Traveling vehicle system, and control method for traveling vehicle

Abstract

The present invention relates to a traveling vehicle system and a control method of a traveling vehicle. The traveling vehicle efficiently passes a branch portion. A traveling vehicle system (SYS) having a traveling path (R) including a branch portion (Br), a traveling vehicle (100) traveling on the traveling path, and a controller (200), a specific area (SA) of one lane of the traveling path from an upstream side to a downstream side of the branch portion is set as an area in which the traveling vehicle is able to pass within a blocked area (BA) set including the branch portion, the controller transmits a passage permission of the blocked area to the traveling vehicle that has issued a passage request of the blocked area if there is no other traveling vehicle in the blocked area, transmits a passage permission of the specific area to the traveling vehicle that has issued a passage request of the specific area if there is no other traveling vehicle in the specific area, and the traveling vehicle enters the blocked area or the specific area in which the passage permission is obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to a traveling vehicle system and a control method of a traveling vehicle. BACKGROUND

[0002] Conventionally, in a manufacturing plant of semiconductor devices or the like, a traveling vehicle system that transports a cargo in which a semiconductor wafer or a reticle is accommodated is used. The traveling vehicle system has a plurality of traveling vehicles that travel on a traveling road, and a controller that controls each traveling vehicle. Each traveling vehicle transmits its own position information of the traveling road to the controller through wireless communication or the like. The controller determines a traveling vehicle that is responsible for the transportation of the cargo based on the position information from each traveling vehicle, and transmits a traveling instruction to the determined traveling vehicle.

[0003] In the traveling vehicle system, in a case where a branch portion that indicates a branch of the traveling road exists, a blocked area that allows only one traveling vehicle to enter is often set at the branch portion. In Patent Literature 1, a technology is disclosed that, for a lock point (corresponding to the above-described "blocked area"), exclusively blocks permission and unblocks permission of a traveling vehicle in a traveling state.

[0004] Patent Literature 1: Japanese Patent No. 4172466

[0005] In Patent Literature 1, even in a situation where there is actually no obstacle to pass through the traveling road, if a vehicle (even a part of the vehicle) is continuously present at the lock point, the other vehicle is not allowed to enter the lock point. As a result, in the related art, the traveling vehicle is difficult to efficiently pass through the branch portion. SUMMARY

[0006] The present application provides a traveling vehicle system in which a traveling vehicle can efficiently pass through a branch portion, and a control method of a traveling vehicle.

[0007] The traveling vehicle system of an embodiment of the present application is a traveling vehicle system having a traveling road including a branch portion, a traveling vehicle that travels on the traveling road, and a controller, a specific area in which the traveling vehicle can pass through one of the traveling roads from an upstream side to a downstream side of the branch portion is set in a part of a blocked area that is set including the branch portion, the controller transmits a pass permission of the blocked area to the traveling vehicle that has transmitted a pass request of the blocked area from the traveling vehicle, if there is no other traveling vehicle in the blocked area, the traveling vehicle enters the blocked area in a case where the pass permission of the blocked area is obtained, the controller transmits a pass permission of the specific area to the traveling vehicle that has transmitted a pass request of the specific area from the traveling vehicle, if there is no other traveling vehicle in the specific area, and the traveling vehicle enters the specific area in a case where the pass permission of the specific area is obtained.

[0008] The control method of the traveling vehicle according to an embodiment of the present application is a control method of a traveling vehicle traveling on a traveling path including a branch portion, and includes the steps of: setting a specific area of one traveling path of the traveling path from an upstream side to a downstream side of the branch portion as an area through which the traveling vehicle is able to pass within a blocked area set including the branch portion; upon receiving a request for passing the blocked area from the traveling vehicle, if there is no other traveling vehicle within the blocked area, sending a permission for passing the blocked area to the traveling vehicle that has sent the request for passing the blocked area; in a case where the traveling vehicle is caused to acquire the permission for passing the blocked area, causing the traveling vehicle to enter the blocked area; upon receiving a request for passing the specific area from the traveling vehicle, if there is no other traveling vehicle within the specific area, sending a permission for passing the specific area to the traveling vehicle that has sent the request for passing the specific area; and in a case where the traveling vehicle is caused to acquire the permission for passing the specific area, causing the traveling vehicle to enter the specific area.

[0009] The traveling vehicle system according to an embodiment of the present application sets a specific area of one traveling path of the traveling path from an upstream side to a downstream side of the branch portion as an area through which the traveling vehicle is able to pass within a blocked area set including the branch portion. According to the traveling vehicle system, with respect to a request for passing the specific area from the traveling vehicle, regardless of the presence or absence of a blockage of the blocked area, if there is no other traveling vehicle within the specific area, the traveling vehicle that has sent the request for passing the specific area is given a permission for passing the specific area, so the traveling vehicle is able to efficiently pass the branch portion.

[0010] Further, in the traveling vehicle system according to the above-described embodiment, the traveling vehicle that has acquired the permission for passing the blocked area can send a request for release of the blockage of the specific area to the controller after passing the specific area within the blocked area, and the controller can release the blockage of the specific area and set the specific area as an area through which the traveling vehicle is able to pass according to the request for release of the blockage of the specific area. The traveling vehicle that has acquired the permission for passing the blocked area can send a request for release of the blockage of the blocked area to the controller after sending the request for release of the blockage of the specific area and after passing the blocked area, and the controller can release the blockage of the blocked area and set the blocked area as an area through which the traveling vehicle is able to pass according to the request for release of the blockage of the blocked area. According to this embodiment, even if the traveling vehicle in front passes the specific area and remains within the blocked area, the release of the blockage of the specific area is able to be performed, so the traveling vehicle is able to efficiently pass the branch portion.

[0011] Further, in the traveling vehicle system of the above-described embodiment, the travel road can also be provided with a first point in the vicinity of the branch portion that provides the traveling vehicle with branch information indicating the presence of a branch road, and if the traveling vehicle acquires the branch information in a state where the traveling vehicle has not acquired a permission to pass through the blocked area or the specific area, the traveling vehicle can send a request to pass through the specific area to the controller, and in a case where the first point is present within the blocked area, a second point that is in the vicinity of the first point and closer to the first point than the first point among the plurality of points provided on the travel road outside the blocked area can also be set to be able to provide the traveling vehicle with the branch information. According to this embodiment, the branch information can be acquired outside the blocked area, so the request to pass through the blocked area or the specific area can be appropriately controlled.

[0012] Further, in the traveling vehicle system of the above-described embodiment, the traveling vehicle can travel based on a section between adjacent points in the travel road, i.e., a travel section, and in a case where the second point is set to be able to provide the branch information and a permission to pass through the specific area is acquired, the traveling vehicle can also travel based on a virtual section from the second point to a point of one travel road of the travel road. According to this embodiment, the traveling vehicle that travels in the vicinity of the blocked area in a state where the permission to pass through the blocked area is not acquired can switch the travel route and travel based on the virtual section, so the stagnation of the plurality of traveling vehicles in the vicinity of the blocked area can be suppressed.

[0013] Further, in the travel vehicle system of the above-described embodiment, the virtual section can also be prepared in advance and held in the travel vehicle or the controller, taken out in a case where the travel vehicle has acquired the passage permission of the specific region, or taken from the controller and used. According to this embodiment, the virtual section required when the passage permission of the specific region is acquired is held in the travel vehicle or the controller, so the travel vehicle can efficiently pass through the branch portion. Further, in the travel vehicle system of the above-described embodiment, the destination of the other travel road of the travel road can also be the terminal point, and the first point can also be the switching point at which the travel vehicle that has backed up after entering the other travel road of the travel road switches the travel direction to the one travel road of the travel road. According to this embodiment, even in a system in which the terminal point exists at the destination of the branch portion, the travel vehicle can efficiently pass through the branch portion. Further, in the travel vehicle system of the above-described embodiment, the travel vehicle can also transmit the passage request of the specific region to the controller after transmitting the passage request of the blocked region to the controller in a case where the passage permission of the blocked region has not been acquired. According to this embodiment, it is possible to reduce the situation in which the travel vehicle cannot enter the blocked region, so it is possible to suppress the stagnation of the plurality of travel vehicles in the vicinity of the blocked region. Further, in the travel vehicle system of the above-described embodiment, the travel vehicle can also transmit the passage request of the specific region to the controller in the stop of the travel vehicle in a case where the passage permission of the blocked region has not been acquired after transmitting the passage request of the blocked region to the controller. According to this embodiment, it is possible to reduce the number of travel vehicles that stop in the vicinity of the blocked region without acquiring the passage permission of the blocked region, so it is possible to suppress the stagnation of the plurality of travel vehicles in the vicinity of the blocked region. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a diagram that shows one example of the travel vehicle system of the first embodiment.

[0015] Figure 2 is a diagram that shows one example of the travel vehicle of the first embodiment.

[0016] Figure 3 is a block diagram that shows a structure example of the travel vehicle and the controller of the first embodiment.

[0017] Figure 4 is a diagram that shows an example of the state information stored in the controller of the first embodiment.

[0018] Figure 5 is a flowchart that shows an example of the flow of the process of the travel vehicle that enters the specific region of the first embodiment.

[0019] Figure 6 is a flowchart that shows an example of the flow of the process of the travel vehicle that enters the blocked region or the specific region of the first embodiment.

[0020] Figure 7is a view showing an example of a traveling vehicle entering a blocked area in the first embodiment.

[0021] Figure 8 is a view showing an example of a traveling vehicle entering a blocked area in the first embodiment.

[0022] Figure 9 is a view showing an example of a traveling vehicle entering a specific area in the first embodiment.

