Confluence region passage control system and control method based on position of moving body

Abstract

The present invention relates to a control system and a control method for passing through a merging region based on the position of a moving body. A combined passage control system based on the position of a moving body according to an embodiment of the present invention comprises: a trolley control device provided to the moving body and equipped with a communication module for wireless communication between the moving bodies and a control unit for controlling the travel of the moving body; and a merging unit-side central control device that includes a communication module for performing wireless communication with the trolley control device, receives information regarding the positions and movement states of the plurality of moving bodies in the merging unit, monitors the traveling conditions of the plurality of moving bodies traveling in the merging unit, and determines an entry priority, and in a normal state, the merging unit-side central control device performs wireless communication with the trolley control device. The control of the moving bodies is executed by the trolley control device, and in an abnormal state in which the control of the merging unit-side central control device is prioritized over the control of the trolley control device, the moving bodies in the respective rails enter the merging section set in the merging unit at the same time.

Description

Technical Field

[0001] The present invention relates to a merging and passing control system based on the position of a mobile body using wireless communication and a control method using the same. Background Art

[0002] For the overhead transport vehicle (OHT) system used for logistics (wafer) transportation in semiconductor manufacturing process lines, a transfer command can be issued from the superior system (OCS: OHT Control System) to the OHT, and the OHT moves along the track to the final destination of the transfer command and transfers semiconductor materials (wafers) through the handoff process with the production equipment.

[0003] The logistics system of a semiconductor manufacturing line repeatedly performs the above-described handover process. To improve logistics production efficiency, multiple OHTs (Other Transport Handling Equipment) (OTHs) pass through merging and branching points along the track. OHTs assigned a route based on OCS commands are unaware of the travel information of other OHTs. This can lead to OHTs on different tracks attempting to pass through a merging point simultaneously.

[0004]

Prior art literature

[0005] According to an embodiment of the present invention, a merging control system based on the position of a mobile body using wireless communication and a control method using the same are intended to provide a wireless communication structure with a simple structure that can perform driving control and interlocking control of the merging section without the need to set up complex structures such as guide lines for communication in the line of the merging section.

[0006] Technical Solution According to one aspect of an embodiment of the present invention, a merging passage control system based on the position of a moving body using wireless communication is provided as a merging area passage control system based on the position of a moving body using wireless communication in a track including a merging section formed by the merging of two or more tracks. The system is characterized in that it includes: a trolley control device, which is provided on the moving body and is equipped with a communication module for wireless (RF) communication between the moving bodies and a control unit for controlling the travel of the moving bodies; and a merging section-side central control device, which includes a communication module for performing wireless (RF) communication with the trolley control device, receives information on the positions and movement states of multiple moving bodies in the merging section, monitors the travel conditions of the multiple moving bodies traveling in the merging section, and determines an entry priority order. In normal conditions, the trolley control device controls the moving bodies, and in abnormal conditions, the control of the merging section-side central control device takes precedence over the control of the trolley control device. The abnormal condition is a situation where each of the moving bodies in the track simultaneously enters a merging section set at the merging section.

[0007] In addition, the confluence section may include: a first control interval, which starts the confluence control communication for sending and receiving confluence section communication signals and performs communication module verification of the communication module of the trolley control device; a second control interval, which performs movement control based on the position of the moving body after the first control interval; and a third control interval, which is after the second control interval and corresponds to the confluence interval.

[0008] In addition, the communication module of the trolley control device may include: a first communication unit, which receives the confluence communication signal of the communication module of another moving body located on the same track in the track of the confluence, and sends the confluence communication signal to the communication module of another moving body located on the other track; a second communication unit, which is used to judge the normal communication status of the communication module of the trolley control device by receiving the confluence communication signal of the communication module of the moving body located on the other track and receiving the confluence communication signal of the first communication unit; a third communication unit, which receives the confluence communication signal of the communication module of the moving body located on the other track; and a fourth communication unit, which can communicate with the communication module on the central control device side of the confluence.

[0009] In addition, the position-based merging area control system may also include: a line display device, attached to the track body of the track, and the moving body may also include: a moving distance measuring module, measuring the track moving distance of the moving body; and a display device identification module, which can identify the line display device, wherein the line display device may include a first line display device, the moving distance measuring module may include an optical sensor or a camera module, and the first line display device is arranged at the starting point of the first control interval. If the display device identification module of the moving body identifies the first line display device, it is determined that the moving body has entered the first control interval, and the line display device is an optical label that can be identified by optics.

[0010] In addition, the circuit display device may also include: a second circuit display device and a third circuit display device, which are arranged at a position different from the first circuit display device. When the mobile body recognizes the second circuit display device, it is determined that the mobile body has entered the second control interval. When the mobile body recognizes the third circuit display device, it is determined that the mobile body has entered the third control interval.

[0011] In addition, if it is determined that the mobile body has entered the first control interval and the communication module verification is completed after executing the communication module verification in the first control interval, the movement control based on the position of the second control interval is performed. If the mobile body moves a preset distance while entering the second control interval, it can be determined that the mobile body has entered the third control interval.

[0012] In addition, the movement of the mobile body is continued when the signal received by the communication module of the mobile body that has entered the second control section of the merging section is (1) a merging section communication signal of a movement status of another mobile body located on the same track as the track on which the mobile body is traveling; or (2) a machine verification signal of another mobile body on the same track or a different track, wherein, when the signal received by the communication module of the mobile body that has entered the second control section of the merging section is a merging section communication signal of a movement status of a mobile body located on a track different from the track on which the mobile body is traveling, the mobile body sends an interlocking signal to stop the movement of the mobile body, and when the signal received by the communication module of the mobile body that has entered the third control section of the merging section is a merging section communication signal of a movement status of a mobile body on a track different from the track on which the mobile body is traveling, both the mobile body and the mobile body on the other track send an interlocking signal to stop the movement of the mobile body, and at least one of the mobile bodies can send a merging section communication signal of a stopped state to the merging section side central control device.

[0013] In addition, when receiving a communication signal of a stopped merging section, the central control device on the merging section side selects a mobile body with a shorter distance to the passing point of the merging area or a shorter passing time to the passing point from the mobile bodies that have entered the third control interval as a priority passing mobile body, and can send a central control signal on the merging section side to release the interlocking signal for the priority passing mobile body, so that the priority passing mobile body starts to move.

[0014] In addition, the sending period of the confluence communication signal sent from the moving body can be gradually shortened according to the order in which the position of the moving body is located in the first control interval, the second control interval and the third control interval. If the moving body passes through the confluence area, the sending of the confluence communication signal is terminated.

[0015] Furthermore, a transmission cycle of the converging section communication signal transmitted from the moving object may be gradually shortened as the speed of the moving object increases.

[0016] In addition, the states distinguished by the type information of the confluence communication signal may also include: an operating state, indicating a state in which the mobile body performs loading and unloading operations, and a loading and unloading platform for the mobile body to perform the loading and unloading operations is arranged in the third control interval of at least one of the multiple tracks. When the mobile body performs loading and unloading operations in the loading and unloading platform, the trolley control device of the mobile body sends the confluence communication signal of the operating state, and the trolley control device of the other mobile body traveling in another track receives the confluence communication signal of the operating state, and causes the other mobile body to continue traveling in the third control interval.

[0017] In addition, when the loading and unloading operation of the moving body is completed in the confluence section, the trolley control device of the moving body that completes the loading and unloading operation determines whether the confluence section communication signal of the driving status of the trolley control device of the other moving body traveling on the other track is received. If the confluence section communication signal of the driving status of the other moving body is not received, the confluence section communication signal of the driving status can be sent and the driving of the moving body can be resumed.

[0018] In addition, the central control device on the confluence section side monitors the position and movement status of the moving body in the confluence section based on the confluence section communication signal sent from the multiple moving bodies, selects the moving body that performs priority passage for the third control interval among the multiple moving bodies, and can send a confluence section communication signal for allowing the selected moving body to pass through first.

[0019] Furthermore, the merging portion-side central control device may control so that the moving objects located in the merging area other than the moving object performing the priority passage do not enter the third control section.

