Traveling vehicle system

Abstract

This traveling vehicle system (1) is provided with a plurality of traveling vehicles (6) traveling in a plurality of sections, a storage unit (24A), and a controller (70). When each of the traveling vehicles (6) receives a signal transmitted from the controller (70), the signal is received as valid information only when information indicating that the vehicle is the receiver is included in the signal. Each of the traveling vehicles (6) can receive a signal as valid information even if a signal received by the switched communication method includes information indicating that a receiver other than the own vehicle is a receiver after switching the communication method according to the information stored in the storage unit (24A) in accordance with the entered section. And determines that communication has been established with the controller (70).

Description

Technical Field

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

[0002] There is known a traveling vehicle system that travels on a track provided on a ceiling. For example, Patent Document 1 discloses a traveling vehicle system in which a controller sequentially interrogates (polls) each traveling vehicle, and the traveling vehicle that receives an interrogation about itself from the controller reports its own state to the controller. The controller of such a traveling vehicle system can grasp the states of a plurality of traveling vehicles under its jurisdiction and can send commands to a specific traveling vehicle.

[0003] In a traveling vehicle system, as system devices such as communication devices and track devices that make up the traveling vehicle system are updated or expanded, in the track that makes up the traveling vehicle system, there may sometimes be a plurality of sections where the communication methods between the controller and the traveling vehicle are different from each other. Information about the communication method for each such section is, for example, stored in advance in the storage unit of the controller. The traveling vehicle appropriately controls the communication machine in the traveling vehicle according to the information related to the communication method stored in the storage unit, thereby achieving communication with the controller.

[0004] Prior Art Documents

[0005] Patent Document: Japanese Patent No. 5360034 Gazette Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, for example, if the update periods of the information related to the communication method in the storage unit are staggered during the update or expansion of the system devices, when the traveling vehicle enters a section where a communication method different from the actual communication method is stored in the storage unit, there is a situation where communication between the controller and the traveling vehicle cannot be performed and the controller cannot appropriately control the traveling vehicle. Therefore, there is an urgent need to confirm whether communication with the controller is established at an early stage after the traveling vehicle switches the communication machine.

[0008] Therefore, an object of one aspect of the present invention is to provide a traveling vehicle system that can shorten the time until it is confirmed whether communication between the controller and the traveling vehicle is established after switching the communication method.

[0009] Technical Means for Solving the Problems

[0010] A traveling vehicle system according to an aspect of the present invention includes: a plurality of traveling vehicles configured to be able to select one communication method from a plurality of communication methods and travel in a plurality of sections; a storage unit that associates and stores the communication methods capable of communication in each section with each of the sections; and a controller that transmits and receives signals using the communication methods selected by each of the plurality of traveling vehicles. Each of the traveling vehicles receives a signal as valid information only when the signal contains information indicating that the vehicle itself is the recipient when receiving a signal transmitted from the controller. In the traveling vehicle system, after each of the traveling vehicles switches to the communication method stored in the storage unit corresponding to the entered section, even when the signal received by the switched communication method contains information indicating a recipient other than the vehicle itself, the signal can be received as valid information, and it is determined that communication has been established with the controller.

[0011] Among the recipients other than the vehicle itself mentioned here, in addition to other traveling vehicles, that is, other traveling vehicles, the controller may also be included. Generally, after switching the communication method, a signal is received as valid information only when the signal received by the switched communication method contains information indicating that the vehicle itself is the recipient. However, in the traveling vehicle system configured as such, even when the signal contains information indicating a recipient other than the vehicle itself, the signal can be received as valid information as an exception. Moreover, when the traveling vehicle system receives such information after switching the communication method, it is determined that communication has been established with the controller. Thus, after switching the communication method, even when a signal with the vehicle itself as the recipient is not transmitted from the controller, it can be determined that communication has been established with the controller based on a signal with a recipient other than the vehicle itself. As a result, the time until it can be confirmed whether communication is established between the controller and the traveling vehicle after switching the communication method is shortened.

[0012] In a traveling vehicle system according to an aspect of the present invention, the traveling vehicle may travel along a track, the track has a communication line arranged along the track, and the traveling vehicle communicates with the controller via the communication line. In this configuration, even in a traveling vehicle system that communicates between the traveling vehicle and the controller via the communication line, the time until it can be confirmed whether communication is established between the controller and the traveling vehicle can be shortened.

[0013] In a traveling vehicle system according to an aspect of the present invention, the communication line also functions as a power supply line for supplying power to the traveling vehicle. In this configuration, by the communication line also serving as a power supply line, the device configuration becomes simple, and the wiring work during track construction is easy.