[0023] Figure 10 is a view showing an example of a traveling vehicle entering a specific area in the first embodiment.

[0024] Figure 11 is a view showing an example of a traveling vehicle entering a specific area in the first embodiment.

[0025] Figure 12 is a flowchart showing an example of a flow of processing of a controller that performs a setting process of permission of passage of a blocked area in the first embodiment.

[0026] Figure 13 is a flowchart showing an example of a flow of processing of a controller that performs a setting process of permission of passage of a specific area in the first embodiment.

[0027] Figure 14 is a flowchart showing an example of a flow of processing of a traveling vehicle in passage of a specific area in the first embodiment.

[0028] Figure 15 is a view showing an example of a traveling vehicle passing through a specific area in the first embodiment.

[0029] Figure 16 is a flowchart showing an example of a flow of processing of a traveling vehicle in passage of a blocked area in the first embodiment.

[0030] Figure 17 is a view showing an example of a traveling vehicle passing through a blocked area in the first embodiment.

[0031] Figure 18 is a view showing an example of a traveling vehicle passing through a blocked area in the first embodiment.

[0032] Figure 19 is a flowchart showing an example of a flow of processing of a controller that performs a setting process of release of blocking of a specific area in the first embodiment.

[0033] Figure 20 is a flowchart showing an example of a flow of processing of a controller that performs a setting process of release of blocking of a blocked area in the first embodiment.

[0034] Figure 21 is a diagram showing an example of the traveling vehicle system of the second embodiment.

[0035] Figure 22 is a block diagram showing a configuration example of the traveling vehicle and the controller of the second embodiment.

[0036] Figure 23 is a flowchart showing an example of the flow of the process of the traveling vehicle entering the blocked area or the specific area of the second embodiment.

[0037] Figure 24 is a diagram showing an example of the traveling vehicle entering the specific area of the second embodiment.

[0038] Figure 25 is a diagram showing an example of the traveling vehicle entering the specific area of the second embodiment.

[0039] Figure 26 is a diagram showing an example of the traveling vehicle entering the specific area of the second embodiment.

[0040] Figure 27 is a flowchart showing an example of the flow of the process of the traveling vehicle in passing through the specific area of the second embodiment.

[0041] Figure 28 is a diagram showing an example of the traveling vehicle passing through the specific area of the second embodiment.

[0042] Figure 29 is a diagram showing an example of the traveling vehicle passing through the blocked area of the second embodiment.

[0043] Figure 30 is a diagram showing an example of the traveling vehicle passing through the blocked area of the second embodiment.

[0044] Figure 31 is a diagram showing an example of the traveling vehicle passing through the blocked area of the second embodiment.

[0045] Figure 32 is a diagram showing an example of the traveling vehicle passing through the blocked area of the second embodiment.

[0046] Figure 33 is a diagram showing an example of the traveling vehicle passing through the blocked area by turning.

[0047] Figure 34 is a diagram showing an example of the traveling vehicle passing through the blocked area by turning.

[0048] Figure 35 is a diagram showing an example of the traveling vehicle passing through the blocked area by turning.

[0049] Figure 36 is a view showing an example of a traveling vehicle passing through the blocked area by turning. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments will be described with reference to the drawings. Note that the present application is not limited to the following description. In the drawings, a scale, etc. is appropriately changed and a proportion is represented so as to emphasize a part, etc. for describing the embodiments. In the drawings, directions in the figures are sometimes explained using an XYZ orthogonal coordinate system. In the XYZ orthogonal coordinate system, a vertical direction is set to a Z direction, and a horizontal direction is set to an X direction and a Y direction. In each direction (for example, the X direction), an arrow direction is referred to as a + side (for example, a +X side), and a side opposite to the arrow direction is referred to as a - side (for example, a -X side).

[0051] [First Embodiment]

[0052] Figure 1 is a view showing an example of a traveling vehicle system of the first embodiment. The traveling vehicle system SYS has a traveling path R including a branch portion Br, a traveling vehicle 100 traveling on the traveling path R, and a controller 200. The traveling vehicle system SYS is, for example, a transport system provided in a manufacturing plant of semiconductor devices or the like, and transports a container such as a FOUP (Front-Opening Unified Pod) in which a semiconductor wafer used for manufacturing of semiconductor devices is housed or a reticle container in which a reticle or the like used for processing is housed.

[0053] The traveling vehicle system SYS has a plurality of traveling vehicles 100. The traveling vehicle 100 is, for example, an overhead traveling vehicle. In the first embodiment, the traveling vehicle 100 is described as "traveling vehicle 100a" in a case where each traveling vehicle 100 is not individually distinguished, and is described as "traveling vehicle 100a1", "traveling vehicle 100a2", or the like in a case where each traveling vehicle 100 is individually distinguished. The traveling path R is, for example, a traveling track provided on a ceiling or the like of a clean room. The traveling path R includes a branch portion Br indicating a branch of the traveling path. That is, the traveling path R branches one traveling track into a plurality of (for example, two) traveling tracks from the branch portion Br. The traveling path R has, for example, one traveling path of the traveling path from an upstream side to a downstream side of the branch portion Br, that is, a traveling path Ra, and another traveling path of the traveling path from the upstream side to the downstream side of the branch portion Br, that is, a traveling path Rb.

[0054] The travel vehicle 100a travels based on the travel section between adjacent points in the travel road R, that is, the travel section of the travel road Ra in the case where the travel vehicle 100a travels in the travel road Ra. In addition, the travel vehicle 100a travels based on the travel section between the adjacent points Pa and Pc in the travel road Rb in the case where the travel vehicle 100a travels in the travel road Rb. In the first embodiment, the point Pa can provide the travel vehicle 100a with branch information indicating that there is a branch road in the vicinity of the branch portion Br. The travel vehicle 100a travels based on the travel section corresponding to the travel direction of the travel vehicle 100a if the travel vehicle 100a acquires the branch information.

[0055] The travel vehicle system SYS sets a blocked area BA including the branch portion Br. A specific area SA in which the travel vehicle 100a can pass through the travel road Ra is set in a part of the blocked area BA. In addition, a prescribed area PA is set in a range different from the specific area SA in the blocked area BA. The prescribed area PA is an area into which the travel vehicle 100a enters when the travel vehicle 100a travels in the travel road Rb and is an area into which the travel vehicle 100a does not enter even once when the travel vehicle 100a travels in the travel road Ra. The point Pa that can provide the branch information is a permission waiting point of permission to pass through the blocked area BA or the specific area SA in addition to the branch point. The permission waiting point is a point at which the travel vehicle 100a scheduled to pass through the blocked area BA or the specific area PA stops in a case where the travel vehicle 100a cannot obtain permission to pass through any area. In addition, the point Pa corresponds to the "first point".

[0056] The travel road R is provided adjacent to a processing device not shown, a stocker (automatic warehouse) not shown, or the like. The processing device is, for example, an exposure device, a coating and developing machine, a film forming device, or an etching device, and performs various processes on a semiconductor wafer in a container transported by the travel vehicle 100a. The stocker stores the container transported by the travel vehicle 100a. In addition, the travel vehicle 100a can be a rail car or the like that travels on the ground. In the case of the rail car that travels on the ground, the travel road R is provided on a floor or the like.

[0057] The travel vehicle 100a transmits the state information of the travel vehicle 100a to the controller 200. The controller 200 generates a travel instruction based on the state information received from the travel vehicle 100a. The travel vehicle 100a travels in the travel road R based on the travel instruction received from the controller 200. The travel instruction includes information of a predetermined travel path in which the travel vehicle 100a that transports a cargo travels. The information of the travel path is information that specifies at least a part of the travel path of the travel vehicle 100a from a departure place to a destination.

[0058] The controller 200 controls the permission for the vehicle 100a, which is scheduled to travel through (or pass through) the branch Br, to enter the congested area BA or the specific area SA. If the vehicle 100a is permitted to enter the congested area BA by the controller 200, it enters the congested area BA. On the other hand, if the vehicle 100a is not permitted to enter the congested area BA by the controller 200, it stops at a position (e.g., point Pa) immediately before the congested area BA or travels toward point Pa while decelerating.

[0059] Similarly, the vehicle 100a enters the specific area SA if permitted by the controller 200. On the other hand, if not permitted by the controller 200, the vehicle 100a stops at a position immediately before the specific area SA (e.g., point Pa) or travels toward point Pa while decelerating. Permission to enter the specific area SA is often granted by a request from the vehicle 100a, which is not permitted to enter the blocked area BA.

[0060] In the above configuration, vehicle 100a transmits a request to the controller 200 to pass through the congested area BA. Specifically, when vehicle 100a is scheduled to travel on travel route Rb, it transmits a request to the controller 200 to pass through the specific area SA and the prescribed area PA. Upon receiving the request from vehicle 100a to pass through the congested area BA, controller 200 issues a permission to pass through the congested area BA to vehicle 100a that issued the request, provided no other vehicle 100a is in the congested area BA.

[0061] The controller 200 can identify the presence of a vehicle 100a in the congested area BA based on information indicating the current location included in the status information received from each vehicle 100a. Furthermore, the controller 200 can identify the presence of a vehicle 100a in the congested area BA based on information indicating the presence or absence of congestion associated with the congested area BA. The vehicle 100a enters the congested area BA after obtaining permission to pass through the congested area BA. The vehicle 100a that has entered the congested area BA travels along the travel segment between points Pa and Pc.