[0020] In addition, when at least one other moving body is respectively arranged in the merging area of ​​the same track as the moving body that performs priority passing and the different track, the central control device on the merging section side calculates (1) the sequential priority passing required time required for the moving bodies located on the different tracks to perform priority passing in sequence, and (2) the cluster priority passing required time required for the moving body where the moving body that performs priority passing is located to perform priority passing continuously. When the cluster priority passing required time is less than the sequential priority passing required time, the multiple moving bodies where the moving body that performs priority passing is located are selected as the priority passing cluster and cluster priority passing control is performed to make them pass preferentially. The moving bodies on other tracks except the moving body that performs the cluster priority passing control are controlled so as not to enter the third control interval. The moving bodies included in the priority passing cluster are included in the merging communication range between the moving body and the central control device on the merging section side, and the merging communication range can be equal to the merging area of ​​the track or larger than the merging area.

[0021] According to another aspect of an embodiment of the present invention, a position-based merging area passing control method is a position-based merging area passing control system for a mobile body using wireless communication in a merging track including a first track and a second track forming a route different from the first track, the first track and the second track merging to form the merging track. The method is characterized in that the merging area passing control system based on the position of the mobile body includes a trolley control device provided on the mobile body and having a communication module for wireless communication between the mobile bodies and a control unit for controlling the travel of the mobile body, wherein the position-based merging area passing control method includes the following steps: judging whether the mobile body enters the merging area, ... Whether a mobile body traveling in any one of the lanes enters the merging area formed by the confluence of the first track and the second track; the merging control communication mode is started, and when the mobile body has entered the merging area of ​​the mobile body, the merging control communication mode of the mobile body that sends and receives the merging part communication signal is started; it is judged whether the first merging part communication signal is received, which is used to judge whether the mobile body that has started the merging control communication mode has received the merging part communication signal of the other mobile body; communication module verification, which is used to check the normal operation status of the communication module of the mobile body that started the merging control communication mode; and the driving status signal based on the position is sent, if the communication module verification step is completed, the mobile body sends the merging part communication signal of the driving status.

[0022] In addition, the merging area control method may also include the following steps: judging whether a second merging section communication signal is received, the judging of the second merging section communication signal is used to judge whether the mobile body that has completed the verification of the communication module has received the merging section communication signal of the other mobile body; and judging whether a third merging section communication signal is received, the third merging section communication signal is used to judge whether the mobile body that has sent the merging section communication signal in the driving state has received the merging section communication signal of the other mobile body.

[0023] In addition, in the step of judging whether the first confluence communication signal is received, the step of judging whether the second confluence communication signal is received, and the step of judging whether the third confluence communication signal is received, when the confluence communication signal of the other mobile body is received, a drivability judgment step of judging whether it is possible to drive is performed. In the drivability judgment step, based on the confluence communication signal of the other mobile body, the driving of the mobile body is continued when the other mobile body is located on the same track or when the communication module verification is performed in the other mobile body. In the drivability judgment step, if it is judged that the other mobile body is driving in a state of being located on a different guide rail based on the confluence communication signal of the other mobile body, the driving of the mobile body can be stopped.

[0024] In addition, the control method for passing through the merging area may also include the following steps: the central control device is in flow control standby, and when the moving body stops traveling, it is judged whether the moving body is in a state of having entered the dangerous area of ​​the merging area; if the moving body is in a state of having entered the dangerous area, the moving body follows the flow control of the central control device on the merging part side.

[0025] Furthermore, in the central control device flow control standby step, the trolley control device of the moving body located in the dangerous area may transmit the merging portion communication signal in a stopped state.

[0026] In addition, the flow control standby step of the central control device may include the following steps: receiving information of trolleys entering at the same time, so that the central control device on the confluence side receives the confluence communication signal of the mobile body entering the area at the same time; and judging whether a leading trolley can be selected, the central control device on the confluence side selects a mobile body for performing priority passage of the dangerous area from the mobile bodies entering at the same time. In the step of judging whether a leading trolley can be selected, the central control device on the confluence side selects a mobile body with a shorter distance to the passing point of the confluence area or a shorter passing time to the passing point from the mobile bodies entering the dangerous area at the same time as the priority passing mobile body. In the judgment step of judging whether a leading trolley can be selected, if the central control device on the confluence side fails to select the mobile body for performing priority passage, the following steps may also be included: the upper control device alarms, so that the central control device on the confluence side transmits the alarm to the upper control device.

[0027] In addition, a merging control section is set on the first track and the second track, and the merging control section may include: a first control section, which executes the merging control communication startup and the communication module verification of the communication module of the trolley control device; a second control section, which executes the movement control based on the position of the moving body after the first control section; and a third control section, which is after the second control section and corresponds to the merging section.

[0028] In addition, the sending period of the confluence communication signal sent from the moving body gradually becomes shorter as the position of the moving body is located in the first control interval, the second control interval and the third control interval in that order. If the moving body passes through the confluence area, the sending of the confluence communication signal can be terminated.

[0029] Furthermore, a transmission cycle of the converging section communication signal transmitted from the moving object may be gradually shortened as the speed of the moving object increases.

[0030] In addition, the communication module of the trolley control device may include multiple communication units. In the communication module verification step, when the first communication unit in the communication unit of the mobile body sends the confluence communication signal in the communication module verification state, when a second communication unit different from the first communication unit in the communication unit of the same mobile body receives the confluence communication signal sent by the first communication unit, the communication module of the mobile body is judged to be in a normal state, and when the second communication unit of the same mobile body does not receive the confluence communication signal sent by the first communication unit, the communication module is judged to be in an abnormal state. If the communication module is judged to be in an abnormal state, the trolley control device sends an interlock and stops the vehicle, and transmits a communication module error signal notifying the central control device side of the confluence side that the communication module is in an abnormal state.

[0031] According to another aspect of an embodiment of the present invention, a position-based merging area passing control system is provided, which is a merging area passing control system based on the position of a moving body using wireless communication in a track including a merging section formed by the merging of two or more tracks, and is characterized in that it includes: a trolley control device, which is provided on the moving body and is equipped with a communication module for wireless communication between the moving bodies and a control unit for controlling the travel of the moving body, and the moving body is provided with a plurality of trolley control devices, the trolley control devices provided on any one of the moving bodies and the trolley control device provided on another of the moving bodies receive and send merging section communication signals, and set the priority of the moving bodies entering the dangerous area based on their respective positions.

[0032] In addition, in the case where at least two of the mobile bodies enter the dangerous area at the same time, the mobile bodies that enter the dangerous area at the same time send the confluence communication signal of the stop state and stop, and the stopped mobile body selects a representative mobile body for selecting a priority passing mobile body in the dangerous area, and the representative mobile body receives the confluence communication signal of the other mobile body and selects the priority passing mobile body. When the representative mobile body selects the priority passing mobile body, the representative mobile body can select the priority passing mobile body based on the distance to the guide rail confluence point.

[0033] According to the proposed embodiment, a wireless communication structure with a simple structure capable of executing travel control and interlocking control of a merging section can be provided without providing a complicated structure such as a guide wire for communication in the line of the merging section.

[0034] Furthermore, the structure of the merging section travel control system can be simplified and equipment costs can be reduced.

[0035] Furthermore, compared to conventional optical communication, power line communication, or communication using guide wires, there is no need to install complex devices in the line, and running control to avoid collisions at the merging section can be achieved only through wireless communication with a simple structure.

[0036] When many wireless devices are used in a confined space, communication performance may deteriorate due to wireless interference between devices. To prevent this, a technology that changes the RF transmission period based on the position of the transport cart is applied. This minimizes interference between RF signals while ensuring stable and fast communication.

[0037] Furthermore, by adding a self-diagnosis function to the wireless communication device, it is possible to establish a self-interlocking function caused by erroneous operation.

[0038] In the structural scheme of this patent, it can operate as a merging system even if the central controller is deleted, and can be configured to be able to judge the role of the central controller in the communication device between trolleys.

[0039] Furthermore, a vehicle that is to enter the merging section can be selected only through wireless communication between vehicles.

[0040] Furthermore, by measuring the travel distance of the transport trolleys in real time, the absolute positions of the transport trolleys can be identified. Even in the event of an emergency stop due to simultaneous entry of transport trolleys, the driving priority and driving recovery sequence can be determined based on the precise positional relationship between the transport trolleys.