[0014] In the traveling vehicle system according to one aspect of the present invention, the switching of the communication method is the switching of the communication speed between the traveling vehicle and the controller. In this configuration, when switching the communication speed between the traveling vehicle and the controller, the time until it is confirmed whether communication between the controller and the traveling vehicle is established can also be shortened. That is, in this configuration, it is possible to travel across regions with different communication speeds. Thus, in the track constituting the traveling vehicle system, communication speeds can coexist, so it is easy to update existing equipment and add new equipment (append).

[0015] In the traveling vehicle system according to one aspect of the present invention, the communication device of each traveling vehicle provided on the traveling vehicle may have: a left communication unit provided to be able to communicate only with the communication line in the left wiring section; and a right communication unit provided to be able to communicate only with the communication line in the right wiring section; the switching of the communication method refers to the switching between the left communication unit and the right communication unit. In this configuration, when switching between the left communication unit and the right communication unit, the time until it is confirmed whether communication between the controller and the traveling vehicle is established can also be shortened.

[0016] In the traveling vehicle system according to one aspect of the present invention, the controller can sequentially send signals to a plurality of traveling vehicles in motion. In this configuration, even in the case of so-called polling communication between the controller and the traveling vehicle, the time until it is confirmed whether communication between the controller and the traveling vehicle is established can also be shortened.

[0017] In the traveling vehicle system according to one aspect of the present invention, each traveling vehicle of the traveling vehicle can, after switching the communication method, return to the communication method before switching if it is not determined that communication is established within a specified time. In this configuration, even if there is a deviation between the period of updating or expanding system equipment such as communication equipment and track equipment for constructing the traveling vehicle system and the period of updating information in the storage unit, it is possible to prevent a state where communication is not established between the controller and the traveling vehicle, and communication between the controller and the traveling vehicle can continue.

[0018] Advantages of the Invention

[0019] According to one aspect of the present invention, the time until it is confirmed whether communication between the controller and the traveling vehicle is established after switching the communication method can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic top view showing a traveling vehicle system according to an embodiment of the present invention.

[0021] Figure 2 is a front schematic view of the elevated traveling vehicle as viewed from the traveling direction Figure 1 thereof.

[0022] Figure 3It is a functional block diagram showing the functional composition of a traveling vehicle system.

[0023] Figure 4 It is a diagram for explaining the switching of communication methods in a traveling vehicle system according to a modified example of the present invention. Detailed implementation manners

[0024] Hereinafter, with reference to the accompanying drawings, a traveling vehicle system according to an embodiment will be described. In the description of the accompanying drawings, the same reference numerals are assigned to the same components, and redundant descriptions thereof are omitted.

[0025] As Figure 1 and Figure 2 shown, the traveling vehicle system 1 is a system that uses an overhead traveling vehicle 6 (hereinafter simply referred to as "traveling vehicle 6") that can move along a track 4 to transport an article F between loading sections 9, 9. The article F includes, for example, a front-opening unified pod (FOUP) that stores a plurality of semiconductor wafers, a container that stores a glass substrate, a container such as a reticle box, and general components. Here, for example, a traveling vehicle system 1 in which the traveling vehicle 6 travels along a one-way track 4 laid on the ceiling of a factory or the like can be cited as an example for explanation. The traveling vehicle system 1 includes a track 4, a plurality of traveling vehicles 6, a plurality of loading sections 9, and a zone controller (controller) 70 (refer to Figure 3 ).

[0026] The track 4 is, for example, laid near the ceiling in the overhead space of an operator. The track 4 is, for example, suspended from the ceiling. The track 4 is a pre-determined traveling path for the traveling vehicle 6 to travel. The track 4 is supported by columns 40A, 40A. The track 4 of the traveling vehicle system 1 is arranged to form a main line section S1 that circulates in one direction in a predetermined area and branch line sections S2 that branch off from and converge with the main line section S1.

[0027] The track 4 has a cylindrical body portion 40, a power supply portion (communication line, power supply line) 40E, and a magnetic plate 40F. The cylindrical body portion 40 includes a pair of lower surface portions 40B, a pair of side surface portions 40C, 40C, and a top surface portion 40D. The lower surface portions 40B, 40B extend along the traveling direction of the traveling vehicle 6 and constitute the lower surface of the body portion 40. The lower surface portions 40B, 40B are plate-like members on which the traveling rollers 31 of the traveling vehicle 6 roll and travel. The side surface portions 40C, 40C extend along the traveling direction of the traveling vehicle 6 and constitute the side surfaces of the body portion 40. The top surface portion 40D extends along the traveling direction of the traveling vehicle 6 and constitutes the upper surface of the body portion 40.