[0062] Further, the traveling vehicle 100a transmits a passage request of the specific area SA to the controller 200. In a case where the traveling vehicle 100a travels on the traveling road Ra, the passage request of the specific area SA is transmitted. That is, in a case where the traveling vehicle 100a is scheduled to travel on the traveling road Ra, since it is possible to pass only through the specific area SA, the passage request of the specific area SA is transmitted to the controller 200. The controller 200, upon receiving the passage request of the specific area SA from the traveling vehicle 100a, transmits a passage permission of the specific area SA to the traveling vehicle 100a that has transmitted the passage request of the specific area SA, if there is no other traveling vehicle 100a in the specific area SA.

[0063] The controller 200 can recognize the presence of the traveling vehicle 100a in the specific area SA from information indicating the current position included in the state information received from each traveling vehicle 100a. Further, the controller 200 can recognize the presence of the traveling vehicle 100a in the specific area SA from information on the presence or absence of congestion in the specific area SA. As described above, the prescribed area PA is set in a range that the traveling vehicle 100a does not enter at all when the traveling vehicle 100a travels on the traveling road Ra. Therefore, the controller 200 transmits the passage permission of the specific area SA to the traveling vehicle 100a that has transmitted the passage request of the specific area SA, if there is no other traveling vehicle 100a in the specific area SA, even if there is another traveling vehicle 100a in the prescribed area PA. The traveling vehicle 100a enters the specific area SA in a case where the passage permission of the specific area SA is obtained. The traveling vehicle 100a that has entered the specific area SA travels based on the travel section between the point Pa and the point Pb.

[0064] The traveling vehicle system SYS allows the traveling vehicle 100a to pass through the specific area SA if there is no other traveling vehicle 100a in the specific area SA, even if there is another traveling vehicle 100a in the prescribed area PA within the congestion area BA, and thus the traveling vehicle 100a can efficiently pass through the branch Br.

[0065] Figure 2 is a view that shows one example of the traveling vehicle of the first embodiment. As shown in Figure 2 The traveling vehicle 100a travels in the +X direction along the traveling road R suspended from the ceiling 10 of a building or the like, and performs loading of the article W at a loading destination disposed below or below and laterally (a direction including the Y direction) of the traveling road R. Further, the traveling vehicle 100a performs unloading of the article W at an unloading destination disposed below or below and laterally of the traveling road R. The traveling vehicle 100a is provided with an onboard device 110. The onboard device 110 controls the traveling vehicle 100a in accordance with a traveling instruction transmitted from the controller 200. The traveling vehicle 100a is controlled by the onboard device 110, and performs various actions.

[0066] The traveling vehicle 100a has a traveling portion 13 and a main body portion 14. The traveling portion 13 has wheels 15 and travels along a traveling path R by a drive device 150 described later. The main body portion 14 is provided below the traveling portion 13 in a suspended state. The main body portion 14 has a transfer device 17. The transfer device 17 has an article holding portion 18 that holds an article W, a lifting drive portion 20 that lifts the article holding portion 18, and a lateral movement mechanism 21 that moves the lifting drive portion 20 to the side of the traveling path R (+Y direction or -Y direction).

[0067] The article holding portion 18 is a chuck having a movable claw portion 18a that holds the article W in a suspended state by entering below a flange portion Wa of the article W. The article holding portion 18 is connected to a suspension member 18b such as a wire or a belt. The lifting drive portion 20 is, for example, an elevator that lifts the article holding portion 18 by pulling out or winding up the suspension member 18b. The lateral movement mechanism 21 moves the article holding portion 18 and the lifting drive portion 20 from a position housed in the main body portion 14 to the side of the traveling path R by sliding a plurality of movable plates. Loading and unloading of the article W by the traveling vehicle 100a is performed using the article holding portion 18. Alternatively, loading and unloading of the article W by the traveling vehicle 100a is performed using the lifting drive portion 20 and the lateral movement mechanism 21. The on-vehicle device 110 controls the article holding portion 18, the lifting drive portion 20, and the lateral movement mechanism 21.

[0068] In a case where loading of the article W is performed at a loading destination P, the on-vehicle device 110 issues an instruction so that the traveling vehicle 100a stops in agreement with the position of the loading destination P, and the lifting drive portion 20 (the lifting drive portion 20 and the lateral movement mechanism 21) is operated to move the article holding portion 18 to a prescribed position, whereby loading of the article W is performed at the loading destination P. The loading destination P is, for example, a loading port of a processing device or a stocker, a suspended temporary storage device in which a shelf portion on which the article W is placed is suspended from a ceiling 10 of a building, or the like.

[0069] In a case where unloading of the article W is performed at an unloading destination C, the on-vehicle device 110 issues an instruction so that the traveling vehicle 100a stops in agreement with the position of the unloading destination C, and the lifting drive portion 20 (the lifting drive portion 20 and the lateral movement mechanism 21) is operated to move the article holding portion 18 to a prescribed position, whereby unloading of the article W is performed at the unloading destination C. The unloading destination C is, for example, a loading port of a processing device or a stocker, a suspended temporary storage device in which a shelf portion on which the article W is placed is suspended from a ceiling 10 of a building, or the like.

[0070] Figure 3This is a block diagram showing an example configuration of a traveling vehicle and controller according to the first embodiment. The traveling vehicle 100a includes an onboard device 110, a position sensor 120, a cargo load sensor 130, a front sensor 140, and a drive unit 150. The drive unit 150 provides driving force for traveling the traveling vehicle 100a. Furthermore, the drive unit 150 provides driving force for loading and unloading cargo (articles W).

[0071] The position sensor 120 detects the current position of the traveling vehicle 100a. The position sensor 120 is connected to the onboard device 110 via a wired or wireless connection in a manner capable of communication, and provides the detected current position of the traveling vehicle 100a to the onboard device 110. For example, the position sensor 120 detects position markers set at points on the traveling route R (e.g., points Pa, Pb, Pc, etc.), thereby detecting the current position of the traveling vehicle 100a in the map information of the traveling route R. In addition, the current position of the traveling vehicle 100a between points is calculated based on the travel distance based on the speed and travel time of the traveling vehicle 100a, or the movement distance using an encoder. The cargo sensor 130 detects the presence or absence of cargo (articles W). The cargo sensor 130 is connected to the onboard device 110 via a wired or wireless connection in a manner capable of communication, and provides the detection results to the onboard device 110.

[0072] The front sensor 140 monitors the front of the traveling direction (driving direction) of the traveling vehicle 100a and detects the presence of other traveling vehicles 100a in front. The front sensor 140 is connected to the vehicle 110 in a communicative manner via wired or wireless communication and provides the detection results to the vehicle-mounted device 110. Each traveling vehicle 100a controls its driving speed by detecting the presence of other traveling vehicles 100a in front by the front sensor 140, thereby preventing collisions with other traveling vehicles 100a in front. In addition, one or both of the position sensor 120 and the front sensor 140 may not be mounted on the traveling vehicle 100a, for example, they may be arranged on the driving road R, etc. In addition, the traveling vehicle system SYS may not have at least one of the position sensor 120, the cargo sensor 130 and the front sensor 140, and may have other sensors.

[0073] The onboard device 110 is mounted on the traveling vehicle 100a and receives driving commands from the controller 200 to control various components of the traveling vehicle 100a. The onboard device 110 includes a driving control unit 111, a communication unit 112, and a storage unit 113. The communication unit 112 is communicatively connected to a communication unit 230 of the controller 200 (described later) via a wireless LAN (Local Area Network) or the like. The communication unit 112 receives driving commands from the communication unit 230 of the controller 200 and stores the received driving commands in the storage unit 113.

[0074] The travel control section 111 controls each part of the travel vehicle 100a based on the travel instruction stored in the storage section 113. For example, the travel control section 111 controls the drive device 150 based on the travel path decided by the travel instruction, and causes the travel vehicle 100a to travel along the travel path. The travel control section 111 causes various sensors (for example, the position sensor 120 and the like) mounted on the travel vehicle 100a to perform detection, and stores the detection results in the storage section 113.

[0075] The travel control section 111 generates the state information of the travel vehicle 100a using the information stored in the storage section 113. For example, the state information includes the identification information that identifies the travel vehicle 100a, and includes information about the current position, the destination, the travel state, the state of the cargo, the state of the front, the passage request, and the release request. The current position is information that indicates the current position of the travel vehicle 100a detected by the position sensor 120. As described above, the current position can also be updated by adding the travel distance to the current position of the travel vehicle 100a detected by the position sensor 120. The destination is information that indicates the destination of the travel vehicle 100a, and is decided by the travel instruction and the like stored in the storage section 113.

[0076] The travel state is information that indicates the current speed of the travel vehicle 100a. For example, the travel state can also indicate that the travel vehicle 100a is in travel when the speed is greater than "0" (for example, the symbol "1"), and indicate that the travel vehicle 100a is in stop when the speed is "0" (for example, the symbol "0"). The state of the cargo is information that indicates the presence or absence of the cargo (the article W) detected by the cargo sensor 130 (for example, present: "1", and absent: "0"), and is information that indicates the kind of the cargo (the article W) being transported (the identification information that identifies the cargo). The state of the front is information that indicates whether or not there is another travel vehicle 100a in front of the self within the detection range of the front sensor 140 (for example, present: "1", and absent: "0").

[0077] The passage request is identification information that indicates the blocked area BA or the specific area SA for which the travel vehicle 100a makes the passage request. In addition, the information of the passage request includes information that indicates that there is no passage request when the travel vehicle 100a does not make the passage request (or empty information, NULL value, and the like). In addition, the passage request can also include the direction of the passage (the direction of travel from the branch Br). For example, the direction of the passage is information that indicates the direction of the travel road Ra, and information that indicates the direction of the travel road Rb. In the first embodiment, in the case of the passage request for the blocked area BA, the direction of the passage is the direction of the travel road Rb, and in the case of the passage request for the specific area SA, the direction of the passage is the direction of the travel road Ra.