[0041] Wireless RF communication modules are linked to the central controller or between carts in the confluence section. If they are close to manufacturing equipment, they can be linked to the communication module of the loading port to improve the operating efficiency of the communication equipment.

[0042] In addition to merging operations, the absolute position recognition technology of the transport trolley can also improve the overall operational control accuracy of OHT operations, such as improving the stopping accuracy of the trolley when loading and unloading carriers from manufacturing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a diagram illustrating a position-based merging passage control system according to an embodiment of the present invention.

[0044] Figures 2 to 3 Is to show the use of Figure 1 A diagram of the position-based confluence control system and the confluence control process of moving bodies.

[0045] Figure 4 It is shown in Figure 1 A diagram showing the communication process between the position-based merging control system, the vehicle control device of the moving body, and the central control device on the merging section side.

[0046] Figure 5 It is shown in Figure 1 A diagram illustrating a process in which a vehicle control device transmits a travel status signal based on position information while a moving body passes through a merging area in a position-based merging control system.

[0047] Figure 6 It shows Figure 1 Diagram of the control process of the trolley control device of the position-based merging pass control system.

[0048] Figure 7 It is shown in Figure 1 A diagram of the control process of the central control device on the merging section side in a position-based merging control system in the event of simultaneous entry into a hazardous area.

[0049] Figure 8 and Figure 9 FIG. 1 is a diagram illustrating a merging passage control process of a moving body in a position-based merging passage control system according to another embodiment of the present invention.

[0050] Figure 10 FIG. 1 is a diagram illustrating a merging passage control process of a moving object in a position-based merging passage control system according to yet another embodiment of the present invention.

[0051] Figure 11 FIG. 1 is a diagram illustrating a merging passage control process of a moving object in a position-based merging passage control system according to yet another embodiment of the present invention.

[0052] Figure 12 FIG. 4 is a diagram illustrating a position-based merging control system according to another embodiment of the present invention. DETAILED DESCRIPTION

[0053] The advantages and features of the present invention, as well as methods for achieving these advantages and features, will become apparent with reference to the embodiments described below in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in a variety of different forms. These embodiments are provided solely to complete the disclosure of the present invention and to fully inform those skilled in the art of the present invention of the scope of the invention. The present invention is defined solely by the scope of the claims.

[0054] Although terms such as "first" and "second" are used to describe various components, these components are clearly not limited to these terms. These terms are merely used to distinguish one component from another. Therefore, the first component mentioned below can also be the second component within the technical concept of the present invention.

[0055] Throughout the specification, the same reference numerals refer to the same constituent elements.

[0056] Each feature of the various embodiments of the present invention may be partially or wholly combined or combined with each other. As those skilled in the art can fully understand, various linkages and drives can be performed technically. The various embodiments may be implemented independently of each other or together through an associated relationship.

[0057] In addition, the tentative effects that can be expected based on the technical features of the present invention that are not specifically mentioned in the description of the present invention are deemed to be the same as those described in this description. This embodiment is provided to more completely explain the present invention to technicians with average knowledge in this field. The contents shown in the drawings may be exaggerated compared with the actual implementation form of the invention, and detailed descriptions of the structures that are judged to be likely to unnecessarily confuse the main purpose of the present invention will be omitted or briefly recorded.

[0058] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0059] Figure 1 is a diagram illustrating a position-based merging passage control system according to an embodiment of the present invention.

[0060] Reference Figure 1 According to the merging area passing control system 1 based on the position of the moving object using wireless communication according to this embodiment, in the track 100 including the first track 110, the second track 120 forming a route different from the first track 110, and the merging track 130 formed by the merging of the first track 110 and the second track 120, the moving objects 210 and 220 can stably travel from the first track 110 and the second track 120 to the merging track 130 without interfering with each other.

[0061] In more detail, the merging area according to this embodiment is controlled by a control system 1 including: a merging section side central control device 400, which receives a merging section communication signal for the position and movement status of multiple moving bodies 210, 220 in the track 100, and performs determination of the entry priority of multiple moving bodies 210, 220 in the merging area J where the first track 110 and the second track 120 of the track 100 converge; and a trolley control device 500, which is arranged on the moving bodies 210, 220, and is used to send or receive the merging section communication signal and control the moving bodies 210, 220 based on the merging section communication signal for the position and movement status of another moving body 210, 220.

[0062] In the merging area passage control system 1 according to this embodiment, in normal conditions, the trolley control device 500 controls the moving bodies 210 and 220, and in abnormal conditions, the control by the merging section-side central control device 400 takes precedence over the control by the trolley control device 500. In this case, the abnormal condition may refer to a situation in which at least two of the moving bodies 210 and 220 have entered a dangerous area in the connection area where the first track 110 and the second track 120 are connected, which is set in the merging area J, and the normal condition may refer to a condition other than the abnormal condition.

[0063] In addition, in the present embodiment, the communication between the mobile bodies 210 and 220 and between the mobile bodies 210 and 220 and the central control device 400 on the confluence section side is carried out by wireless communication, and the wireless communication can be combined with radio frequency (RF), frequency division multiplexing (FDM), orthogonal frequency division multiplexing (OFDM), single carrier frequency division multiple access (SC-FDMA), time division multiplexing (TDM), time division multiple access (TDMA), extended time division multiple access (E-TDMA), general packet radio service (GPRS), extended GPRS, code division multiple access (CDMA), wideband code division multiple access (WCDMA), and the like. CDMA), CDMA2000, single-carrier CDMA, multi-carrier CDMA, multi-carrier modulation (MCM), discrete multi-tone (DMT), Bluetooth®, Global Positioning System (GPS), Wireless Fidelity (Wi-Fi), Worldwide Interoperability for Microwave Access (Wi-Max), ZigBee™, ultra-wideband (UWB), Global System for Mobile Communications (GSM), second generation mobile communication technology (2G), 2.5G, 3G, 3.5G, 4G, Fifth Generation (5G) mobile networks, Third Generation Partnership Project (3GPP), Long Term Evolution (LTE) cellular systems, LTE-Advanced cellular systems; High-Speed ​​Downlink Packet Access (HSDPA), High-Speed ​​Uplink Packet Access (HSUPA), High-Speed ​​Packet Access (HSPA), Evolved HSPA (HSPA+), Single Carrier Radio Transmission Technology (1XRTT), Evolution-Data Optimized (EV-DO), Enhanced Data Rates for GSM Evolution (EDGE), etc., may be used together with one or more of the following. Another embodiment may be used in various other devices, systems, and / or networks.

[0064] According to the merging control system 1 of this embodiment, the position of the moving bodies 210 and 220 on the track 100 can be grasped. To this end, the track 100 includes a track body and a plurality of tag units 310, 320, and 330 arranged on the track body. The moving bodies 210 and 220 may also include a tag sensing module (not shown) for sensing the tag units 310, 320, and 330. The trolley control device 500 may identify the position of the moving bodies 210 and 220 on the track 100 based on the tag information of the tag units 310, 320, and 330. For example, the tag units 310, 320, and 330 may be optical tags such as barcodes and QR codes, or communication tags such as radio frequency identification (RFID). The tag sensing module may include an optical sensor or a communication module capable of identifying the tag units 310, 320, and 330. In this case, the tag units 310, 320, and 330 may be referred to as line display devices.

[0065] In addition, a plurality of merging control sections S are provided in the first track 110 and the second track 120. The merging control sections S include: a first control section S1, in which the merging control communication mode is activated in the merging area J; a second control section S2, in which, after the first control section S1, the communication module (not shown) of the trolley control device 500 performs communication module verification and transmits the merging section communication signal of the moving bodies 210 and 220; and a third control section S3, in which, after the second control section S2, the communication module verification is performed and the merging section communication signal of the moving bodies 210 and 220 is transmitted.

[0066] For example, based on the positions of the tag units, if the mobile bodies 210 and 220 sense the first tag unit 310 while traveling, the trolley control device 500 of the mobile bodies 210 and 220 recognizes that the mobile bodies 210 and 220 have entered the first control section S1. Similarly, if the second tag unit 320 and the third tag unit 330 are detected while the mobile bodies 210 and 220 are traveling, the trolley control device 500 of the mobile bodies 210 and 220 recognizes that the mobile bodies 210 and 220 have entered the second control section S2 and the third control section S3, respectively. Furthermore, if the fourth tag unit 340 is detected while the mobile bodies 210 and 220 are traveling, the trolley control device 500 of the mobile bodies 210 and 220 recognizes that the mobile bodies 210 and 220 have passed the merging area J and terminates the transmission and reception of the merging section communication signal.