[0028] The power supply unit 40E is a part that transmits and receives signals (overlapping communication) with the traveling vehicle 6 and supplies power to the power receiving device 35 of the traveling vehicle 6. The power supply unit 40E is a communication line fixed to each of the pair of side faces 40C, 40C and extending in the traveling direction. In other words, the communication line also functions as a power supply line for supplying power to the traveling vehicle 6. The power supply unit 40E supplies power to the power receiving device 35 in a non-contact state. The magnetic plate 40F generates a magnetic force for traveling or stopping for the linear DC motor (LDM) 55 of the traveling vehicle 6. The magnetic plate 40F is fixed to the top face 40D and extends in the traveling direction.

[0029] The traveling vehicle 6 travels along the track 4 and transports the article F. The traveling vehicle 6 is configured to be able to transfer the article F. The traveling vehicle 6 is an overhead traveling type unmanned vehicle. The number of traveling vehicles 6 included in the traveling vehicle system 1 is not particularly limited and may be plural. The traveling vehicle 6 has a main body portion 10 and a traveling portion 30. The main body portion 10 has a main body frame 12, a lateral transfer portion 14, a θ driver 16, a lifting drive portion 18, a lifting table 20, a front and rear frame 22, and a traveling vehicle controller 24.

[0030] The lateral transfer portion 14 laterally transfers the θ driver 16, the lifting drive portion 18, and the lifting table 20 together in a direction perpendicular to the traveling direction of the track 4. The θ driver 16 rotates at least one of the lifting drive portion 18 and the lifting table 20 within a predetermined angle range in a horizontal plane. The lifting drive portion 18 raises and lowers the lifting table 20 by winding or unwinding a suspension material such as a belt, a wire, and a cable. A chuck is provided on the lifting table 20 to securely hold or release the article F. A pair of front and rear frames 22 are provided, for example, in the front and rear in the traveling direction of the traveling vehicle 6. The front and rear frames 22 cause claws (not shown) and the like to move in and out to prevent the article F from falling during transportation.

[0031] The traveling vehicle controller 24 is a computer system or a processor installed in an integrated circuit. The traveling vehicle controller 24 is a part that executes various control processes in the traveling vehicle 6 and is composed of, for example, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output interface. Various programs or data are stored in the ROM. The traveling vehicle controller 24 can be configured, for example, as software that loads the program stored in the ROM onto the RAM and executes it using the CPU. The traveling vehicle controller 24 can also be configured as hardware formed by an electronic circuit or the like.

[0032] The traveling vehicle controller 24 has a storage unit 24A that associates and stores a communication method capable of communicating with each of the sections S1 and S2 and stores the communication speeds of the sections S1 and S2. The storage unit 24A of the present embodiment stores the following: in the main line section S1, the communication device 37 described in detail later can communicate at 28.8 kbps; in the branch line section S2, the communication device 37 can communicate at 115.2 kbps. Furthermore, Figure 3 The right communication unit 37A and the left communication unit 37B shown are related to a modification described in detail later, and may include the right communication unit 37A and the left communication unit 37B in place of the communication device 37 of the present embodiment.

[0033] The traveling unit 30 causes the traveling vehicle 6 to travel along the track 4. The traveling unit 30 mainly includes traveling rollers 31, side rollers 32, a traveling drive unit 33, a power receiving device 35, and a communication device 37. The traveling rollers 31 roll on the lower surface portion 40B of the track 4. The traveling rollers 31 are disposed at the left and right ends of the front and rear of the traveling unit 30. The side rollers 32 are provided so as to be able to contact the side surface portion 40C of the track 4. The traveling drive unit 33 is a linear DC motor (LDM), and is disposed at the front and rear of the traveling unit 30. An electromagnet is provided in the traveling drive unit 33. A magnetic force for accelerating or braking the traveling vehicle 6 is generated between the electromagnet and a magnetic plate 40F disposed on the upper surface of the track 4.