[0078] The release request is identification information indicating the blocked area BA or the specific area SA through which the traveling vehicle 100a passes. In addition, the release request can also include information indicating that the traveling vehicle 100a has passed the blocked area BA or the specific area SA. Furthermore, the information of the release request includes information indicating that the release request has not been issued (or empty information, NULL value, or the like) when the traveling vehicle 100a does not issue the release request. In addition, the release request can not be used in a case where the controller 200 only recognizes the form in which the blocked area BA or the specific area SA is passed from the current position of the traveling vehicle 100a.

[0079] The travel control section 111 sets a travel path based on the travel instruction (for example, the departure place and the destination of the traveling vehicle 100a) received from the controller 200 and the map information of the travel road R stored in advance in the storage section 113. The storage section 113 is a nonvolatile memory or the like, and stores various information such as state information. The travel control section 111 appropriately generates the state information, and updates the state information stored in the storage section 113 to the latest state information. The communication section 112 transmits the state information stored in the storage section 113 to the controller 200 (refer to FIG. 2) (S101). The communication section 112 can also transmit the state information including the passage request to the controller 200 before the passage permission is obtained in a case where the passage permission is not received from the controller 200. Even in a case where the passage request is transmitted a plurality of times but the passage request cannot be transmitted due to a temporary problem of communication or the like, the passage request can be more reliably transmitted to the controller 200. The passage request can also include the transmission time. In addition, the communication section 112 can transmit the release request to the controller 200 a plurality of times. For example, the number of times of transmission of the release request can be decided in advance, or the release request can be transmitted within a predetermined time. Figure 4 ). The communication section 112 can also transmit the state information including the passage request to the controller 200 before the passage permission is obtained in a case where the passage permission is not received from the controller 200. Even in a case where the passage request is transmitted a plurality of times but the passage request cannot be transmitted due to a temporary problem of communication or the like, the passage request can be more reliably transmitted to the controller 200. The passage request can also include the transmission time. In addition, the communication section 112 can transmit the release request to the controller 200 a plurality of times. For example, the number of times of transmission of the release request can be decided in advance, or the release request can be transmitted within a predetermined time.

[0080] The controller 200 has an instruction generation section 210, a branch control section 220, a communication section 230, and a storage section 240. The controller 200 is, for example, a computer device provided with a CPU (Central Processing Unit), a main memory, a storage device, a communication device, and the like, and performs processing of various information. Furthermore, the structure of the computer device is arbitrary, and can be constituted by one device or a plurality of devices. The communication section 230 can communicate with each traveling vehicle 100a through wireless LAN or the like, and receives the state information from each traveling vehicle 100a. The storage section 240 is a nonvolatile memory or the like, and stores the state information and the like received by the communication section 230. For example, the storage section 240 stores the state information of each traveling vehicle 100a in association with the identification information of each traveling vehicle 100a.

[0081] Figure 4is a diagram showing an example of state information stored by the controller of the first embodiment. As shown in Figure 4 The storage section 240 stores, as state information, information on the current position, the destination, the travel state, the state of the goods, the state of the front, the passage request, and the release request in association with identification information, i.e., the travel vehicle ID, which identifies each travel vehicle 100a.

[0082] The instruction generation section 210 determines the travel vehicle 100a that is responsible for the travel instruction corresponding to the task, based on the information on the destination determined by the task (e.g., the transport of the goods such as the article W) and the state information stored in the storage section 240. The destination is, for example, an access point (loading port, staging area, loading / unloading port, etc.) at which the handover of the goods (article W) to the processing device side or the stocker side is possible. The instruction generation section 210 determines the travel path of the travel vehicle 100a based on the destination determined in accordance with the task and the current position of the travel vehicle 100a responsible for the task, and generates the travel instruction that specifies the determined travel path.

[0083] The branch control section 220 determines whether to give the passage permission to the travel vehicle 100a, based on the passage request included in the state information stored in the storage section 240. In addition, the branch control section 220 releases the blockage of the blocked area BA or the specific area SA, based on the release request included in the state information stored in the storage section 240.

[0084] When giving the passage permission and releasing the blockage, the branch control section 220 generates (updates) the blockage information. The storage section 240 stores the blockage information. The blockage information includes each blocked area BA and information on the blockage of each specific area SA included in each blocked area BA. The blockage information includes identification information that identifies each blocked area BA and each specific area SA. In addition, the blockage information includes information that indicates the presence or absence of the blockage of each blocked area BA and each specific area SA. Furthermore, the blockage information includes identification information that identifies the travel vehicle 100a that has transmitted the passage request for each blocked area BA and each specific area SA. The information that indicates the presence or absence of the blockage is information that indicates the state in which the blocked area BA and the specific area SA are blocked or the state in which they are not blocked. With regard to the identification information that identifies the travel vehicle 100a that has transmitted the passage request, the controller 200 can give the passage permission in order from the travel vehicle 100a that goes ahead on the travel road R, because the controller 200 can recognize the relationship between the travel vehicles 100a in terms of the current positions of the travel vehicles 100a. In addition, the controller 200 can determine the order of the passage requests to be processed in accordance with the order of transmission of the passage requests (e.g., the order of transmission time, the order of reception time).

[0085] Further, in a case where a pass request for the same area is received from one traveling vehicle 100a at different times, at the time when the traveling vehicle 100a is given a pass permission, all of the pass requests from the traveling vehicle 100a are deleted from the storage section 240 without repeating the pass permission. Also, in a case where a release request for the same area is received from one traveling vehicle 100a at different times, at the time when the corresponding area is released from the congestion, all of the release requests from the traveling vehicle 100a are deleted from the storage section 240 without unexpectedly releasing the congestion. In addition, in a case where a pass request for the congestion area BA and a specific area SA included in the congestion area BA is received from one traveling vehicle 100a at different times, the pass request received first is deleted from the storage section 240, and the pass permission is given to the pass request received later. The branch control section 220 updates the congestion information stored in the storage section 240 to the latest congestion information, accompanying the update of the state information stored in the storage section 240.

[0086] Further, the branch control section 220 decides the pass permission to the traveling vehicle 100a corresponding to the identification information, with respect to the pass request included in the congestion information, according to one or both of the presence or absence of the other traveling vehicle 100a in the corresponding area (the congestion area BA or the specific area SA) and the presence or absence of the congestion of the corresponding area. In addition, the branch control section 220 updates the congestion information of the corresponding area (the congestion area BA or the specific area SA) by confirming the release request included in the state information stored in the storage section 240. Here, the update of the congestion information means the update of the information indicating the presence or absence of the congestion to the information indicating that there is no congestion, and the deletion of the identification information of the traveling vehicle 100a which sent the pass request. In addition, the branch control section 220 can update the congestion information based on the confirmation of the current position of the traveling vehicle 100a which sent the release request.

[0087] Figure 5 is an example of a flowchart showing the flow of the process of the traveling vehicle entering the specific area according to the first embodiment. As shown in Figure 5 The communication section 112 transmits the pass request of the specific area SA to the controller 200 (step S101). Specifically, the travel control section 111 generates the state information including the identification information of the specific area SA as the pass request. Then, the communication section 112 transmits the state information generated by the travel control section 111 to the controller 200.

[0088] The driving control unit 111 determines whether it has received permission to pass through the specific area SA (step S102). Specifically, the driving control unit 111 determines whether the communication unit 112 has received permission to pass through the specific area SA from the controller 200. If the communication unit 112 has received permission to pass through the specific area SA (step S102: Yes), the driving control unit 111 enters the specific area SA based on the travel segment (step S103). Specifically, if the communication unit 112 has received permission to pass through the specific area SA from the controller 200, the driving control unit 111 enters the specific area SA according to the set driving route.

[0089] On the other hand, if the driving control unit 111 determines that the passage permission for the specific area SA has not been received (step S102: No), the process of step S101 is executed again. Specifically, if the communication unit 112 has not received the passage permission for the specific area SA from the controller 200, the driving control unit 111 instructs the communication unit 112 to transmit status information including a passage request for the specific area SA.

[0090] Figure 6 This is a flowchart showing an example of the process of processing a vehicle entering a congested area or a specific area according to the first embodiment. Figure 6 The entry of the traveling vehicle 100a into the specific area SA described in the preceding paragraph is based on the switching of the planned travel from the direction of the traveling road Rb to the planned travel in the direction of the traveling road Ra. Figure 6 In the description, appropriate use Figures 7-11 . Figure 7 as well as Figure 8 This is a diagram showing an example of a traveling vehicle entering a congested area according to the first embodiment. Figures 9-11 This is a diagram showing an example of a traveling vehicle entering a specific area according to the first embodiment.

[0091] First, a case where a vehicle 100a traveling in the congested area BA and at a position upstream of the point Pa by a predetermined distance sends a request to pass through the congested area BA when no other vehicle 100a exists in the congested area BA will be described (see FIG. Figure 7 ). In addition, for the sake of simplicity, it is assumed that there is no other vehicle 100a in the congested area BA. However, in detail, it includes the situation where there is no other vehicle 100a scheduled to enter the congested area BA. Figure 6 As shown, the communication unit 112 transmits a request to pass through the congested area BA to the controller 200 (step S201). Specifically, the travel control unit 111 generates status information including identification information of the congested area BA as the request to pass through. The communication unit 112 then transmits the status information generated by the travel control unit 111 to the controller 200.