[0067] At least one label unit may be provided between the first label unit 310 and the second label unit 320, between the second label unit 320 and the third label unit 330, and between the third label unit 330 and the fourth label unit 340, respectively. These label units may be arranged at equal intervals. In this case, the number of label units 310 provided in the first control interval S1 may be smaller than the number of label units 310 and 320 provided in the second control interval S2. That is, the actual length of the first control interval S1 may be smaller than the actual length of the second control interval S2.

[0068] Furthermore, a configuration in which the moving bodies 210 and 220 execute the operations in the control sections S1 , S2 , and S3 in a time sequence of entering the merging control section S based on only one tag unit is also included in the configuration of the present invention.

[0069] More specifically, when a moving object on any track recognizes the first tag unit 310, it is determined that the moving object has entered the first control section S1 of the merging control section S, and the communication module verification is performed. Then, if the communication module verification of the moving object is completed, the position-based movement control in the second control section S2 is immediately executed. Furthermore, if the position-based movement control in the second control section is executed and the moving object moves a preset distance, it is determined that the moving object has entered the third control section S3.

[0070] In this embodiment, the structure of judging that the moving bodies 210 and 220 enter the merging control section S based on the tag unit is used as an example for explanation. However, the following structure may also be included in the embodiments of the present invention: the moving bodies 210 and 220 move and are judged to enter the merging control section S based on the accumulated cumulative distance, or the structure of judging that the moving bodies 210 and 220 enter the merging control section S by the moving bodies 210 and 220 identifying the absolute position indication unit set on the track.

[0071] At this time, the mobile body can perform movement control based on the position based on the position information of the mobile body, and the movement information may include the absolute position information of the mobile body sensed by the tag unit, the moving distance of the mobile body from a preset point, and the distance information from a preset point to another preset point (for example, a dangerous area or a collision area).

[0072] The merging section communication signal includes communication signal type information, moving object information, travel track information, and moving object travel distance information. The communication signal type information indicates the operating status of the moving objects 210 and 220, and the states distinguished by this information include a driving state indicating that the moving objects 210 and 220 are moving, a stopped state indicating that the moving objects 210 and 220 have stopped due to simultaneous entry, and a communication module verification state for checking the communication status of the communication modules of the moving objects 210 and 220.

[0073] In the merging area passing control system 1 according to this embodiment, the merging control communication mode is activated when the mobile bodies 210 and 220 enter the first control section S1 of the merging control section S. When the merging control communication mode is activated, the vehicle control device 500 of each mobile body 210 and 220 begins operating and determines whether to continue driving or stop driving by determining whether the merging section communication signal is received from the vehicle control device 500 of the other mobile body 210 and 220. During the first control section S1, the mobile bodies 210 and 220 perform a communication module verification operation on the communication module.

[0074] Furthermore, in the second control interval S2, the mobile bodies 210, 220 perform moving operations and stopping operations according to whether there is a communication signal received from another mobile body, the type of the communication signal and the position of the mobile bodies 210, 220, and the control of the mobile bodies 210, 220 in the second control interval S2 can be defined as moving control based on the position.

[0075] Communication module verification operation of mobile object If a communication module of a mobile object 210 or 220 unexpectedly fails to receive a signal due to an abnormality, the mobile object 210 or 220, which is not identified as having entered a dangerous area (i.e., entering the third control zone S3), may collide with the mobile object 210 or 220. Therefore, in this embodiment, a function is provided that can automatically check whether the transmission / reception function of the communication module of the mobile object 210 or 220 is abnormal, thereby preventing collisions between the mobile objects 210 or 220 caused by transmission / reception failures.

[0076] More specifically, the communication module of the trolley control device 500 includes a plurality of communication units, and when the communication module verification is performed in the first control interval S1, the following operations are performed in the communication units of the moving bodies 210 and 220 when the first communication unit transmits the converging section communication signal in the communication module verification state: (1) When a second communication unit different from the first communication unit among the communication units of the same mobile object receives the confluence portion communication signal transmitted by the first communication unit, it is determined that the communication modules of the mobile objects 210 and 220 are in a normal state.

[0077] (2) When the second communication unit of the same moving body 210, 220 does not receive the confluence communication signal sent by the first communication unit, it is determined that the communication module is in an abnormal state. If it is determined that the communication module is in an abnormal state, the trolley control device 500 sends an interlock and stops the vehicle, and transmits a communication module error signal informing the central control device 400 of the abnormal state of the communication module to the confluence side.

[0078] In addition, the communication module of the mobile body 210, 220 may further include a third communication unit (not shown) for receiving the confluence communication signal sent from another mobile body 210, 220, and a fourth communication unit (not shown) for communicating with the confluence side central control device 400.

[0079] Hereinafter, the control process in the merging area J of the moving bodies 210 and 220 according to the present embodiment will be described in more detail.

[0080] Figures 2 to 3 Is to show the use of Figure 1 A diagram of the position-based confluence control system and the confluence control process of moving bodies.

[0081] First, refer to Figure 2In a state where the communication module of the 1st-2nd moving body 212 among the multiple moving bodies 211, 212, and 220 receives the confluence communication signal sent from the communication module of the 2nd moving body 220 which is another moving body, and when the confluence communication signal of the 2nd moving body 220 is the confluence communication signal in the verification state of the communication module, the trolley control device 500 of the 1st-2nd moving body 212 continues the driving of the 1st-2nd moving body 212.

[0082] That is, when the confluence communication signal received from the mobile bodies 211, 212, and 220 is the confluence communication signal in the verification state of the communication module, since this is a state in which the travel of the mobile bodies 211, 212, and 220 does not affect the collision between the mobile bodies 211, 212, and 220, it will not affect the travel of the mobile bodies 211, 212, and 220.

[0083] Control between moving objects traveling on the same track In addition, when the second moving body 220 receives the confluence communication signal of the 1-1 moving body 211, even if the 1-1 moving body 211 is located on the same first track 110 as the 1-2 moving body 212 and the confluence communication signal of the 1-1 moving body 211 is the confluence communication signal in the driving state, the trolley control device 500 of the 1-2 moving body 212 will continue the driving of the 1-2 moving body 212.

[0084] Furthermore, each of the moving bodies 211, 212, and 220 includes a moving body distance measurement module for measuring the distance to the preceding moving body 211, 212, and 220. Furthermore, when the first-second moving body 212 and the first-first moving body 211 are located on the same first track 110, the travel speed of the first-second moving body 212 and whether to maintain its travel state are controlled based on wirelessly received distance measurement data from the first-first moving body 211 and data measured by the distance measurement module of the first-second moving body 212.

[0085] Control between moving objects traveling on different tracks When the second moving body 220 on the second track 120 receives the merging section communication signal indicating the running state from the 1-1 moving body 211 on the first track 110, the trolley control device 500 of the second moving body 220 stops the running of the second moving body 220 based on the position of the second moving body 220. At this time, the trolley control device 500 of the second moving body 220 may transmit an interlock (running stop) signal to a travel module (not shown) that controls the movement of the second moving body 220.

[0086] After that, when the first-first moving body 211 passes through the third control section S3 and completely moves to the merging track 130, the transmission of the merging section communication signal by the first-first moving body 211 is terminated. Furthermore, the trolley control device 500 of the second moving body 220 transmits the merging section communication signal indicating the driving state and transmits a driving start signal to the driving module to enable the second moving body 220 to start driving.

[0087] Furthermore, when the second moving body 220 is located in the third control section S3 of the second track 120 and the first-1 moving body 211 is located in the third control section S3 of the first track 110, the trolley control devices 500 of the second moving body 220 and the first-1 moving body 211 determine that the second moving body 220 and the first-1 moving body 211 have simultaneously entered the danger zone. In this case, the trolley control devices 500 of the second moving body 220 and the first-1 moving body 211 transmit an interlock signal to the travel modules of each moving body 220 and 211, thereby stopping the travel of the moving bodies 220 and 211. At this time, the second moving body 220 and the first-1 moving body 211 may transmit the merging section communication signal indicating the stopped state, thereby notifying the other moving body and the merging section-side central control device 400 that the second moving body 220 and the first-1 moving body 211 are currently interlocked in the merging control section S.