[0034] The power receiving device 35 is disposed, when viewed from above the traveling vehicle 6, so as to sandwich the traveling drive unit 33 in the left-right direction at the front and rear of the traveling unit 30. In the power receiving device 35, power is supplied in a non-contact manner with the power supply unit 40E. Each of the power receiving devices 35 includes a core (not shown) and a power receiving coil. The core has a cross-sectional shape orthogonal to the extending direction of the track 4, for example, an E-shaped core. The core is formed of a magnetic material such as ferrite. The power receiving coil is formed by winding a copper wire coated with enamel, for example. The power receiving coil generates an induced current by a magnetic field generated by a current (high-frequency current) supplied from the power supply unit 40E, and supplies power to the lifting drive unit 18, the traveling vehicle controller 24, and the traveling drive unit 33 through the induced current.

[0035] Similar to the power receiving device 35, the communication device 37 is arranged in a plan view so as to sandwich the traveling drive unit 33 in the left-right direction before and after the traveling unit 30 when viewed from above the self-driving vehicle 6. In the communication device 37, communication with the area controller 70 is performed in a non-contact manner via the power supply unit 40E. The communication device 37 is configured to be able to switch the communication speed when communicating with the power supply unit 40E. The communication device 37 of the present embodiment is configured to be able to switch between the following two states, namely: a state in which communication with the power supply unit 40E can be performed at 28.8 kbps, and a state in which communication with the power supply unit 40E can be performed at 115.2 kbps. The communication speed of the communication device 37 can be appropriately set and switched in accordance with the power supply unit 40E, and communication with the power supply unit 40E can be achieved. For example, when the communication speed of the power supply unit 40E is 28.8 kbps, the setting of the communication device 37 is switched to 28.8 kbps, and when the communication speed of the power supply unit 40E is 115.2 kbps, the setting of the communication device 37 is switched to 115.2 kbps, whereby communication between the communication device 37 and the power supply unit 40E can be performed.

[0036] The area controller 70 is composed of a CPU, a ROM, a RAM, an input / output interface, etc. The traveling vehicle controller 24 can be configured, for example, as software that loads a program stored in the ROM onto the RAM and executes it using the CPU. The area controller 70 can also be configured as hardware formed by an electronic circuit or the like. The area controller 70 sends a transfer instruction for the self-driving vehicle 6 to transfer the article F.

[0037] The area controller 70 performs signal transmission and reception with the self-driving vehicle 6 via the power supply unit 40E arranged on the track 4. The area controller 70 is connected to the power supply unit 40E via the overlapping communication signal generating device 71. The overlapping communication signal generating device 71 overlaps the signal transmitted from the area controller 70 with a high-frequency communication signal and transmits it to the power supply unit 40E. Furthermore, the area controller 70 performs signal transmission and reception with the self-driving vehicle 6 via the communication method selected by the traveling vehicle controller 24. Specifically, the area controller 70 performs signal transmission and reception via the communication device 37 whose setting is switched to the communication speed selected by the traveling vehicle controller 24. Furthermore, the overlapping communication signal generating device 71 can also be integrally configured as the area controller 70.

[0038] The area controller 70 sequentially sends signals (conducts polling communication) to a plurality of traveling vehicles 6 in motion. For example, when the area controller 70 has jurisdiction over three traveling vehicles 6 such as vehicle No. 1 to vehicle No. 3, first, it sends a signal containing vehicle No. 1 as the recipient information to all the traveling vehicles 6 in the area via the power supply unit 40E. Second, it sends a signal containing vehicle No. 2 as the recipient information to all the traveling vehicles 6 in the area via the power supply unit 40E. Then, it sends a signal containing vehicle No. 3 as the recipient information to all the traveling vehicles 6 in the area via the power supply unit 40E. After that, the area controller 70 also conducts signal transmission and reception with the traveling vehicles 6 under its jurisdiction in the above order.

[0039] When each of the traveling vehicles 6 receives a signal sent from the area controller 70, it will receive the signal as valid information only when the signal contains information indicating that the vehicle itself is the recipient. After the traveling vehicle controller 24 of the traveling vehicle 6 in this embodiment switches the communication speed of the communication device 37 according to the information stored in the storage unit 24A, even if the signal received at the switched communication speed contains information indicating that a vehicle other than the vehicle itself is the recipient, it will exceptionally receive the signal as valid information and determine that communication has been established with the area controller 70. The traveling vehicle controller 24 sends the information thus determined to the area controller 70 via the communication device 37. In addition, after the traveling vehicle controller 24 of the traveling vehicle 6 in this embodiment switches the communication method, if it is not determined that communication has been established within a specified time (for example, about 1S (1 second) if the polling communication period is 100 ms), that is, when, although a signal is being sent from the area controller 70 to the power supply unit 40E, the signal cannot be received due to the difference in the setting of the communication method (communication speed), the setting is returned to the communication speed before the switch.