[0092] The travel control section 111 determines whether or not the passage permission of the blocked area BA is received (step S202). Specifically, the travel control section 111 determines whether or not the passage permission of the blocked area BA is received from the controller 200 in the communication section 112. At this time, the travel control section 111 enters the blocked area BA based on the travel section in the case where the passage permission of the blocked area BA is received (step S202: Yes). Specifically, the travel control section 111 enters the blocked area BA in order to perform the travel based on the travel section between the point Pa and the point Pc in the case where the passage permission of the blocked area BA is received from the controller 200 in the communication section 112 (refer to Figure 8 ).

[0093] Next, a case where the travel vehicle 100al traveling in the blocked area BA and the position on the upstream side of the point Pa by a certain distance or more transmits the passage request of the blocked area BA in the case where the other travel vehicle 100a2 exists in the prescribed area PA will be described (refer to Figure 9 ). As shown in FIG. 9, the communication section 112 transmits the passage request of the blocked area BA to the controller 200 (step S201). Specifically, the travel control section 111 generates the state information including the identification signal of the blocked area BA as the passage request. Then, the communication section 112 transmits the state information generated by the travel control section 111 to the controller 200. Figure 6

[0094] The travel control section 111 determines whether or not the passage permission of the blocked area BA is received (step S202). Specifically, the travel control section 111 determines whether or not the passage permission of the blocked area BA is received from the controller 200 in the communication section 112. At this time, the travel control section 111 determines whether or not the branch information from the point Pa is acquired in the case where the passage permission of the blocked area BA is not received (step S202: No). Specifically, the travel control section 111 determines whether or not the branch information from the point Pa is acquired in the case where the passage permission of the blocked area BA is not received from the controller 200 in the communication section 112. At this time, the process of step S201 is performed again in the case where the branch information from the point Pa is not acquired by the travel control section 111 (step S204: No).

[0095] On the other hand, the travel control section 111 determines whether or not the prescribed time elapses after the parking in the vicinity of the point Pa (after the branch information from the point Pa is acquired) in the case where the branch information from the point Pa is acquired (step S204: Yes) (step S205). Here, the acquisition of the branch information from the point Pa is achieved by the travel vehicle 100al traveling to the vicinity of the point Pa (refer to Figure 10 ​). That is, it means that the traveling vehicle 100a1 travels to the vicinity of the point Pa (stops in the vicinity of the point Pa) in a state where the passage permission of the blocked area BA is not obtained. Therefore, the traveling control section 111, in a case where the branch information from the point Pa is acquired, determines whether or not a prescribed time elapses after stopping in the vicinity of the point Pa (after the branch information from the point Pa is acquired) in order to change the traveling route from the traveling road Rb to the traveling road Ra. The prescribed time is only required to be set to a degree that congestion of a plurality of traveling vehicles 100a does not occur in the vicinity of the blocked area BA. In a case where the prescribed time does not elapse (step S205: No), the processing of step S201 is executed again.

[0096] In a case where the traveling control section 111 determines that the prescribed time elapses after stopping in the vicinity of the point Pa (after the branch information from the point Pa is acquired) (step S205: Yes), the communication section 112 transmits the passage request of the specified area SA to the controller 200 (step S206). Specifically, the traveling control section 111 generates the state information including the identification information of the specified area SA as the passage request. Also, the communication section 112 transmits the state information generated by the traveling control section 111 to the controller 200.

[0097] The traveling control section 111 determines whether or not the passage permission of the specified area SA is received (step S207). Specifically, the traveling control section 111 determines whether or not the passage permission of the specified area SA is received in the communication section 112 from the controller 200. At this time, the traveling control section 111, in a case where the passage permission of the specified area SA is not received (step S207: No), executes the processing of step S206 again. On the other hand, the traveling control section 111, in a case where the passage permission of the specified area SA is received (step S207: Yes), enters the specified area SA based on the travel section (step S208). Specifically, the traveling control section 111, in a case where the passage permission of the specified area SA is received in the communication section 112 from the controller 200, enters the specified area SA in order to perform the traveling based on the travel section between the point Pa and the point Pb (refer to FIG. 2). Figure 11 ).

[0098] Figure 12is a flowchart showing an example of the flow of the process of the controller that performs the setting process of the passage permission of the blocked area of the first embodiment. The branch control section 220 determines whether or not a passage request of the blocked area BA is received (step S301). Specifically, the branch control section 220 confirms the state information received in the communication section 230 and stored in the storage section 240, and determines whether or not there is a passage request (state information) of the blocked area BA. At this time, the branch control section 220, in the case where no passage request of the blocked area BA is received (step S301: No), executes the process of step S301 again. That is, the branch control section 220 becomes in a state of waiting for the reception of a passage request of the blocked area BA.

[0099] On the other hand, the branch control section 220, in the case where a passage request of the blocked area BA is received (step S301: Yes), determines whether or not there is another traveling vehicle 100a in the blocked area BA (step S302). Specifically, the branch control section 220, in the case where the passage request of the blocked area BA is stored in the storage section 240, generates (updates) the blocked information from the state information stored in the storage section 240. Then, the branch control section 220, with respect to the passage request included in the blocked information, determines whether or not there is another traveling vehicle 100a in the corresponding blocked area BA from the information indicating the presence or absence of the block of the corresponding blocked area BA. In addition, the branch control section 220 can also determine whether or not there is another traveling vehicle 100a in the corresponding blocked area BA based on the current positions of the respective traveling vehicles 100a, and confirm the presence or absence of another traveling vehicle 100a in the corresponding blocked area BA.

[0100] The branch control section 220, in the case where it is determined that there is another traveling vehicle 100a in the blocked area BA (step S302: Yes), ends the process without giving the passage permission. The branch control section 220, in the case where it is determined that there is no other traveling vehicle 100a in the blocked area BA (step S302: No), blocks the blocked area BA, and instructs the communication section 230 to transmit the passage permission of the blocked area BA to the traveling vehicle 100a (step S303). Specifically, the branch control section 220, in the case where the corresponding blocked area BA is in a state of not being blocked, switches to a state of blocking the corresponding blocked area BA. In addition, the branch control section 220 can also switch to a state of blocking the corresponding blocked area BA in the case where there is no other traveling vehicle 100a in the corresponding blocked area BA, based on the current positions of the respective traveling vehicles 100a. Then, the communication section 230 transmits the passage permission of the corresponding blocked area BA to the traveling vehicle 100a that transmitted the passage request. Furthermore, the branch control section 220, in the case where there are a plurality of passage requests of the blocked area BA corresponding to the traveling vehicle 100a in the storage section 240 due to the traveling vehicle 100a being given the passage permission a plurality of times, deletes all of the passage requests.

[0101] Figure 13 is an example of a flowchart of the flow of the process of the controller of the setting process of the passage permission of the execution specific area of the first embodiment. The branch control section 220 determines whether or not the passage request of the specific area SA is received (step S401). Specifically, the branch control section 220 confirms the state information received in the communication section 230 and stored in the storage section 240, and determines whether or not the passage request of the specific area SA (the state information) exists. At this time, the branch control section 220, in the case where the passage request of the specific area SA is not received (step S401: No), executes the process of step S401 again. That is, the branch control section 220 becomes in a state of waiting for the passage request of the specific area SA to be received.

[0102] On the other hand, the branch control section 220, in the case where the passage request of the specific area SA is received (step S401: Yes), determines whether or not the other running vehicle 100a exists in the specific area SA (step S402). Specifically, the branch control section 220, in the case where the passage request of the specific area SA is stored in the storage section 240, generates (updates) the congestion information from the state information stored in the storage section 240. Then, the branch control section 220, with respect to the passage request contained in the congestion information, determines whether or not the other running vehicle 100a exists in the corresponding specific area SA from the information indicating the presence or absence of the congestion of the corresponding specific area SA. In addition, the branch control section 220 can also confirm the presence or absence of the other running vehicle 100a of the corresponding specific area SA from the current positions of the respective running vehicles 100a, and determine whether or not the other running vehicle 100a exists in the corresponding specific area SA.

[0103] The branch control section 220 ends the processing without giving the passage permission in a case where it is determined that the other travel vehicle 100a exists in the specific area SA (step S402: YES). The branch control section 220 blocks the specific area SA, and instructs the communication section 230 to transmit the passage permission of the specific area SA to the travel vehicle 100a in a case where it is determined that the other travel vehicle 100a does not exist in the specific area SA (step S402: NO). Specifically, the branch control section 220 switches to a state where the corresponding specific area SA is blocked in a case where the presence or absence of the blockage of the corresponding specific area SA is in a state where there is no blockage. In addition, the branch control section 220 can switch to a state where the corresponding specific area SA is blocked in a case where the other travel vehicle 100a does not exist in the corresponding specific area SA, in accordance with the current position of each travel vehicle 100a. Then, the communication section 230 transmits the passage permission of the corresponding specific area SA to the travel vehicle 100a that transmitted the passage request. Furthermore, the branch control section 220 deletes all of the passage requests of the specific area SA corresponding to the travel vehicle 100a in a case where there are a plurality of passage requests of the specific area SA corresponding to the travel vehicle 100a in the storage section 240 due to the passage requests transmitted a plurality of times by the travel vehicle 100a to which the passage permission is given.

[0104] Figure 14 is a flowchart that shows an example of the flow of the processing of the travel vehicle in the passage of the specific area of the first embodiment. In Figure 14 the description of Figure 15 . Figure 15 is a diagram that shows an example of the travel vehicle that passes through the specific area of the first embodiment.

