] The unit count management unit 44 stores the number of existing units, the number of units scheduled to enter, and the total number of existing units and the number of units scheduled to enter, calculated by the unit count calculation unit 43. The unit count management unit 44 may also be configured to partially include a storage unit composed of hardware such as SSD (Solid State Drive) or HDD (Hard Disk Drive).

[0035] The path exploration unit 45 is responsible for exploring and setting the travel path that leads the vehicle 5 to the specified workstation included in the transport command. For example, when receiving a transport command from a higher-level controller (not shown) or when path exploration needs to be performed again during restricted access control, the path exploration unit 45 explores the travel path that leads the vehicle 5 to the specified workstation included in the transport command based on the map information stored in the map information management unit 42 and the cost (priority) of each node (travel path) managed by the travel cost management unit 46, and sets the explored travel path on the vehicle 5.

[0036] The driving cost management unit 46 manages the cost (priority) of each node (driving path). The driving cost management unit 46 switches the cost of each driving path (node) for each of the first and second pre-control phases, which will be detailed later. Specifically, during the first pre-control phase, the driving cost management unit 46 sets the cost of driving paths bypassing partitioned area A to be lower than the cost of driving paths entering partitioned area A (making them higher priority), thus making it less likely to select driving paths entering partitioned area A. Conversely, the driving cost management unit 46 sets the cost of driving paths entering partitioned area A to be relatively higher (making them relatively lower priority), thus not selecting driving paths entering partitioned area A. The driving cost management unit 46 may also be configured to partially include a storage unit composed of hardware such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).

[0037] The instruction allocation unit 47 is the part that selects the vehicle 5 from a plurality of vehicles 5 to execute the transport instruction. The transport instruction is sent from a host controller (not shown). The transport instruction may include information related to the workstation that will become the destination, or information related to both the starting point and the destination workstation. Upon receiving the transport instruction from the host controller, the instruction allocation unit 47 selects (allocates) one vehicle 5 from the plurality of vehicles 5. For example, the instruction allocation unit 47 assigns the transport instruction to the vehicle 5 that is not carrying an item and is located closest to the workstation it was initially heading to.

[0038] The vehicle control unit 48 controls the movement of the vehicle 5 traveling on track 11. The vehicle control unit 48 directs the vehicle 5, assigned by the command distribution unit 47, to travel along the path explored by the path exploration unit 45. Furthermore, the vehicle control unit 48 monitors the number of vehicles 5 present in each designated area A. If this number reaches a first predetermined value (e.g., 5 vehicles), the vehicle control unit 48 restricts (prohibits) the vehicle 5 from entering designated area A. Hereinafter, the situation initiating this restriction on the vehicle 5's entry into designated area A will be referred to as "initiating restriction control," and this state will be referred to as "restriction entry time." By initiating this restriction control, it is possible to prevent the vehicle 5 from becoming unable to move due to insufficient power and to prevent delays in transmitting and receiving commands due to increased communication traffic.

[0039] In addition to monitoring the number of vehicles present, the vehicle control unit 48 also monitors the predetermined number of vehicles 5 that can enter each designated area A based on the driving path explored by the path exploration unit 45. Based on the total number of vehicles present and the predetermined number of vehicles entering, the vehicle control unit 48 executes preliminary control to suppress the initiation of entry restriction control. Preliminary control refers to determining whether vehicles 5, which are predetermined to enter designated area A (e.g., designated area A1) when the total number of vehicles is obtained, can enter designated area A1, and determining whether the driving path can be reset to include designated area A1, and controlling the driving of vehicles 5 based on the determined entry and reset permissions.

[0040] The vehicle control unit 48 switches the content of the process (preparatory control) to prevent the vehicle 5 from entering the designated area A based on the urgency of the number of vehicles present reaching a first predetermined value. In this embodiment, the vehicle control unit 48 performs the first preparatory control when the urgency is relatively low, and performs the second preparatory control when the urgency becomes higher than the first preparatory control.