[0040] Next, the switching operation of the communication speed of the traveling vehicle 6 will be described. When the traveling vehicle 6 travels in the main line section S1, it communicates with the area controller 70 via the communication device 37 set to a state where it can communicate with the power supply unit 40E at 28.8 kbps. When the traveling vehicle 6 receives a signal sent from the area controller 70 during the period of traveling in the main line section S1, it will receive the signal as valid information only when the signal contains information indicating that the vehicle itself is the recipient. For example, when the traveling vehicle 6 receives a transfer instruction containing the vehicle itself as the recipient information from the area controller 70, it receives the transfer instruction as valid information and starts moving towards the placement unit 9 included in the transfer instruction. Furthermore, even if the traveling vehicle 6 receives a signal containing information indicating that another traveling vehicle is the recipient in the signal sent from the area controller 70, it will not receive the signal as valid information (even if it receives it, it will not be processed specially).

[0041] On the track 4 on the upstream side of the branch BP in the main line section S1, a mark M1 such as a bar code is attached. When the traveling vehicle 6 receives a transfer instruction for the placement unit 9 on the path in the branch line section S2, the traveling vehicle 6 enters the branch line section S2 from the main line section S1 through the branch BP. At this time, when the traveling vehicle 6 approaches the branch BP, the mark M1 on the upstream side disposed near the branch BP is read by a sensor (not shown). Triggered by the sensor reading of the mark M1, the traveling vehicle controller 24 switches the setting of the communication speed of the communication device 37. More specifically, the traveling vehicle controller 24 switches the setting of the communication speed of the communication device 37 to a state where communication can be performed at 115.2 kbps according to the information stored in the storage unit 24A. This 115.2 kbps is the communication speed corresponding to the entered section, that is, the branch line section S2, and is the communication speed at which communication can be performed with the power supply unit 40E in the branch line section S2.

[0042] After the traveling vehicle controller 24 switches the communication speed of the communication device 37, even if the signal received at the switched communication speed contains information indicating a recipient other than the own vehicle, the traveling vehicle controller 24 receives such signals as valid information and determines that communication has been established with the area controller 70. The traveling vehicle controller 24 sends information on the content of the established communication with the area controller 70 to the area controller 70. Thereafter, during the period when the traveling vehicle 6 travels in the branch line section S2, signals are exchanged between the traveling vehicle 6 and the traveling vehicle controller 24 via the communication device 37 in a state where communication can be performed at 115.2 kbps. After the traveling vehicle 6 sends information on the content of the established communication with the area controller 70 to the area controller 70, the traveling vehicle 6 receives signals as valid information only when the signals contain information indicating the own vehicle as the recipient.

[0043] On the other hand, after the traveling vehicle controller 24 switches the communication speed of the communication device 37, if it is not determined that communication has been established within a specified time, the communication speed is returned to the speed before the switch. Specifically, after the traveling vehicle controller 24 switches the communication speed of the communication device 37 to 115.2 kbps, if it is not determined that communication has been established within a specified time, the communication speed is returned to the speed before the switch, that is, 28.8 kbps.

[0044] When the traveling vehicle 6 meets at the meeting section CP, similar to the case when it branches off at its own branch section BP, when the traveling vehicle 6 approaches the meeting section CP, it reads the marker M2 on the upstream side near the meeting section CP through a sensor (not shown in the figure). The traveling vehicle controller 24 triggers the reading of the marker M2 using the sensor and switches the setting of the communication speed of the communication device 37. More specifically, the traveling vehicle controller 24 switches the setting of the communication speed of the communication device 37 to a state where communication can be performed at 28.8 kbps according to the information stored in the storage unit 24A. This 28.8 kbps is the communication speed corresponding to the incoming section, that is, the main line section S1, and it is the communication speed at which communication can be performed with the power supply unit 40E in the main line section S1.

[0045] After the traveling vehicle controller 24 switches the communication speed of the communication device 37, even if the signal received at the switched communication speed contains information indicating a recipient other than the own vehicle, it receives such signals as valid information and determines that communication has been established with the area controller 70. The traveling vehicle controller 24 sends the information on the content of the established communication with the area controller 70 to the area controller 70. Thereafter, during the period when the traveling vehicle 6 travels in the main line section S1, signals are exchanged between the traveling vehicle controller 24 via the communication device 37 in a state where communication can be performed at 28.8 kbps. That is, after the traveling vehicle 6 sends the information on the content of the established communication with the area controller 70 to the area controller 70, it receives signals as valid information only when the signal contains information indicating the own vehicle as the recipient.