[0105] As shown in Figure 14 , the travel control section 111 determines whether or not the specific area SA is passed through by the travel based on the travel section (step S501). For example, the travel vehicle 100a1 travels based on the travel section between the point Pa and the point Pb (refer to Figure 15 ). Specifically, the travel control section 111 determines whether or not the specific area SA is passed through in accordance with the current position that takes into account the travel distance from the point Pa, or the current position detected by the position marker of the point Pb. At this time, the travel control section 111 executes the processing of step S501 again in a case where the specific area SA is not passed through (step S501: NO). Specifically, the travel control section 111 repeatedly executes the processing of step S501 before passing through the specific area SA in a case where the current position that takes into account the travel distance from the point Pa is within the specific area SA, or in a case where the position marker of the point Pb is not detected.

[0106] On the other hand, the travel control section 111, in a case where the specific area SA is passed (step S501: YES), instructs the communication section 112 to transmit a request for release of the congestion of the passed specific area SA to the controller 200 (step S502). Specifically, the travel control section 111, in a case where the current position considering the travel distance from the point Pa is outside the specific area SA (refer to Figure 15 ), or in a case where the detection of the position marker of the passing point Pb passes the specific area SA (refer to Figure 15 ), generates a request for release (state information) containing identification information indicating the passed specific area SA. Also, the communication section 112 transmits the state information containing the request for release of the congestion of the passed specific area SA to the controller 200. Further, the travel vehicle 100al can transmit the state information containing the request for release corresponding to the passed specific area SA multiple times.

[0107] Figure 16 is a flowchart showing an example of the flow of the processing of the travel vehicle in the passing of the congestion area of the first embodiment. In the explanation of Figure 16 , the Figure 17 and Figure 18 are appropriately used. Figure 17 and Figure 18 are diagrams showing an example of the travel vehicle passing the congestion area of the first embodiment.

[0108] As shown in Figure 16 , the travel control section 111 determines whether or not the specific area SA is passed by the travel based on the travel section (step S601). For example, the travel vehicle 100a having acquired the permission of the passing of the congestion area BA travels based on the travel section between the point Pa and the point Pc (refer to Figure 17 and Figure 18 ). Specifically, the travel control section 111 determines whether or not the specific area SA is passed according to the current position considering the travel distance from the point Pa. At this time, the travel control section 111, in a case where the specific area SA is not passed (step S601: NO), executes the processing of step S601 again. Specifically, the travel control section 111, in a case where the current position considering the travel distance from the point Pa is inside the specific area SA, repeatedly executes the processing of step S601 before passing the specific area SA.

[0109] On the other hand, the travel control section 111, in a case where the specific area SA is passed (step S601: YES), instructs the communication section 112 to transmit a request for release of the congestion of the passed specific area SA to the controller 200 (step S602). Specifically, the travel control section 111, in a case where the current position considering the travel distance from the point Pa is outside the specific area SA (refer to Figure 17), the communication section 112 transmits the state information including the release request of the blockage of the passed specific area SA to the controller 200. Further, the travel vehicle 100a can transmit the state information including the release request corresponding to the passed specific area SA multiple times.

[0110] Next, the travel control section 111 determines whether or not the blocked area BA is passed by the travel based on the travel section (step S603). Specifically, the travel control section 111 determines whether or not the blocked area BA is passed based on the current position considering the travel distance from the point Pa or the current position obtained by the detection of the position marker of the point Pc. At this time, the travel control section 111 executes the process of step S603 again in the case where the blocked area BA is not passed (step S603: No). Specifically, the travel control section 111 repeatedly executes the process of step S603 before passing the blocked area BA in the case where the current position considering the travel distance from the point Pa is within the blocked area BA or the position marker of the point Pc is not detected.

[0111] On the other hand, the travel control section 111 instructs the communication section 112 to transmit the release request of the blockage of the passed blocked area BA to the controller 200 in the case where the blocked area BA is passed (step S603: Yes) (step S604). Specifically, the travel control section 111 generates the release request (state information) including the identification information indicating the passed blocked area BA in the case where the current position considering the travel distance from the point Pa is outside the blocked area BA (refer to Figure 18 ), or in the case where the blocked area BA is passed by the detection of the position marker of the point Pc (refer to Figure 18 ). Further, the communication section 112 transmits the state information including the release request of the blockage of the passed blocked area BA to the controller 200. Further, the travel vehicle 100a can transmit the state information including the release request corresponding to the passed blocked area BA multiple times.

[0112] Figure 19 is a flowchart showing an example of the flow of the process of the controller which executes the release setting process of the blockage of the specific area of the first embodiment. As shown in Figure 19As shown, the branch control unit 220 determines whether a request to release the blockage of the specific area SA has been received (step S701). Specifically, the branch control unit 220 checks the status information received by the communication unit 230 and stored in the storage unit 240 to determine whether a request to release the blockage of the specific area SA (status information) has been received. If the branch control unit 220 has not received a request to release the blockage of the specific area SA (status information) (step S701: No), the branch control unit 220 executes the process of step S701 again. In other words, the branch control unit 220 enters a state of waiting for a request to release the blockage of the specific area SA.

[0113] On the other hand, when the branch control unit 220 receives a request to release the congestion in the specific area SA (step S701: Yes), it releases the congestion in the specific area SA and sets the specific area SA to be passable (step S702). Specifically, when the request to release the specific area SA is stored in the storage unit 240, the branch control unit 220 updates the congestion information of the specific area SA. For example, the branch control unit 220 updates the information indicating the presence or absence of congestion in the congestion information to information that there is no congestion. In addition, the branch control unit 220 may also update the congestion information based on confirming the current position of the traveling vehicle 100a that issued the release request. In addition, when the same traveling vehicle 100a has sent multiple release requests to the same specific area SA and there are multiple release requests for the specific area SA in the storage unit 240, the branch control unit 220 deletes all of the release requests.

[0114] Figure 20 1 is a flowchart showing an example of the process flow of the controller that performs the process of releasing the blocking of the blocking area according to the first embodiment. Figure 20 As shown, the branch control unit 220 determines whether a request to release the congestion in the congested area BA has been received (step S801). Specifically, the branch control unit 220 checks the status information received by the communication unit 230 and stored in the storage unit 240 to determine whether a request to release the congestion in the congested area BA (status information) has been received. If the branch control unit 220 has not received a request to release the congestion in the congested area BA (status information) (step S801: No), the branch control unit 220 executes the process of step S801 again. In other words, the branch control unit 220 enters a state of waiting to receive a request to release the congestion in the congested area BA.

[0115] On the other hand, in a case where the branch control section 220 receives a request for release of the congestion of the congestion area BA (step S801: YES), the branch control section 220 releases the congestion of the congestion area BA and sets the congestion area BA to be passable (step S802). Specifically, in a case where the request for release of the congestion area BA is stored in the storage section 240, the branch control section 220 updates the congestion information of the congestion area BA. For example, the branch control section 220 updates the information indicating the presence or absence of the congestion in the congestion information to information indicating no congestion. In addition, the branch control section 220 can update the congestion information on the basis of confirmation of the current position of the travel vehicle 100a that issued the request for release. In addition, in a case where a plurality of requests for release of the same congestion area BA exist in the storage section 240 because the same travel vehicle 100a repeatedly sends the request for release to the same congestion area BA, the branch control section 220 deletes all of the requests for release.

[0116] In the travel vehicle system SYS, regardless of the presence or absence of the congestion of the congestion area BA, if no other travel vehicle 100a exists in the specific area SA, the travel vehicle 100a that issued the request for passage of the specific area SA is given the passage permission of the specific area SA, so the travel vehicle 100a can efficiently pass the branch Br. In the travel vehicle system SYS, regardless of the presence or absence of the congestion of the congestion area BA, the release of the congestion of the specific area SA is performed, so the travel vehicle 100a can efficiently pass the branch Br. In the travel vehicle system SYS, the travel vehicle 100a that acquired the branch information in a state where the passage permission of the congestion area BA is not acquired issues the request for passage of the specific area SA, so the stagnation of a plurality of travel vehicles 100a in the vicinity of the congestion area BA can be suppressed.

[0117] [Second Embodiment]

[0118] In the second embodiment, the same reference numerals are often given to the same structures as those of the above-described first embodiment, and detailed description is omitted or simplified. In the second embodiment, in a case where each travel vehicle 100 is not individually distinguished, it is described as "travel vehicle 100b", and in a case where it is individually distinguished, it is described as "travel vehicle 100b1", "travel vehicle 100b2", and the like.

[0119] Figure 21is a view showing one example of the travel vehicle system of the second embodiment. In the travel vehicle system SYS2, for the sake of ease of construction, a case where the distance from the point Pa to the branch portion Br is shortened is exemplified. In addition, from the viewpoint of preventing collision of each travel vehicle 100b, the range (size) of the blocked area BA is determined. As a result, in the travel vehicle system SYS2, the point Pa is included in the blocked area BA. In the travel vehicle system SYS, the point Pa is explained as a point functioning as a branch point and a permission waiting point. As described above, the permission waiting point is a point at which a travel vehicle 100b that has not obtained a passage permission stops. In the case where the point Pa is included in the blocked area BA, it is not possible to travel to the permission waiting point unless the blocked area BA is entered. Therefore, in the travel vehicle system SYS2, a point Pd, which is in the vicinity of the point Pa and closer to the point Pa than the point Pa among the plurality of points provided to the travel road R outside the blocked area BA, is adopted as the permission waiting point instead of the point Pa.