[0088] When the second moving body 220 and the 1-1 moving body 211 are located in the third control zone S3 and a merging section communication signal of a stopped state is received from the second moving body 220 and the 1-1 moving body 211 (when the interlocking signal is generated), the merging section side central control device 400 selects a moving body with a shorter distance to the passing point of the merging control zone S or a shorter passing time to the passing point from the second moving body 220 and the 1-1 moving body 211 as the priority passing moving body, and sends a merging section side central control signal to release the interlocking signal to the priority passing moving body, so that the priority passing moving body starts to move.

[0089] If the priority passing moving object completely passes through the merging control section S, the interlock signal of the other moving object in the third control section S3 is released, so that the other moving object starts to travel.

[0090] Furthermore, when the second moving body 220 and the first-first moving body 211 are positioned in the third control zone S3 and the interlock signal is being generated by the second moving body 220 and the first-first moving body 211, if the merging section central control device 400 is unable to select either the second moving body 220 or the first-first moving body 211 as the priority passing moving body, the merging section central control device 400 transmits an alarm to a higher-level control device (not shown). When the alarm regarding the interlock state is transmitted to the higher-level control device, for example, an administrator can release the interlock by selecting the priority passing moving body and resetting the system after taking appropriate measures.

[0091] According to this embodiment, the driving notification between the moving bodies is used to minimize the occurrence of simultaneous entry into the dangerous area, and in the event of simultaneous entry, the intervention of the administrator is minimized, thereby having the advantage of being able to control the driving of the moving bodies in the merging control section S faster and more stably.

[0092] Figure 4 It is shown in Figure 1 A diagram showing the communication process between the position-based merging control system, the vehicle control device of the moving body, and the central control device on the merging section side.

[0093] Reference Figure 4 By performing communication among the moving bodies 211, 212, and 220, information such as the relative positions and driving states of the moving bodies 211, 212, and 220 can be obtained.

[0094] The second moving body 220 on the second track 120 broadcasts a merging section communication signal to the moving bodies 211 and 212 on the first track 110. Furthermore, the moving bodies 211 and 212 on the first track 110 broadcast a merging section communication signal to the second moving body 220 on the second track 120. In this case, the broadcasted merging section communication signal can also be received by the moving bodies on the same track.

[0095] For example, if the first moving body 211 on the first track 110 first transmits a merging section communication signal indicating its driving status and enters the merging area J, the second moving body 220 on the second track 120 generates an interlock signal upon receiving the merging section communication signal indicating its driving status from the first moving body 211, thereby stopping the second moving body 220. At this time, the second moving body 220 only receives wireless signals and does not transmit wireless signals.

[0096] At this time, if the 1-2 moving body 212 on the first track 110 receives the merging section communication signal indicating the travel status of the 1-1 moving body 211, it determines that it is on the same track (i.e., the first track 110) and continues traveling. If the 1-2 moving body 212 does not receive the merging section communication signal from the 1-1 moving body 211 (i.e., if the 1-1 moving body 211 has completely passed through and exited the merging area J), it transmits the merging section communication signal indicating the travel status based on its position. In other words, the 1-2 moving body 212 does not transmit a wireless signal until the preceding 1-1 moving body 211 has completely exited the merging area J.

[0097] According to this embodiment, only mobile bodies passing through the collision risk area perform position-based wireless transmission, and as broadcast channels are separated by multiple communication units, the time for which the communication band is occupied can be reduced.

[0098] In addition, the 1-2nd moving object 212 may maintain a distance from the 1-1st moving object 211 or prevent a collision based on the sensing data of the distance measurement module provided in the 1-2nd moving object 212 .

[0099] According to this embodiment, when more wireless devices are used in a small space, the communication performance may deteriorate due to wireless interference between the devices. In order to prevent this situation, a variable technology of the wireless RF transmission period based on the position of the mobile bodies 211, 212, and 220 is applied, thereby having the advantage of minimizing interference between wireless RFs while ensuring the stability and speed of communication.

[0100] Figure 5 It is shown in Figure 1 A diagram showing a process in which a vehicle control device transmits a driving state signal based on position information while a moving object passes through a merging area in a position-based merging control system. Figure 6 It shows Figure 1 Diagram of the control process of the trolley control device of the position-based merging control system, Figure 7 It is shown in Figure 1 A diagram of the control process of the central control device on the merging section side in a position-based merging control system in the event of simultaneous entry into a hazardous area.

[0101] First, refer to Figure 6, a moving body merging area entry determination step (S110) is executed to determine whether the moving bodies 210 and 220 traveling on either the first track 110 or the second track 120 have entered the merging area J where the first track 110 and the second track 120 merge. At this time, the trolley control device 500 of the moving bodies 210 and 220 can determine whether the moving bodies 210 and 220 have entered the merging area J by using the identification tags installed on the first track 110 and the second track 120.

[0102] When the moving bodies 210 and 220 enter the moving body merging area, a merging control communication mode activation step ( S120 ) is executed to activate a merging control communication mode in which the moving bodies 210 and 220 transmit and receive merging section communication signals.

[0103] Then, a step of determining whether a first merging section communication signal is received ( S130 ) is performed, which is for determining whether the mobile object 210 , 220 that has activated the merging control communication mode receives the merging section communication signal of another mobile object 210 , 220 .

[0104] If the confluence communication signal is not received from the other moving object 210 or 220 , a communication module verification step ( S140 ) is performed to check the normal operation status of the communication module of the moving object 210 or 220 that starts the confluence control communication mode.

[0105] If the communication module verification step ( S140 ) is completed, the step of determining whether a second merging section communication signal is received ( S150 ) is executed, which is used to determine whether the mobile body 210 , 220 that has completed the communication module verification has received the merging section communication signal of another mobile body 210 , 220 .

[0106] In the case where the merging section communication signal of the other moving body 210, 220 is not received, the position-based driving state signal transmission step (S160) is executed, which causes the moving bodies 210, 220 to transmit the merging section communication signal of the driving state. At this time, in the position-based driving state signal transmission step (S160), the transmission cycle of the merging section communication signal is variable. For example, Figure 5 As shown, as the moving objects 210 and 220 gradually approach the dangerous area S3, the transmission period of the confluence portion communication signal gradually becomes shorter.

[0107] Alternatively, as the speeds of the moving objects 210 and 220 increase, the transmission period of the merging portion communication signal of the moving objects 210 and 220 gradually becomes shorter.

[0108] The step of determining whether a third merging section communication signal is received ( S170 ) is performed to determine whether the moving body 210 , 220 that sent the merging section communication signal in the driving state has received the merging section communication signal of another moving body 210 , 220 .

[0109] Then, it is determined whether the moving bodies 210 and 220 have passed through the merging area J. If the moving bodies 210 and 220 have passed through the merging area J, the control is terminated. If not, the position-based driving state signal transmission step ( S160 ) is executed.

[0110] In addition, in the step of determining whether the first merging section communication signal is received (S130), the step of determining whether the second merging section communication signal is received (S150), and the step of determining whether the third merging section communication signal is received (S170), when the merging section communication signal of another mobile body 210, 220 is received, the drivability determination step (S131, S151, S171) is executed to determine whether driving is possible.

[0111] In the driving determination step (S131, S151, S171), based on the merging section communication signal of the other moving body 210, 220, when (1) the other moving body 210, 220 is located in the same state as the track 110, 120 or (2) the communication module verification is performed in the other moving body, the driving of the moving body 210, 220 is continued.

[0112] In addition, in the driving determination step (S131, S151, S171), based on the merging portion communication signal of the other moving body 210, 220, if it is determined that the other moving body 210, 220 is driving while being located on the other track 110, 120, an interlocking signal is sent to control the driving of the moving body to stop (S132, S152, S172).

[0113] Furthermore, when the moving body 210 stops traveling, it is determined whether the moving body 210 has entered the dangerous area of ​​the merging area J (S173). If the moving bodies 210 and 220 have entered the dangerous area, the moving bodies 210 and 220 include a central control device flow control standby step (S174) according to the flow control of the merging section side central control device 400.