[0046] The operation and effects of the traveling vehicle system 1 of the above-described embodiment will be described below. Generally, after switching the communication speed, signals are received as valid information only when the signal received at the switched communication speed contains information indicating the own vehicle as the recipient. However, in the traveling vehicle system 1 of the above-described embodiment, even if the signal contains information indicating a recipient other than the own vehicle (even if it is a signal containing information indicating another traveling vehicle traveling in the branch line section S2 as the recipient), it receives the signal as valid information. Moreover, when the traveling vehicle system 1 receives such information, it determines that communication has been established with the area controller 70.

[0047] Accordingly, after switching the communication speed, even when a signal addressed to the host vehicle is not transmitted from the area controller 70, it is possible to determine that communication has been established with the area controller 70 based on a signal addressed to another traveling vehicle. That is, after switching the communication speed, even when a signal addressed to the host vehicle is not immediately transmitted, it is possible to determine that communication has been established with the area controller 70 based on a signal addressed to another traveling vehicle. As a result, it is possible to shorten the time until it is confirmed whether communication is established between the area controller 70 and the traveling vehicle 6. That is, in the traveling vehicle system 1 of the above-described embodiment, even when crossing an area with different communication speeds, it can travel smoothly. Accordingly, in the track 4 constituting the traveling vehicle system 1, different communication speeds can coexist, so that it is easy to update existing equipment and add new equipment (append).

[0048] In the traveling vehicle system 1 of the above-described embodiment, the traveling vehicle 6 travels along the track 4, and the track 4 has a power supply unit 40E disposed along the track 4. The traveling vehicle 6 communicates with the area controller 70 via the power supply unit 40E. Accordingly, even in the traveling vehicle system 1 in which communication is performed between the traveling vehicle 6 and the area controller 70 via the power supply unit 40E, it is possible to shorten the time until it is confirmed whether communication is established between the area controller 70 and the traveling vehicle 6.

[0049] In the traveling vehicle system 1 of the above-described embodiment, the power supply unit 40E also functions as a power supply line for supplying power to the traveling vehicle 6. Accordingly, by using the power supply unit 40E as both a power supply line, it is possible to achieve a simple device configuration and facilitate the wiring work when constructing the track 4.

[0050] In the traveling vehicle system 1 of the above-described embodiment, the area controller 70 sequentially transmits signals to a plurality of traveling vehicles 6 that are traveling. Even in such a traveling vehicle system 1 that performs polling communication, it is possible to shorten the time until it is confirmed whether communication is established between the area controller 70 and the traveling vehicle 6 when switching the communication speed.

[0051] In the traveling vehicle system 1 of the above-described embodiment, after switching the communication speed, if it is not determined that communication is established within a specified time, the traveling vehicle controller 24 returns to the communication speed before the switch. Accordingly, even if there is a deviation between the period of updating system equipment such as communication equipment and track equipment constituting the traveling vehicle system 1 and the period of updating information in the storage unit 24A, it is possible to prevent a state in which communication is not established between the area controller 70 and the traveling vehicle 6, and communication between the area controller 70 and the traveling vehicle 6 can be continued.

[0052] Although one embodiment has been described above, one aspect of the present invention is not limited to the above-described embodiment. Various modifications can be made without departing from the gist of the present invention.

[0053] (Modification Example 1)

[0054] In the traveling vehicle system 1 of the above-described embodiment, as an example of the communication method for switching the traveling vehicle 6, although an example of switching the communication speed of the communication device 37 has been described, it is not limited thereto. For example, as Figure 4 shown, when the traveling vehicle 6 transfers between areas under the jurisdiction of different area controllers 70, the traveling vehicle 6 (traveling vehicle controller 24) may also switch the communication device that is effective in communication with the power supply unit 40E between the right communication unit 37A and the left communication unit 37B as follows.

[0055] Here, the right communication unit 37A and the left communication unit 37B will be described. The right communication unit 37A is a communication device configured to be able to communicate with the power supply unit 40E arranged on the right side of the traveling direction of the traveling vehicle 6 in the track 4. The left communication unit 37B is a communication device configured to be able to communicate with the power supply unit 40E arranged on the left side of the traveling direction of the traveling vehicle 6 in the track 4. That is, in Modification Example 1, it has two communication devices, while only one communication device is provided in the above-described embodiment.