[0120] In addition, as in the first embodiment, the travel vehicle 100b travels based on the travel section between the points. Therefore, in the case where the point Pd is adopted as the permission waiting point, the travel section on the downstream side of the point Pd is between the point Pd and the point Pa. That is, in the case where the point Pa is present in the blocked area BA, it is difficult for the travel vehicle 100b to perform switching of the travel path from the travel road Rb to the travel road Ra. In the case where it is difficult to perform switching of the travel path in the vicinity of the blocked area BA, it is possible that congestion of a plurality of travel vehicles 100b occurs in the vicinity of the blocked area BA. Therefore, in the travel vehicle system SYS2, a structure is provided in which the point Pd is able to provide the branch information to the travel vehicle 100b, and the point Pa is not adopted as a point of the travel section of the specific area SA. In the second embodiment, a section between the point Pd and the point Pb is referred to as a "virtual section VS". That is, the virtual section VS refers to a section (virtual section) from the point Pd to the point Pb. In the case where the travel vehicle 100b travels in the virtual section VS, the point Pa is ignored. Furthermore, the point Pa corresponds to the "first point", and the point Pd corresponds to the "second point".

[0121] Figure 22 is a block diagram showing a structure example of the travel vehicle and the controller of the second embodiment. The travel vehicle 100b has the on-vehicle device 110b, the position sensor 120, the load sensor 130, the front sensor 140, and the drive device 150. The on-vehicle device 110b has the travel control portion 111b, the communication portion 112, and the storage portion 113.

[0122] The travel control section 111b instructs the communication section 112 to transmit the passage request for the specific area SA to the controller 200 if the branch information is acquired in a state where the passage permission for the blocked area BA or the specific area SA is not acquired. Specifically, the travel vehicle 100b travels to the vicinity of the point Pd as it is in a state where the passage permission for the blocked area BA or the specific area SA is not acquired. At this time, the travel control section 111b acquires the branch information from the point Pd. In addition, the travel vehicle 100b stops in the vicinity of the point Pd to become a state of waiting for the permission of the passage request. Further, the travel control section 111b instructs the communication section 112 to transmit the passage request for the specific area SA to the controller 200 if a predetermined time elapses after the branch information from the point Pd is acquired. In addition, the travel vehicle 100b does not wait for the elapse of the predetermined time in a case where the passage request for the specific area SA is transmitted to the controller 200 from the beginning, that is, in a case where the direction of the travel road Ra is set as the travel plan from the beginning. Then, the travel control section 111b travels based on the virtual section VS between the points Pd and Pb to enter the specific area SA in a case where the passage permission for the specific area SA is received from the controller 200 in the communication section 112. In addition, the travel vehicle 100b travels based on the virtual section VS to enter the specific area SA in step S103 in a case where the passage request for the specific area SA is transmitted to the controller 200 from the beginning in step S101 and step S102. The virtual section VS is, for example, prepared in advance and held in the travel vehicle 100b or the controller 200. Further, the travel vehicle 100b acquires the virtual section VS held or acquired from the controller 200 to travel based on the virtual section VS in a case where the passage permission for the specific area SA is acquired.

[0123] The controller 200 has an instruction generation section 210, a branch control section 220, a communication section 230, and a storage section 240. The functions of the controller 200 are the same as those of the controller 200 of the first embodiment. In addition, as described above, the controller 200 can also hold the virtual section VS.

[0124] Figure 23 is a flowchart illustrating an example of a flow of a process of a travel vehicle entering a blocked area or a specific area according to the second embodiment. In Figure 23 the description of the travel vehicle 100b entering the specific area SA is based on a switch from the travel plan in the direction of the travel road Rb to the travel plan in the direction of the travel road Ra. In addition, in the description of Figure 23 , the Figures 24-26 is appropriately used. Figures 24-26 is a diagram illustrating an example of a travel vehicle entering a specific area according to the second embodiment.

[0125] In Figure 23In the above, the case where the travel vehicle 100b1 traveling in the blocked area BA and a position on the upstream side of the blocked area BA by a certain distance or more from the point Pd transmits the passage request of the blocked area BA in the case where the other travel vehicle 100b2 exists in the prescribed area PA is described (refer to FIG. 9). As shown in FIG. 9, the communication section 112 transmits the passage request of the blocked area BA to the controller 200 (step S901). The travel control section 111b determines whether the passage permission of the blocked area BA is received (step S902). At this time, the travel control section 111b, in the case where the passage permission of the blocked area BA is received (step S902: YES), enters the blocked area BA based on the travel section (step S903). Here, the travel section at the time when the travel vehicle 100b1 enters the blocked area BA becomes the travel section between the point Pd and the point Pa and the travel section between the point Pa and the point Pc. Figure 24 Figure 23 As shown in FIG. 9, the communication section 112 transmits the passage request of the blocked area BA to the controller 200 (step S901). The travel control section 111b determines whether the passage permission of the blocked area BA is received (step S902). At this time, the travel control section 111b, in the case where the passage permission of the blocked area BA is received (step S902: YES), enters the blocked area BA based on the travel section (step S903). Here, the travel section at the time when the travel vehicle 100b1 enters the blocked area BA becomes the travel section between the point Pd and the point Pa and the travel section between the point Pa and the point Pc.

[0126] The travel control section 111b, in the case where the passage permission of the blocked area BA is not received (step S902: NO), determines whether the branch information from the point Pd is acquired (step S904). Specifically, the travel control section 111b, in the case where the passage permission of the blocked area BA is not received in the communication section 112 from the controller 200, determines whether the branch information from the point Pd is acquired. At this time, in the case where the branch information from the point Pd is not acquired by the travel control section 111b (step S904: NO), the process of step S901 is executed again.

[0127] On the other hand, the travel control section 111b, in the case where the branch information from the point Pd is acquired (step S904: YES), determines whether a prescribed time has elapsed since parking in the vicinity of the point Pd (since the acquisition of the branch information from the point Pd) (step S905). Here, the acquisition of the branch information from the point Pd is achieved by the travel vehicle 100b1 traveling to the vicinity of the point Pd (refer to FIG. 8). That is, it means that the travel vehicle 100b1 travels to the vicinity of the point Pd (parks in the vicinity of the point Pd) in the state where the passage permission of the blocked area BA is not obtained. Therefore, the travel control section 111b, in the case where the branch information from the point Pd is acquired, determines whether a prescribed time has elapsed since parking in the vicinity of the point Pd (since the acquisition of the branch information from the point Pd) in order to change the travel route from the travel road Rb to the travel road Ra. In the case where the prescribed time has not elapsed (step S905: NO), the process of step S901 is executed again. Figure 25

[0128] ​​In a case where a predetermined time elapses after it is determined by the travel control section 111b that the vehicle is parked in the vicinity of the point Pd (after the branch information from the point Pd is acquired) (step S905: YES), the communication section 112 transmits a passage request for the specific area SA to the controller 200 (step S906). The travel control section 111b determines whether or not a passage permission for the specific area SA is received (step S907). At this time, the travel control section 111b executes the process of step S906 again in a case where the passage permission for the specific area SA is not received (step S907: NO). On the other hand, the travel control section 111b enters the specific area SA on the basis of the virtual segment VS in a case where the passage permission for the specific area SA is received (step S907: YES) (step S908). Specifically, the travel control section 111b enters the specific area SA in order to perform travel based on the virtual segment VS between the points Pd and Pb in a case where the passage permission for the specific area SA is received by the communication section 112 from the controller 200 (refer to FIG. 10). Figure 26 ).

[0129] Figure 27 is a flowchart showing an example of a flow of the process of the traveling vehicle in the passage of the specific area of the second embodiment. In the description of Figure 27 , the Figure 28 is appropriately utilized. Figure 28 is a diagram showing an example of the traveling vehicle that passes through the specific area of the second embodiment.

[0130] As shown in Figure 27 , the travel control section 111b determines whether or not the specific area SA is passed through by travel based on the virtual segment VS (step S1001). Specifically, the travel control section 111b determines whether or not the specific area SA is passed through on the basis of the current position obtained by the detection of the position marker of the point Pb or the current position considering the travel distance from the point Pd. At this time, the travel control section 111b executes the process of step S1001 again in a case where the specific area SA is not passed through (step S1001: NO). Specifically, the travel control section 111b repeatedly executes the process of step S1001 before the specific area SA is passed through in a case where the current position considering the travel distance from the point Pd is within the specific area SA or in a case where the position marker of the point Pb is not detected.

[0131] On the other hand, the travel control section 111b instructs the communication section 112 to transmit a request for the release of the congestion of the specific area SA that is passed through to the controller 200 in a case where the specific area SA is passed through (step S1001: YES) (step S1002). Specifically, the travel control section 111b instructs the communication section 112 to transmit a request for the release of the congestion of the specific area SA that is passed through to the controller 200 in a case where the current position considering the travel distance from the point Pd is outside the specific area SA (refer to Figure 28), or in a case where it is explicitly passed through the specific area SA through detection of the position marker of the point Pb (refer to Figure 28 ), a release request (state information) containing identification information indicating the specific area SA passed through is generated. Further, the communication section 112 transmits the state information of the release request of the blockage of the specific area SA passed through to the controller 200. In addition, the running vehicle 100b1 can transmit the state information of the release request corresponding to the specific area SA passed through multiple times.

[0132] Figures 29-32 is a diagram indicating an example of a running vehicle passing through a blocked area according to the second embodiment. For example, a case where the running vehicle 100b running at a position on the upstream side of the blocked area BA and a distance of a certain distance or more from the point Pd transmits a passage request of the blocked area BA in a case where there is no other running vehicle 100b in the blocked area BA is described (refer to Figure 29 ).

[0133] The running vehicle 100b transmits a passage request of the blocked area BA to the controller 200 and receives a passage permission of the blocked area BA from the controller 200. Further, the running vehicle 100b enters the blocked area BA in order to perform running based on the travel section between the points Pd and Pa and the travel section between the points Pa and Pc (refer to Figure 30 ). Next, the running vehicle 100b generates a release request (state information) containing identification information indicating the specific area SA passed through in a case where the current position considering the running distance from the point Pa is outside the specific area SA (refer to Figure 31 ). Then, the running vehicle 100b transmits the state information of the release request of the blockage of the specific area SA passed through to the controller 200.