[0041] If the total number of vehicles present in zone A and the number of vehicles scheduled to enter reaches a second predetermined value (e.g., 4 vehicles) that is less than a first predetermined value (e.g., 5 vehicles) or a predetermined proportion (e.g., 80%) that is equal to the first predetermined value, then the vehicle control unit 48 performs a first preparatory control. That is, it allows the vehicle 5 scheduled to enter zone A when the second predetermined value or the predetermined proportion is reached to enter zone A, and when resetting the driving path, it prioritizes the driving path that bypasses zone A over the driving path that enters zone A. Hereinafter, this situation of starting such a first preparatory control will also be referred to as "initiating the first preparatory control", and this state will be referred to as "when the first preparatory control is in effect".

[0042] If the total number of vehicles in zone A reaches or exceeds a first predetermined value (e.g., 5 vehicles), the vehicle control unit 48 executes a second preparatory control. This means that the vehicle 5, which is scheduled to enter zone A when the first predetermined value is reached or exceeded, is allowed to enter zone A, and the resetting of the driving path to zone A is prohibited. Hereinafter, this execution of the second preparatory control will be referred to as "initiating second preparatory control," and this state will be referred to as "when second preparatory control is in effect." An example of the control that prohibits the resetting of the driving path to zone A includes: setting a driving path that prohibits entry into zone A; re-exploring a driving path that bypasses zone A; and driving the vehicle 5 based on the explored driving path; or stopping the vehicle 5 when it is impossible to re-explore the driving path.

[0043] Next, use Figures 3-5 An example of the process of the vehicle system 1 from initiating a first preparatory control and a second preparatory control until the initiation of an access restriction control will be described. Here, an example of the vehicle controller 3 will be described, which initiates an access restriction to the divided area A1 if the number of vehicles in the divided area A1 reaches a first predetermined value (5 vehicles), initiates a second predetermined value (4 vehicles) that is less than the first predetermined value (5 vehicles) or is in a predetermined proportion (80%) of the first predetermined value, and initiates a second preparatory control if the total number of vehicles reaches the first predetermined value (5 vehicles) or is greater than or equal to the first predetermined value.

[0044] like Figure 3 As shown, in scenario 1, there are 3 vehicles 5 in the designated area A1, and 1 vehicle 5A, which has not been assigned a delivery command, is patrolling outside the designated area A1. The vehicle controller 3 monitors the number of vehicles present in the designated area A1 and the predetermined number of vehicles to enter. The vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles to enter, and the total number of vehicles mentioned above as 3, 0, and 3, respectively. In scenario 1, the vehicle controller 3 does not initiate any of the first preparatory control, the second preparatory control, or the entry restriction control based on this total number of vehicles.

[0045] In scenario 2, there are 3 vehicles 5 in the designated area A1. A transport instruction is assigned to vehicle 5A, which was not assigned a transport instruction in scenario 1. The vehicle controller 3 explores the travel path that leads vehicle 5A to the specified workstation included in the transport instruction and determines whether the travel path includes a node in designated area A1. If the travel path of vehicle 5A includes a node in designated area A1, the vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles entering, and the total number of vehicles to be 3, 1, and 4, respectively. In scenario 2, the vehicle controller 3 initiates a first preparatory control based on this total number of vehicles. That is, since the total number of vehicles is 4, the vehicle controller 3 initiates the first preparatory control.

[0046] During the first pre-control period, the vehicle controller 3 allows the vehicle 5, which is scheduled to enter the designated area A1, to enter the designated area A1 when the second predetermined value or the aforementioned predetermined ratio is reached. Furthermore, when resetting the driving path, the priority of the driving path that bypasses the designated area A1 is higher than the priority of the driving path that enters the designated area A1.

[0047] In scenario 3, the vehicle 5A, which received a delivery instruction in scenario 2, is traveling in the designated area A1. The vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles entering, and the total number of vehicles as 4, 0, and 4, respectively. In scenario 3, the vehicle controller 3 maintains first preparatory control based on this total number of vehicles. That is, since the total number of vehicles is constant at 4, the vehicle controller 3 maintains first preparatory control.

[0048] like Figure 4 As shown, in scenario 4, there are 4 vehicles 5 in the designated area A1. Two vehicles 5C and 5D, which have not been assigned delivery instructions, patrol outside designated area A1. The vehicle controller 3 monitors the number of vehicles present in designated area A1 and the predetermined number of vehicles entering. The vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles entering, and the total number of vehicles to be 4, 0, and 4, respectively. In scenario 4, the vehicle controller 3 maintains the first pre-control initiated in scenario 2 based on this total number of vehicles.