[0114] In the central control device flow control standby step ( S174 ), the vehicle control device 500 of the moving body located in the dangerous area transmits the merging portion communication signal indicating a stopped state due to simultaneous entry.

[0115] Then, refer to Figure 7, which shows the control process performed by the merging section side central control device 400 under the condition of simultaneous entry.

[0116] First, a simultaneous entry vehicle information receiving step ( S210 ) is performed, which causes the merging section-side central control device 400 to receive the merging section communication signal indicating the stopped state of the moving bodies 210 and 220 that entered simultaneously.

[0117] Then, a determination step ( S220 ) is performed to determine whether a preceding vehicle can be identified, causing the merging section-side central control device 400 to select a moving body for preferentially passing through the dangerous area from among the moving bodies 210 and 220 that enter simultaneously.

[0118] In the step of determining whether a priority-passing moving body can be determined ( S220 ), the merging section-side central control device 400 selects the moving body 210, 220 having a shorter distance to a passing point in the merging area J or a shorter passing time to the passing point as the priority-passing moving body, and transmits a travel start command to the selected priority-passing moving body ( S230 ). The other moving bodies 210, 220, except the moving body 210, 220 selected as the priority-passing moving body, maintain the interlocked state.

[0119] Furthermore, if the priority moving object completely passes through the merging area J, the interlock signal to the other moving objects 210 and 220 is released ( S240 ).

[0120] In addition, in the judgment step (S220) of whether it is possible to determine whether the mobile body can pass through with priority, if the central control device 400 on the merging section side has not selected the mobile body for performing priority passing, the interlocking state of all mobile bodies 210 and 220 is maintained (S221), and the upper control device alarm step (S222) of the central control device 400 on the merging section side transmitting an alarm to the upper control device (not shown) is executed and the control is ended.

[0121] Refer again Figure 6 If the interlock signal is released ( S240 ), the moving bodies 210 , 220 stopped in the dangerous area (ie, the third control zone S3 ) start to travel. If it is determined that the moving bodies 210 , 220 have completely passed through the merging area J ( S180 ), the control is terminated.

[0122] According to the proposed embodiment, a wireless communication structure with a simple structure capable of executing travel control and interlocking control of a merging section can be provided without providing a complex structure such as a guide wire for communication in the line of the merging section.

[0123] Figure 8 and Figure 9FIG. 1 is a diagram illustrating a merging passage control process of a moving body in a position-based merging passage control system according to another embodiment of the present invention.

[0124] This embodiment is different only in that the loading and unloading platform 700 is arranged in the dangerous area. Figures 1 to 7 The merging area passing control system and the merging area passing method shown are substantially the same, so the following description will focus on the characteristic parts of this embodiment.

[0125] First, refer to Figure 8 A loading and unloading platform 700 is arranged in the dangerous area of ​​the second track 120 (i.e., the side of the third control zone S3), which can load items undergoing semiconductor manufacturing process steps onto the 2-1 moving body 221 or unload items from the 2-1 moving body 221.

[0126] Furthermore, the states distinguished by the communication signal type information of the merging portion communication signal may further include an operation state indicating a state in which the mobile object is performing a loading or unloading operation.

[0127] In the loading and unloading platform 700 , when the 2-1st moving body 221 on the second rail 120 performs a loading and unloading operation, the carriage control device 500 of the 2-1st moving body 221 transmits the merging portion communication signal of the operation state.

[0128] The trolley control device 500 of the first-track-side moving bodies 211 and 212 traveling on the first track 110, which serves as the other track, receives the merging section communication signal indicating the operating state and confirms the "remaining distance to the collision zone" between the parking position of the second-first moving body 221 and the merging point. As such, the first-track-side moving bodies 211 and 212 are allowed to continue traveling in the third control section S3 if they are able to pass. That is, even if the second-first moving body 221 is in the third control section S3, the first-track-side moving bodies 211 and 212 can continue traveling on the first track 110 until the operation of the second-first moving body 221 is completed, without requiring a separate interlock control.

[0129] The trolley control device 500 of the first track side moving body 211, 212 confirms the "remaining distance to the collision area" between the parking position of the 2-1st moving body 221 and the merging point, so that the first track side moving body 211, 212 waits for parking when it cannot pass.

[0130] At this time, the second track side moving bodies 222, 223, and 224 traveling behind the 2-1 moving body 221 can wait in a stopped state behind the 2-1 moving body 221, that is, from the first control section S1 to the second control section S2.

[0131] Next, refer to Figure 9 When the loading and unloading operation of the 2-1 moving body 221 on the second track 120 is completed at the loading and unloading platform located in the third control section S3, the trolley control device 500 of the 2-1 moving body 221 that has completed the loading and unloading operation determines whether the merging section communication signal of the travel status is received from the trolley control device 500 of the 1-2 moving body 212 traveling on the first track 110, which is another track. Furthermore, if the merging section communication signal of the travel status is not received from the 1-2 moving body 212, the trolley control device 500 of the 2-1 moving body 221 transmits the merging section communication signal of the travel status and restarts the travel of the 2-1 moving body 221.

[0132] In this embodiment, a structure is described in which the operating status of another moving body can be grasped by receiving and sending signals between moving bodies, but a structure in which the moving body in the operating state sends the confluence section communication signal of the operating status to the confluence section side central control device 400 and the confluence section side central control device 400 broadcasts a control signal to the moving body to execute control of the moving body is also included in the embodiments of the present invention.

[0133] According to this embodiment, when other operations are performed in the dangerous area of ​​the merging area J, unnecessary interlocking caused by the moving body performing the corresponding operation can be suppressed, and on this basis, there is an advantage of being able to improve the transfer efficiency of the moving body.

[0134] Figure 10 FIG. 1 is a diagram illustrating a merging passage control process of a moving object in a position-based merging passage control system according to yet another embodiment of the present invention.

[0135] This embodiment differs only in that the central control device 400 at the confluence portion takes precedence over the trolley control device 500 in controlling the flow. Figures 1 to 7 The merging area passing control system and the merging area passing method shown in are substantially the same, so the following description will focus on the characteristic parts of this embodiment.

[0136] The merging section central control device 400 of the position-based merging control system 1 according to this embodiment monitors the positions and movement states of the multiple mobile bodies 211, 212, and 220 within the merging area J based on the merging section communication signals transmitted from the multiple mobile bodies 211, 212, and 220. It then selects a mobile body from among the multiple mobile bodies 211, 212, and 220 that is to be prioritized for passage through the dangerous area of ​​the merging area J. Furthermore, the merging section central control device 400 transmits a merging section communication signal to the mobile bodies 211, 212, and 220, allowing the selected mobile body 211, 212, and 220 to be prioritized for passage. When selecting the mobile body to be prioritized for passage, the merging section central control device 400 may select the prioritized mobile body based on, for example, the mobile body's standby time and merging area passage time.

[0137] In more detail, the central control device 400 on the merging section side selects the moving body that performs priority passing for the third control interval S3 based on the position information of the moving body, and controls the moving bodies located in the merging area J other than the moving body that performs priority passing so as not to enter the third control interval S3.

[0138] In the proposed embodiment, the merging portion-side central control device 400 of the merging passage control system 1 performs merging passage control of the moving bodies 211 , 212 , and 220 , thereby having the advantage of being able to perform more stable merging passage control.

[0139] Figure 11 FIG. 1 is a diagram illustrating a merging passage control process of a moving object in a position-based merging passage control system according to yet another embodiment of the present invention.

[0140] In this embodiment, a plurality of moving bodies traveling on a preset track are clustered in the merging control system 1, so that the only difference is the structure in which the clustered moving bodies continuously pass through the merging section. Figures 1 to 10 The merging area passing control system and the merging area passing method shown are substantially the same, so the following description will focus on the characteristic parts of this embodiment.

[0141] Reference Figure 11 , when at least one other moving body is respectively arranged in the same track as the 2-1 moving body 221 performing priority passing and the merging area of ​​another track, the merging section side central control device 400 calculates (1) the sequential priority passing required time required for the moving bodies located on different tracks 110 and 120 to perform priority passing in sequence, and (2) the cluster priority passing required time required for the moving body where the 2-1 moving body 221 performing priority passing is located when continuously performing priority passing.