[0056] Next, the configuration of the track 4 before and after the boundary between areas under the jurisdiction of different area controllers 70 will be described. Let the area before transfer be area A1 and the area after transfer be area A2. In the normal section S11 in area A1, power supply units 40E, 40E (hereinafter referred to as "power supply units 40E, 40E under the jurisdiction of area A1") controlled by the area controller 70 of area A1 are arranged on both sides of the track 4. In the boundary section S12 in area A1, the power supply unit 40E under the jurisdiction of area A1 is arranged on the right side of the track 4, and the power supply unit 40E (hereinafter referred to as "power supply unit 40E under the jurisdiction of area A2") controlled by the area controller 70 of area A2 is arranged on the left side of the track 4. In the boundary section S13 in area A2, power supply units 40E, 40E under the jurisdiction of area A2 are arranged on both sides of the track 4. In the normal section S14 in area A2, similar to the boundary section S13, power supply units 40E, 40E under the jurisdiction of area A2 are arranged on both sides of the track 4.

[0057] In the track 4 configured in this manner, when the traveling vehicle controller 24 enters the boundary section S12, it switches from a state where communication can be performed with both the right communication unit 37A and the left communication unit 37B to a state where only the right communication unit 37A can perform communication. Subsequently, when the traveling vehicle controller 24 enters the boundary section S13, it switches from a state where only the right communication unit 37A can perform communication to a state where only the left communication unit 37B can perform communication. Subsequently, when the traveling vehicle controller 24 enters the normal section S14, it switches from a state where only the left communication unit 37B can perform communication to a state where communication can be performed with both the right communication unit 37A and the left communication unit 37B. Through this switching of the communication device 37, the state in which the area controller 70 of the jurisdiction area A1 can communicate with the traveling vehicle 6 is switched to the state in which the area controller 70 of the jurisdiction area A2 can communicate with the traveling vehicle 6.

[0058] In this modification, when switching among the three cases of entering the boundary section S12, entering the boundary section S13, and entering the normal section S14, similar to the above-described embodiment, even when the signal received by the traveling vehicle controller 24 through the switched communication device 37 (the right communication unit 37A and the left communication unit 37B) contains information indicating a recipient other than the own vehicle, the traveling vehicle controller 24 receives the signal as valid information, and thereby determines that communication has been established with the area controller 70 of the jurisdiction area A1 or the area controller 70 of the jurisdiction area A2. Thus, when switching between the right communication unit 37A and the left communication unit 37B, the time required to confirm whether communication is established between the area controller 70 of the jurisdiction area A1 or the area controller 70 of the jurisdiction area A2 and the traveling vehicle 6 can also be shortened.

[0059] Furthermore, the switching in Modification 1 can be effectively used not only for transfer between different area controllers 70, but also, for example, for movement between a left wiring section and a right wiring section. The left wiring section is an area where only the power supply unit 40E is arranged on the left side in the traveling direction of the traveling vehicle 6 in the track 4, and the right wiring section is an area where only the power supply unit 40E is arranged on the right side in the traveling direction of the traveling vehicle 6 in the track 4. That is, even when the communication device 37 is switched between the right communication unit 37A and the left communication unit 37B as the traveling vehicle moves from the left wiring section to the right wiring section, the time required to confirm whether communication is established between the area controller 70 and the traveling vehicle 6 can be shortened.

[0060] (Other modifications)

[0061] In the above-described embodiments and the above-described modification examples, although an example has been described in which the traveling vehicle controller 24 returns to the communication speed before switching when it is not determined that communication is established within a specified time after switching the communication speed, for example, the area controller 70 may perform polling communication with each traveling vehicle 6 at a fixed cycle within a fixed period after switching the communication speed, and then change the cycle to perform polling communication with each traveling vehicle 6, instead of the above control.

[0062] In the above-described embodiments and the above-described modification examples, although an example has been described in which the storage unit 24A that associates and stores the communication methods capable of communication in the sections S1 and S2 with each section is provided in the traveling vehicle controller 24, it is not limited thereto. For example, it may be provided in the area controller 70, or a storage device capable of communicating with the traveling vehicle controller 24 other than the area controller 70 may be provided separately.

[0063] In the above-described embodiments and the above-described modification examples, as an example of switching of the communication method, although switching of the communication speed, switching of the left communication unit and the right communication unit have been described as examples, for example, it may be switching of the frequency, or switching between wired and wireless in the communication device 37.