[0049] In scenario 5, there are 4 vehicles 5 in the designated area A1. A delivery instruction is assigned to a vehicle 5C that was not assigned a delivery instruction in scenario 4. The vehicle controller 3 explores the travel path that leads vehicle 5C to the specified workstation included in the delivery instruction and determines whether the travel path contains a node in designated area A1. If the travel path of vehicle 5C includes a node in designated area A1, the vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles entering, and the total number of vehicles to be 4, 1, and 5, respectively. In scenario 5, the vehicle controller 3 initiates a second preparatory control based on this total number of vehicles. That is, since the total number of vehicles is 5, the vehicle controller 3 initiates a second preparatory control.

[0050] During the second pre-control period, the vehicle controller 3 allows the vehicle 5C, which is scheduled to enter the designated area A1, to enter the designated area A1 when the first predetermined value is reached or exceeds the first predetermined value, and prohibits the resetting of the driving path for entering the designated area A1.

[0051] In scenario 6, the following situation arises: the vehicle 5C, which received a transport instruction in scenario 5, has not yet entered the designated area A1, and a transport instruction is assigned to the vehicle 5D, which was patrolling outside designated area A1 in scenario 5. The vehicle controller 3 allows the vehicle 5C, which is scheduled to enter designated area A1, to enter designated area A1 when a second predetermined value or the aforementioned predetermined proportion is reached. The vehicle controller 3 explores a travel path up to the designated workstation included in the transport instruction. During the second pre-control phase, the vehicle controller 3 explores a travel path that bypasses designated area A1. In scenario 6, the vehicle controller 3 determines the number of vehicles present, the number of vehicles scheduled to enter, and the total number of vehicles as 4, 1, and 5, respectively. In scenario 6, the vehicle controller 3 maintains the second pre-control phase based on this total number of vehicles.

[0052] Figure 5 Scenario 7 shows a state where a short time has passed since Scenario 6. Scenario 7 indicates that there are 3 vehicles 5 in the partitioned area A1, and 3 vehicles 5E, 5F, and 5G that have not been assigned a transport command are patrolling outside the partitioned area A1, and transport commands are assigned to the 3 vehicles 5E, 5F, and 5G simultaneously or consecutively.

[0053] The vehicle controller 3 explores the travel paths of vehicles 5E, 5F, and 5G to the designated workstations included in the delivery instructions, and determines whether the travel paths include nodes containing the partitioned area A1. Furthermore, the vehicle controller 3 monitors the number of vehicles present in partitioned area A1 and the planned number of vehicles entering. If the travel paths of vehicles 5E, 5F, and 5G each include nodes containing partitioned area A1, the vehicle controller 3 determines the number of present vehicles, the planned number of vehicles entering, and the total number of vehicles to be 3, 3, and 6, respectively. In scenario 7, the vehicle controller 3 initiates a second preparatory control based on this total number of vehicles.

[0054] In scenario 8, vehicles 5E and 5F, which were assigned transport instructions in scenario 7, are shown entering the designated area A1 in sequence. In scenario 8, the vehicle controller 3 determines the number of vehicles present, the predetermined number of vehicles entering, and the total number of vehicles to be 5, 1, and 6, respectively. In scenario 8, the vehicle controller 3 initiates an entry restriction control based on the monitored number of vehicles present. That is, since the number of vehicles present is 5, the vehicle controller 3 initiates an entry restriction control. The vehicle controller 3 restricts the entry of vehicle 5G, which intends to enter the designated area A1 according to the entry path determined in scenario 7, into the designated area A1. Specifically, the vehicle controller 3 stops vehicle 5G just before it is about to enter the designated area A1, or re-searches for a travel path that bypasses the designated area A1.

[0055] The effects of the vehicle system 1 described in the above embodiment will be explained. In the vehicle system 1 of the above embodiment, in addition to monitoring the number of vehicles present, the predetermined number of vehicles 5 entering a designated area is also monitored. Based on this new indicator of the total number of vehicles present and the predetermined number of vehicles entering, it is determined whether a vehicle 5 destined for designated area A can enter area A, and whether the path including area A can be reset. Thus, based on the urgency of the number of vehicles present reaching a first predetermined value, entry suppression processing of vehicle 5 into area A can be performed. As a result, in the vehicle system 1 where the upper limit of the number of vehicles 5 present in area A is predetermined, a situation that restricts the entry of vehicle 5 into area A (i.e., initiating entry restriction control) can be suppressed, thereby suppressing the reduction of transport efficiency.