[0142] Furthermore, if the time required for cluster priority passage is less than the time required for sequential priority passage, the plurality of moving bodies 222, 223, and 224, including the second-first moving body 221 that performs priority passage, are selected as a priority passage cluster and cluster priority passage control is performed. Moving bodies 211, 212, and 123 on the other track 110, excluding the moving body that performs the cluster priority passage control, are controlled so as not to enter the third control section S3.

[0143] The moving bodies 221 , 222 , 223 , and 224 included in the priority passing cluster are included in the merging communication range of the moving body and the merging section side central control device 400 , and the merging communication range can be formed to be equal to or larger than the merging area J of the track.

[0144] In this embodiment, for example, the cluster priority passing time of the second track side moving bodies 221, 222, 223, and 224 located on the second track 120 can be calculated to be less than the sequential priority passing time of the first track side moving bodies 211, 212, 213 and the second track side moving bodies 221, 222, 223, and 224 crossing each other, and the structure in which the second track side moving bodies 221, 222, 223, and 224 perform cluster priority passing control is used for explanation.

[0145] According to the proposed embodiment, when the clustered moving bodies are traveling, the moving bodies are traveling in the merging area without acceleration or deceleration of the moving bodies, thereby having the advantage of improving the overall transportation efficiency.

[0146] Figure 12 FIG. 4 is a diagram illustrating a position-based merging control system according to another embodiment of the present invention.

[0147] This embodiment differs only in that control is achieved between the trolley control devices 500 without the intervention of the central control device 400 at the confluence section. Figures 1 to 7 The merging area passing control system and the merging area passing method shown in are substantially the same, so the following description will focus on the characteristic parts of this embodiment.

[0148] Reference Figure 12 The trolley control device of the mobile body 211, 212, 220 arranged at the merging through the control system 1 according to this embodiment receives and sends merging part communication signals with the trolley control device arranged at another mobile body 211, 212, 220, and sets the entry priority of the mobile body into the dangerous area based on the positions between each other.

[0149] In addition, when at least two of the mobile bodies 211, 212, and 220 enter the dangerous area at the same time, the mobile bodies that enter the dangerous area at the same time send the confluence communication signal of the stop state and stop, and the stopped mobile bodies select a representative mobile body for selecting the mobile body that passes through first in the dangerous area, and the representative mobile body receives the confluence communication signal of the other mobile body and selects the mobile body that passes through first.

[0150] When the representative moving object selects the priority passing moving object, the representative moving object selects the priority passing moving object based on the distance to the point where the tracks merge. The priority passing moving object transmits the merging section communication signal indicating its running state and passes through the dangerous area.

[0151] In addition, when the priority passing moving object is not selected, the representative moving object sends a simultaneous entry alarm signal and waits for processing by the system administrator.

[0152] While preferred embodiments of the present invention have been described above, the present invention is not limited thereto and can be embodied in various modified forms within the scope of the claims, detailed description of the invention, and the accompanying drawings, which also fall within the scope of the present invention.

Claims

1. A position-based merging area passing control system, as a position-based merging area passing control system for a moving object using wireless communication in a track including a merging portion formed by merging two or more tracks, characterized in that: include: a trolley control device, provided on a mobile body, and equipped with a communication module for wireless communication between the mobile bodies and a control unit for controlling the travel of the mobile body; as well as The central control device on the merging section side includes a communication module for performing wireless communication with the trolley control device, and receives information on the position and movement status of the multiple mobile bodies at the merging section, monitors the driving conditions of the multiple mobile bodies traveling at the merging section and determines the entry priority order, In normal conditions, the trolley control device controls the moving body, and in abnormal conditions, the control of the confluence side central control device takes precedence over the control of the trolley control device. The abnormal state is a situation where the moving bodies on each of the tracks simultaneously enter a merging area set at the merging portion.

2. The location-based merging area control system according to claim 1, characterized in that: The confluence portion includes: In a first control section, merging control communication for sending and receiving merging section communication signals is started and communication module verification of the communication module of the trolley control device is performed; a second control interval, after the first control interval, in which movement control based on the position of the moving object is performed; and The third control interval is after the second control interval and corresponds to the merging area.

3. The location-based merging area control system according to claim 2, characterized in that: The communication module of the trolley control device includes: a first communication unit configured to receive a merging section communication signal from the communication module of another moving body located on the same track as the merging section, and to transmit a merging section communication signal to the communication module of yet another moving body located on another track; a second communication unit for determining a normal communication state of the communication module of the trolley control device by receiving a communication signal of a junction of the communication module of the moving body located on the other track and receiving the junction communication signal of the first communication unit; a third communication unit configured to receive a merging portion communication signal from the communication module of the moving object located on the other track; and The fourth communication unit communicates with the communication module on the central control device side of the merging section.

4. The location-based merging area control system according to claim 2, characterized in that: Also includes: a line display device, attached to the track body of the track, The mobile body further includes: a moving distance measuring module for measuring the track moving distance of the moving object; and A display device identification module identifies the line display device, Wherein, the circuit display device includes a first circuit display device, The moving distance measurement module includes an optical sensor or a camera module, The first line display device is arranged at the starting point of the first control interval, If the display device recognition module of the moving object recognizes the first line display device, it is determined that the moving object has entered the first control zone. The circuit display device is an optical label that is identified optically.

5. The location-based merging area passing control system according to claim 4, characterized in that: The circuit display device further includes: The second circuit display device and the third circuit display device are arranged at different positions from the first circuit display device. When the moving object recognizes the second route display device, it is determined that the moving object has entered the second control zone. When the moving object recognizes the third route display device, it is determined that the moving object has entered the third control zone.

6. The location-based merging area passing control system according to claim 4, characterized in that: If it is determined that the mobile body has entered the first control interval and the communication module verification is completed after the communication module verification in the first control interval is performed, movement control based on the position in the second control interval is performed, If the moving object moves a preset distance while entering the second control interval, it is determined that the moving object has entered the third control interval.

7. The location-based merging area passing control system according to claim 4, characterized in that: The traveling of the mobile body is continued when the signal received by the communication module of the mobile body that has entered the second control section of the merging section is as follows: a running state merging portion communication signal of another moving body located on the same track as the track on which the moving body is running; or A machine verification signal of another moving body on the same track or a different track, In which, when the signal received by the communication module of the mobile body that has entered the second control interval of the merging section is a driving status merging section communication signal of a mobile body located on the track different from the track on which the mobile body is traveling, the mobile body sends an interlocking signal to stop the driving of the mobile body, and when the signal received by the communication module of the mobile body that has entered the third control interval of the merging section is a driving status merging section communication signal of a mobile body on a track different from the track on which the mobile body is traveling, both the mobile body and the mobile body on the other track send an interlocking signal to stop the driving of the mobile body, and at least one of the mobile bodies sends a merging section communication signal of a stopped state to the merging section side central control device.

8. The location-based merging area passing control system according to claim 7, characterized in that: When receiving a communication signal of a stopped merging section, the central control device on the merging section side selects a mobile body with a shorter distance to the passing point of the merging area or a shorter passing time to the passing point from the mobile bodies that have entered the third control interval as a priority passing mobile body, and sends a central control signal on the merging section side to release the interlocking signal for the priority passing mobile body, so that the priority passing mobile body starts to move.

9. The location-based merging area control system according to claim 2, characterized in that: The transmission period of the confluence communication signal sent from the moving body gradually becomes shorter as the position of the moving body is located in the first control interval, the second control interval and the third control interval in that order. If the moving body passes through the confluence area, the transmission of the confluence communication signal is terminated.

10. The location-based merging area passing control system according to claim 2, characterized in that: A transmission cycle of the merging portion communication signal transmitted from the moving object gradually becomes shorter as the speed of the moving object increases.

11. The location-based merging area passing control system according to claim 2, characterized in that: The states distinguished by the type information of the merging unit communication signal also include: Operation state, indicating the state in which the mobile body performs loading and unloading operations, A loading and unloading platform for the moving body to perform the loading and unloading operation is arranged in the third control section of at least one of the plurality of tracks. When the mobile body performs loading and unloading operations in the loading and unloading platform, the trolley control device of the mobile body sends the merging section communication signal of the operating status, and the trolley control device of the other mobile body traveling in another track receives the merging section communication signal of the operating status, and causes the other mobile body to continue traveling in the third control interval.