[0134] Next, the running vehicle 100b generates a release request (state information) containing identification information indicating the blocked area BA passed through in a case where the current position considering the running distance from the point Pa is outside the blocked area BA (refer to Figure 32 ), or in a case where it is passed through the blocked area BA through detection of the position marker of the point Pc (refer to Figure 32 ). Further, the running vehicle 100b transmits the state information of the release request of the blockage of the blocked area BA passed through to the controller 200.

[0135] In the running vehicle system SYS2, the point capable of providing branch information is provided outside the blocked area BA, the running vehicle 100b is caused to enter the specific area SA based on a section (virtual section VS) ignoring the points inside the blocked area BA, so it is possible to appropriately control the passage request of the specific area SA.

[0136] In the above-described embodiments, the controller 200 includes, for example, a computer system. The controller 200 reads out a control program stored in the storage section 240 and executes various processes according to the read control program. The control program causes the computer to perform, for example, the following operations: when a passing request for a blocked area is received from a traveling vehicle, if there is no other traveling vehicle in the blocked area, a passing permission for the blocked area is transmitted to the traveling vehicle that has issued the passing request for the blocked area; in a case where the traveling vehicle has acquired the passing permission for the blocked area, the traveling vehicle is caused to enter the blocked area; when a passing request for a specific area is received from a traveling vehicle, if there is no other traveling vehicle in the specific area, a passing permission for the specific area is transmitted to the traveling vehicle that has issued the passing request for the specific area; and in a case where the traveling vehicle has acquired the passing permission for the specific area, the traveling vehicle is caused to enter the specific area. The control program can also be provided by being stored in a storage medium that is readable by a computer.

[0137] In addition, the above-described embodiments can also be implemented in a traveling road R in which a turnaround is possible. Figures 33-36 is a diagram showing an example of a traveling vehicle that passes through a blocked area by a turnaround. For example, as shown in Figure 33 , a case where a destination of a traveling road Rb is a terminal point is described. In a case where the destination of the traveling road Rb is a terminal point, the traveling vehicle 100b passes through the blocked area BA by a turnaround and a retreat. At this time, the point Pa becomes a switching point (turning point) at which the traveling vehicle 100b that retreats switches a traveling direction to a direction of the traveling road Ra.

[0138] The traveling vehicle 100b transmits a passing request for the blocked area BA to the controller 200 (see Figure 33 ). If the traveling vehicle 100b receives a passing permission for the blocked area BA from the controller 200, the traveling vehicle 100b travels (retreats) toward the point Pa that is a switching point (turning point) based on a traveling section between the point Pc and the point Pa (see Figure 34 ). If the traveling vehicle 100b retreats to the point Pa, the traveling vehicle 100b travels based on a traveling section between the point Pa and the point Pb (see Figure 35 ). If the traveling vehicle 100b has passed through the blocked area BA, the traveling vehicle 100b transmits a release request for the passed blocked area BA to the controller 200 (see Figure 36 ). The controller 200 releases the blocked area BA based on the release request from the traveling vehicle 100b.

[0139] The above-described embodiments are merely illustrative of the present application and the technical scope of the present application is not limited thereto. It will be apparent to those skilled in the art that various changes or improvements can be made to the above-described embodiments. Embodiments made with such changes or improvements are also included in the technical scope of the present application. One or more of the elements described in the above-described embodiments and the like can be omitted. In addition, the elements described in the above-described embodiments and the like can be appropriately combined. In addition, the order of execution of each process shown in the present embodiment can be implemented in any order as long as the output of the preceding process is not used in the subsequent process. In addition, regarding the actions in the above-described embodiments, although the description is made using "first", "second", "third", and the like for convenience, it is not necessarily implemented in this order. In addition, within the scope of the law, the disclosures of all the documents cited in the above-described embodiments and the like are incorporated herein as part of the description.

[0140] In addition, one or more of the elements described in the above-described embodiments and the like can be omitted. In addition, the elements described in the above-described embodiments and the like can be appropriately combined. In addition, within the scope of the law, the disclosures of Japanese Patent Application No. 2020-092386 and all the documents cited in the above-described embodiments and the like are incorporated herein as part of the description.

[0141] Explanation of Reference Signs

[0142] BA... blockage area, Br... branch, PA... prescribed area, Pa... point, Pb... point, Pc... point, R... travel road, Ra... travel road, Rb... travel road, SA... specific area, SYS... travel vehicle system, 100... travel vehicle, 200... controller.

Claims

1. A vehicle system having: a travel road including a branch portion, a vehicle traveling on the travel road, and a controller, wherein a certain area of one lane of the travel road is set as an area through which the vehicle can pass from an upstream side to a downstream side of the branch portion in a blocked area set including the branch portion, the controller, when receiving a request for passage of the blocked area from the vehicle scheduled to travel on another lane of the travel road different from the one lane of the travel road, sends a permission for passage of the blocked area to the vehicle that sent the request for passage of the blocked area if there is no other vehicle in the blocked area, the vehicle, when having obtained the permission for passage of the blocked area, enters the blocked area, the controller, when receiving a request for passage of the certain area from the vehicle scheduled to travel on the one lane of the travel road, sends a permission for passage of the certain area to the vehicle that sent the request for passage of the certain area if there is no other vehicle in the certain area, and the vehicle, when having obtained the permission for passage of the certain area, enters the certain area.

2. The vehicle system according to claim 1, wherein the vehicle having obtained the permission for passage of the blocked area, after passing through the certain area in the blocked area, sends a request for release of blocking of the certain area to the controller, the controller, based on the request for release of blocking of the certain area, releases the blocking of the certain area to set the certain area as passable, the vehicle having obtained the permission for passage of the blocked area, after sending the request for release of blocking of the certain area and after passing through the blocked area, sends a request for release of blocking of the blocked area to the controller, and the controller, based on the request for release of blocking of the blocked area, releases the blocking of the blocked area to set the blocked area as passable.

3. The vehicle system according to claim 1 or 2, wherein the travel road has a first point that provides branch information indicating that there is a branch road to the vehicle in front of the branch portion, the vehicle, when having obtained the branch information in a state where the vehicle has not obtained the permission for passage of the blocked area or the certain area, sends a request for passage of the certain area to the controller, and in a case where the first point is present in the blocked area, a second point that is in front of the first point and closer to the first point than the first point among a plurality of points provided by the travel road outside the blocked area is set to be able to provide the branch information to the vehicle.

4. The vehicle system according to claim 3, wherein the vehicle travels based on a section between adjacent points in the travel road, that is, a travel section, and in a case where the second point is set to be able to provide the branch information and the vehicle has obtained the permission for passage of the certain area, travels based on a virtual section from the second point to a point of one lane of the travel road. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. The travel car system according to claim 4, wherein The virtual section is prepared in advance and held in the travel car or the controller, and is taken out in the case where the travel car obtains the passage permission of the specific area, or is taken from the controller and used.

6. The travel car system according to claim 3, wherein In the travel road, the destination of the other travel road of the travel road is the end point, The first point is the switching point where the travel car that backs up after entering the other travel road of the travel road switches the travel direction to the one travel road of the travel road.

7. The travel car system according to claim 4 or 5, wherein In the travel road, the destination of the other travel road of the travel road is the end point, The first point is the switching point where the travel car that backs up after entering the other travel road of the travel road switches the travel direction to the one travel road of the travel road.

8. The travel car system according to any one of claims 1, 2, 4, 5, 6, wherein The travel car transmits the passage request of the specific area to the controller after transmitting the passage request of the blocked area to the controller, in the case where the passage permission of the blocked area is not obtained.

9. The travel car system according to claim 3, wherein The travel car transmits the passage request of the specific area to the controller after transmitting the passage request of the blocked area to the controller, in the case where the passage permission of the blocked area is not obtained.

10. The travel car system according to claim 7, wherein The travel car transmits the passage request of the specific area to the controller after transmitting the passage request of the blocked area to the controller, in the case where the passage permission of the blocked area is not obtained.

11. The travel car system according to claim 8, wherein The travel car transmits the passage request of the specific area to the controller in the stop of the travel car after transmitting the passage request of the blocked area to the controller, in the case where the passage permission of the blocked area is not obtained.

12. The travel car system according to claim 9 or 10, wherein The travel car transmits the passage request of the specific area to the controller in the stop of the travel car after transmitting the passage request of the blocked area to the controller, in the case where the passage permission of the blocked area is not obtained.

13. A control method of a travel car, which is a control method of a travel car that travels on a travel road including a branch portion, comprising the steps of: setting a specific area in which the travel car can pass one travel road of the travel road from the upstream side to the downstream side of the branch portion, in a part of a blocked area set in the travel road including the branch portion; when the travel car that travels on the other travel road different from the one travel road of the travel road receives the passage request of the blocked area, if there is no other travel car in the blocked area, transmitting the passage permission of the blocked area to the travel car that transmitted the passage request of the blocked area. In a case where the traveling vehicle has acquired the passage permission of the blocked area, the traveling vehicle is caused to enter the blocked area. In a case where the traveling vehicle traveling on the one traveling path of the traveling paths receives a passage request of the specific area, if there is no other traveling vehicle in the specific area, the passage permission of the specific area is sent to the traveling vehicle which has issued the passage request of the specific area; and In a case where the traveling vehicle has acquired the passage permission of the specific area, the traveling vehicle is caused to enter the specific area.

Images