[0056] In the vehicle system 1 of the above embodiment, the vehicle controller 3 performs the first pre-entry control and the second pre-entry control as described above. Therefore, when the urgency of the number of vehicles reaching the first predetermined value is low, the situation of prohibiting vehicle 5 from entering the designated area A can be relatively mildly suppressed; when the urgency of the number of vehicles reaching the first predetermined value is high, the situation of prohibiting vehicle 5 from entering the designated area A can be relatively quickly suppressed. In other words, appropriate entry suppression processing of vehicle 5 into the designated area A can be implemented based on the urgency of the number of vehicles reaching the first predetermined value.

[0057] In the vehicle system 1 of the above embodiment, the vehicle controller 3 can be configured to freely set the range of the division area A, so that the range of the division area A can be appropriately set in accordance with the operating conditions.

[0058] The above description illustrates one embodiment, but the present invention is not limited to the above embodiment. Various modifications can be made without departing from the spirit of the invention.

[0059] In the above embodiments, an example of initiating both the first pre-control and the second pre-control has been described, but it is also possible to initiate only one of the first pre-control and the second pre-control.

[0060] In the above embodiments and variations, examples are given. Figure 1 The layout of track 11 shown is illustrated as an example, but the layout of track 11 can be any way as long as the specified division area A can be set. In addition, the division area A set relative to track 11 can be set to one or more than three.

[0061] In the above embodiments, the example of the host controller and the vehicle controller 3 being configured as separate units is given, but they can also be configured as one unit.

[0062] In the above-described embodiments and variations of the vehicle system 1, a bridge crane 5 was described as an example of a vehicle, but other examples of vehicles include unmanned vehicles that travel on tracks mounted on a floor or platform.

[0063] In the above embodiments and variations, examples of vehicle controller 3 performing restricted entry control, first preparatory control, and second preparatory control have been described. However, it can also be configured as a program executed by a computer to form a series of methods, namely, if the number of vehicles 5 in the partitioned area A reaches a first predetermined value, the entry of vehicles into the partitioned area A is restricted, and the predetermined number of vehicles 5 entering the partitioned area A is also monitored. Based on the total number of vehicles present and the predetermined number of vehicles entering, it is determined whether vehicles 5 that are predetermined to enter the partitioned area A can enter the partitioned area A when the total number is obtained, and it is determined whether the path that includes the partitioned area A in the driving path can be reset. Based on the determined entry permission and the reset permission, the driving of vehicles 5 is controlled.

Claims

1. A vehicle driving system, wherein at least one segmented area is defined in a driving path for the vehicle, wherein, The vehicle system includes a controller. If the number of vehicles in the designated area reaches a first predetermined value, the controller restricts the vehicles from entering the designated area. In addition to monitoring the number of existing vehicles, the controller also monitors the predetermined number of vehicles scheduled to enter the designated area. Based on the total number of existing vehicles and the predetermined number of vehicles scheduled to enter, the controller determines whether a vehicle scheduled to enter the designated area can enter the designated area when the total number of vehicles is obtained, and determines whether the route including the designated area can be reset in the driving path. Based on the determined permission for entry and the reset permission, the controller controls the driving of the vehicle. If the total number of vehicles reaches a second predetermined value that is less than the first predetermined value or is in a predetermined proportion to the first predetermined value, the controller allows vehicles that were intended to enter the designated area to do so when the second predetermined value or the predetermined proportion is reached. Furthermore, when resetting the driving path, the controller prioritizes driving paths that bypass the designated area over driving paths that enter the designated area. If the total number of vehicles reaches or exceeds the first predetermined value, the controller allows vehicles that were intended to enter the designated area to do so when the first predetermined value is reached or exceeds the first predetermined value, and prohibits the resetting of the driving path for vehicles entering the designated area.

2. The vehicle driving system according to claim 1, wherein, The controller is configured to set the range of the divided region.

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