12. The location-based merging area passing control system according to claim 11, characterized in that: When the loading and unloading operation of the moving body is completed in the confluence section, the trolley control device of the moving body that has completed the loading and unloading operation determines whether the confluence section communication signal of the driving status of the trolley control device of the other moving body traveling on the other track is received. If the confluence section communication signal of the driving status of the other moving body is not received, the confluence section communication signal of the driving status is sent and the driving of the moving body is resumed.

13. The location-based merging area control system according to claim 4, characterized in that: The central control device on the confluence section side monitors the position and the moving state of the moving body in the confluence section based on the confluence section communication signal sent from the multiple moving bodies, selects the moving body that performs priority passage for the third control interval among the multiple moving bodies, and sends a confluence section communication signal for allowing the selected moving body to pass through first.

14. The location-based merging area passing control system according to claim 13, characterized in that: The merging portion-side central control device controls so that the moving objects located in the merging area, except for the moving object that performs priority passing, do not enter the third control section.

15. The location-based merging area passing control system according to claim 14, characterized in that: In a case where at least one other moving body is provided in the merging area of ​​the same track as the moving body that performs priority passing and in the merging area of ​​the different track, the merging section side central control device calculates (1) a sequential priority passing required time required when the moving bodies on the different tracks perform priority passing in sequence, and (2) a cluster priority passing required time required when the moving bodies where the moving body that performs priority passing is located perform priority passing continuously. When the time required for the cluster priority passage is less than the time required for the sequential priority passage, the plurality of mobile bodies in which the mobile body performing the priority passage is located are selected as a priority passage cluster and cluster priority passage control is performed to enable the mobile bodies to pass through the cluster priority. The moving objects on other tracks except the moving object that performs the cluster priority passing control are controlled so as not to enter the third control section. The moving bodies included in the priority passing cluster are included in a merging communication range between the moving bodies and the merging section-side central control device, and the merging communication range is equal to or larger than the merging area of ​​the track.

16. A merging area passage control method, as a position-based merging area passage control system based on the position of a moving object using wireless communication in a merging track including a first track and a second track forming a different route from the first track, the first track and the second track merging to form a merging track, characterized in that: The merging area passing control system based on the position of the moving body includes a trolley control device provided on the moving body and having a communication module for wireless communication between the moving bodies and a control unit for controlling the travel of the moving body. The location-based merging area control method includes the following steps: A moving body merging area entry judgment is used to judge whether a moving body traveling on either the first track or the second track enters a merging area formed by the merging of the first track and the second track; a merging control communication mode is activated, wherein when the mobile body has entered the mobile body merging area, the merging control communication mode of the mobile body is activated to send and receive merging section communication signals; determining whether a first merging section communication signal is received, for determining whether the mobile body that has activated the merging control communication mode has received the merging section communication signal of another mobile body; Communication module verification for checking the normal operation status of the communication module of the mobile body that starts the confluence control communication mode; and The driving state signal is transmitted based on the position. If the communication module verification step is completed, the mobile body transmits the merging portion communication signal of the driving state.

17. The method for controlling passage through a merging area according to claim 16, wherein: The following steps are also included: Determining whether a second merging unit communication signal is received, the second merging unit communication signal being used to determine whether the mobile body that has completed verification of the communication module has received the merging unit communication signal of the other mobile body; and Determining whether a third merging section communication signal is received, wherein the third merging section communication signal is used to determine whether the mobile body that has started the merging section communication signal in the driving state has received the merging section communication signal of the other mobile body.

18. The method for controlling passage through a merging area according to claim 17, wherein: In the step of determining whether the first merging section communication signal is received, the step of determining whether the second merging section communication signal is received, and the step of determining whether the third merging section communication signal is received, if the merging section communication signal of the other mobile body is received, the step of determining whether the mobile body can travel is executed. In the driving determination step, based on the merging section communication signal of the other moving body, the driving of the moving body is continued while the other moving body is on the same track or the communication module verification is performed in the other moving body. In the travelability determination step, if it is determined based on the merging section communication signal of the other moving body that the other moving body is traveling while being located on a different guide rail, the traveling of the moving body is stopped.

19. The method for controlling passage through a merging area according to claim 18, wherein: The following steps are also included: The central control device is in flow control standby mode. When the moving body stops traveling, it is determined whether the moving body is in a dangerous area having entered the merging area. If the moving body is in a dangerous area having entered the dangerous area, the moving body follows the flow control of the central control device on the merging part side.

20. The method for controlling passage through a merging area according to claim 19, wherein: In the central control device flow control standby step, the trolley control device of the moving body located in the dangerous area transmits the merging portion communication signal in a stopped state.

21. The method for controlling passage through a merging area according to claim 19, wherein: The central control device flow control standby step includes the following steps: receiving information of a vehicle entering at the same time, so that the central control device on the merging section side receives the merging section communication signal of the moving body entering the dangerous area at the same time; and It is determined whether the preceding vehicle can be selected, and the central control device on the merging section side selects a moving body for executing priority passage through the dangerous area from among the moving bodies entering at the same time. In the step of determining whether a leading vehicle can be selected, the merging section side central control device selects, from among the moving bodies simultaneously entering the dangerous area, a moving body having a shorter distance to a passing point in the merging area or a shorter passing time to the passing point as a priority passing moving body, Furthermore, in the step of determining whether the preceding vehicle can be selected, if the merging section side central control device fails to select the moving body for performing priority passage, the method further includes the following steps: The upper control device alarms, causing the central control device on the confluence part side to transmit the alarm to the upper control device.

22. The method for controlling passage through a merging area according to claim 16, wherein: A merging control section is set on the first track and the second track. The confluence control section includes: In a first control section, the merging control communication startup and the communication module verification of the communication module of the trolley control device are executed; a second control interval, after the first control interval, in which movement control based on the position of the moving object is performed; and The third control interval follows the second control interval and corresponds to the merging area.

23. The method for controlling passage through a merging area according to claim 22, wherein: The transmission period of the confluence communication signal sent from the moving body gradually becomes shorter as the position of the moving body is located in the first control interval, the second control interval and the third control interval in that order. If the moving body passes through the confluence area, the transmission of the confluence communication signal is terminated.

24. The method for controlling passage through a merging area according to claim 16, wherein: A transmission cycle of the merging portion communication signal transmitted from the moving object gradually becomes shorter as the speed of the moving object increases.

25. The method for controlling passage through a merging area according to claim 16, wherein: The communication module of the trolley control device includes a plurality of communication units. In the communication module verification step, In a state where a first communication unit among the communication units of the mobile body transmits the converging section communication signal in a communication module verification state, if a second communication unit different from the first communication unit among the communication units of the same mobile body receives the converging section communication signal transmitted by the first communication unit, the communication module of the mobile body is determined to be in a normal state, and in a state where the second communication unit of the same mobile body does not receive the converging section communication signal transmitted by the first communication unit, the communication module is determined to be in an abnormal state. If the communication module is determined to be in an abnormal state, the trolley control device sends an interlock and stops the vehicle, and transmits a communication module error signal notifying the central control device on the merging section side that the communication module is in an abnormal state.

26. A merging area passing control system, as a merging area passing control system based on the position of a moving object using wireless communication in a track including a merging portion formed by merging two or more tracks, characterized in that: include: The trolley control device is provided on the mobile body and is equipped with a communication module for wireless communication between the mobile bodies and a control unit for controlling the travel of the mobile body. The mobile body is provided with a plurality of The trolley control device provided on any one of the mobile bodies and the trolley control device provided on the other mobile body receive and transmit a merging portion communication signal, and set a priority order for the mobile bodies to enter a dangerous area based on their respective positions.

27. The merging area passing control system according to claim 26, characterized in that: When at least two of the moving bodies enter the dangerous area at the same time, the moving bodies that enter the dangerous area at the same time send the merging section communication signal of the stopped state and stop, and the stopped moving bodies select a representative moving body for selecting moving bodies with priority to pass in the dangerous area, and the representative moving body receives the merging section communication signal of the other moving body and selects a moving body with priority to pass. When the representative moving object selects the priority passing moving object, the representative moving object selects the priority passing moving object based on the distance to the guide rail merging point.

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