[0064] The technical subject of one aspect of the present invention is as follows. [1]

[0066] A traveling vehicle system, comprising: a plurality of traveling vehicles configured to be able to select one communication method from a plurality of communication methods and travel in a plurality of sections; a storage unit that associates and stores the communication methods capable of communication in each of the above sections with each of the above sections; and a controller that transmits and receives signals using the communication methods selected by each of the above plurality of traveling vehicles; each of the above traveling vehicles receives the above signal as valid information only when the above signal contains information indicating that the vehicle itself is the recipient when receiving the above signal transmitted from the above controller; wherein,

[0067] After each of the above traveling vehicles switches to the communication method stored in the above storage unit corresponding to the entered above section, even if the above signal received by the communication method after switching contains information indicating that a vehicle other than the vehicle itself is the recipient, the above signal is received as valid information, and it is determined that communication has been established with the above controller. [2]

[0069] The traveling vehicle system according to [1], wherein the above traveling vehicle travels along a track,

[0070] The above track has a communication line arranged along the above track,

[0071] The above-mentioned traveling vehicle communicates with the above-mentioned controller via the above-mentioned communication line. [3]

[0073] The traveling vehicle system according to [2], wherein the above-mentioned communication line also functions as a power supply line for supplying power to the above-mentioned traveling vehicle. [4]

[0075] The traveling vehicle system according to any one of [1] to [3], wherein the switching of the above-mentioned communication method is for switching the communication speed between the above-mentioned traveling vehicle and the above-mentioned controller. [5]

[0077] The traveling vehicle system according to [2] or [3], wherein the communication device of each traveling vehicle provided in the above-mentioned traveling vehicle has: a left communication unit that is configured to be able to communicate only with the above-mentioned communication line in the above-mentioned left wiring section; and a right communication unit that is configured to be able to communicate only with the above-mentioned communication line in the above-mentioned right wiring section;

[0078] The switching of the above-mentioned communication method is the switching between the above-mentioned left communication unit and the above-mentioned right communication unit. [6]

[0080] The traveling vehicle system according to [1], wherein the above-mentioned controller sequentially sends the above-mentioned signal to a plurality of the above-mentioned traveling vehicles that are traveling. [7]

[0082] The traveling vehicle system according to any one of [1] to [6], wherein after each traveling vehicle of the above-mentioned traveling vehicle switches the above-mentioned communication method, if it is not determined that communication is established within a specified time, it returns to the above-mentioned communication method before the switching.

[0083] Explanation of reference numerals

[0084] 1... Traveling vehicle system, 4... Track, 6... Overhead traveling vehicle (traveling vehicle), 24... Traveling vehicle controller, 24A... Storage unit, 30... Traveling unit, 37... Communication device, 37A... Right communication unit, 37B... Left communication unit, 40E... Power supply unit (power supply line), 70... Area controller (controller), S1... Main line section, S2... Branch line section.

Claims

1. A traveling vehicle system, comprising: a plurality of traveling vehicles configured to be able to select one communication method from the plurality of communication methods and travel in a plurality of sections; A storage unit that associates and stores the communication method capable of communication in each of the intervals with each of the intervals; And a controller that transmits and receives signals using the communication method selected by each of the plurality of traveling vehicles; each of the traveling vehicles receives the signal as valid information only when the signal contains information indicating that the vehicle itself is the recipient when receiving the signal sent from the controller; wherein, After each of the traveling vehicles switches to the communication method stored in the storage unit corresponding to the entered interval, even if the signal received using the switched communication method contains information indicating that a vehicle other than the vehicle itself is the recipient, the vehicle receives the signal as valid information and determines that communication has been established with the controller.

2. The traveling vehicle system according to claim 1, wherein, The traveling vehicle travels along a track, The track has a communication line arranged along the track, The traveling vehicle communicates with the controller via the communication line.

3. The traveling vehicle system according to claim 2, wherein, The communication line also functions as a power supply line for powering the traveling vehicle.

4. The traveling vehicle system according to any one of claims 1 to 3, wherein, The switching of the communication method is the switching of the communication speed between the traveling vehicle and the controller.

5. The traveling vehicle system according to claim 2 or 3, wherein, The communication device provided in each of the traveling vehicles has: a left communication unit arranged to be able to communicate only with the communication line arranged on the left side in the traveling direction of the traveling vehicle; And a right communication unit arranged to be able to communicate only with the communication line arranged on the right side in the traveling direction of the traveling vehicle; The switching of the communication method is the switching between the left communication unit and the right communication unit.

6. The driving vehicle system according to claim 1, wherein, The controller sequentially sends the signal to the plurality of traveling vehicles traveling.

7. The traveling vehicle system according to claim 1 or 2, wherein, After each of the traveling vehicles switches the communication method, if it is not determined that communication has been established within a specified time, it returns to the communication method before the switch.

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