Position-based merging and passing control system for mobile body using wireless communication and control method using the same

Abstract

To provide a position-based merging and passing control system for a moving body using wireless communication and a control method using the same with a simpler configuration.SOLUTION: Using wireless communication on a rail that includes a merging part formed by the merging of two or more rails, information regarding the positions and movement state of multiple moving bodies at the merging part is received wirelessly, and the traveling state of multiple moving bodies traveling at the merging part is monitored, and entry priority is determined by a merging part side central control device. A carriage control device provided with a communication module for wireless communication between the moving bodies and a control unit that controls the travelling of the moving body, and a communication module for wireless communication with the carriage control device are included, the moving bodies are controlled by the carriage control device in the normal state, control by the merging part side central control device takes priority over control by the carriage control device in the emergency state, and the emergency state refers to a case where the moving bodies on each rail simultaneously enter a merging traveling area set at the merging part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a position-based merging / passing control system for mobile objects that utilizes wireless communication, and a control method using the same. [Background technology]

[0002] The OHT system for transporting logistics (wafers) on semiconductor manufacturing process lines issues transport commands from the OCS (host system, OHT Control System) to the OHT (Overhead Hoist Transport), and the OHT moves along rails to the final destination of the transport command and delivers semiconductor materials (wafers) through a handoff process with the production equipment.

[0003] The logistics system for semiconductor manufacturing processes repeatedly performs the handoff process, and to increase logistics productivity, multiple OHTs pass through junctions and branching points along the rails. OHTs, whose travel routes are set by OCS commands, cannot see the travel information of other OHTs, which can lead to situations where OHTs traveling on different rails try to pass through a junction at the same time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Korean Patent Publication No. 10-2018-0010764 (2018.01.31) Summary of the Invention [Problem to be solved by the invention]

[0005] The position-based merging and passing control system for a mobile body using wireless communication and the control method using the same according to an embodiment of the present invention aim to provide a wireless communication configuration with a simple configuration that can perform running control and interlock control of the merging section without a complex configuration such as installing a guide wire for communication on the tracks in the merging section. [Means for solving the problem]

[0006] According to one aspect of an embodiment of the present invention, a position-based merging and passing control system for mobile bodies using wireless communication is a position-based merging area passing control system for mobile bodies using wireless communication on rails including a merging section formed by the merging of two or more rails, the system including: a bogie control device mounted on the mobile body and including a communication module for radio frequency (RF) communication between the mobile bodies and a control unit for controlling the traveling of the mobile bodies; and a merging section side central control device including a communication module for radio frequency (RF) communication with the bogie control device, receiving information regarding the positions and traveling status of the multiple mobile bodies at the merging section, monitoring the traveling status of the multiple mobile bodies traveling at the merging section, and determining entry priorities; wherein, in a normal state, the mobile bodies are controlled by the bogie control device, and in an emergency state, control by the merging section side central control device takes priority over control by the bogie control device, and the emergency state is a state in which the mobile bodies on each of the rails simultaneously enter a merging traveling area set at the merging section.

[0007] The merging section may also include a first control section in which merging control communication for transmitting and receiving merging section communication signals is initiated and communication module verification of the communication module of the bogie control device is performed, a second control section following the first control section in which position-based movement control of the moving body is performed, and a third control section following the second control section and corresponding to the merging driving area.

[0008] In addition, the communication module of the bogie control device may include a first communication unit that receives a junction communication signal from the communication module of another moving body on the same rail of the junction and transmits the junction communication signal to the communication module of another moving body on a different rail; a second communication unit that receives the junction communication signal from the communication module of a moving body on the different rail and receives the junction communication signal from the first communication unit to determine the normal state of communication of the communication module of the bogie control device; a third communication unit that receives the junction communication signal from the communication module of the moving body on the different rail; and a fourth communication unit that is capable of communicating with the communication module on the junction side central control device.

[0009] The moving body may further include a track display device attached to a rail body of the rail, and the moving body may further include a travel distance measurement module that measures the rail travel distance of the moving body, and a display device recognition module that can recognize the track display device, the track display device may include a first track display device, and the travel distance measurement module may include an optical sensor or a camera module, the first track display device may be placed at the start point of the first control section, and when the display device recognition module of the moving body recognizes the first track display device, it may determine that the moving body has entered the first control section, and the track display device may be an optical tag that can be recognized optically.

[0010] In addition, the track display device further includes a second track display device and a third track display device that are positioned at different positions from the first track display device, and when the moving body recognizes the second track display device, it can be determined that the moving body has entered the second control section, and when the moving body recognizes the third track display device, it can be determined that the moving body has entered the third control section.

[0011] Furthermore, after determining that the moving body has entered the first control section and performing the communication module verification in the first control section, once the communication module verification is completed, the position-based movement control of the second control section is performed, and when the moving body moves a predetermined distance while entering the second control section, it can be determined that the moving body has entered the third control section.

[0012] Furthermore, if the signal received through the communication module of the moving body that has entered the second control section of the junction is (1) a junction communication signal of a running state of another moving body located on the same rail as the rail on which the moving body is traveling, or (2) an equipment verification signal of another moving body on the same rail or a different rail, the moving body continues traveling, and the signal received through the communication module of the moving body that has entered the second control section of the junction is a junction communication signal of a running state of another moving body located on a rail different from the rail on which the moving body is traveling. If this is the case, the moving body sends an interlock signal to stop the moving body, and if the signal received via the communication module of the moving body that has entered the third control section of the junction is (1) a junction communication signal of the moving body on a rail different from the rail on which the moving body is running, the moving body and the moving body on the different rail all send interlock signals to stop the moving body, and at least one of the moving bodies can send a junction communication signal of a stopped state to the junction side central control device.

[0013] Furthermore, when a merging section communication signal in a stopped state is received, the merging section side central control device selects, among the moving bodies that have entered the third control section, a moving body that has a short distance to the passing point of the merging area or a short passing time to the passing point as a priority passing moving body, and transmits a merging section side central control signal that releases the interlock signal for the priority passing moving body, thereby allowing the priority passing moving body to start moving.

[0014] In addition, the frequency of transmission of the junction communication signal sent from the moving body increases in the order in which the position of the moving body is located in the first control section, the second control section, and the third control section, and the transmission of the junction communication signal can end when the moving body passes through the junction area.

[0015] Furthermore, the frequency of transmission of the junction communication signal transmitted from the moving body can be increased as the speed of the moving body increases.

[0016] Furthermore, the state classified from the type information of the junction communication signal may further include a work state indicating a state in which the moving body is performing loading and unloading operations, and a loading and unloading platform for the moving body to perform the loading and unloading operations may be arranged in the third control section of at least one of the plurality of rails, and when the moving body performs the loading and unloading operations on the loading and unloading platform, the bogie control device of the moving body may transmit the junction communication signal of the work state, and the bogie control device of the other moving body traveling on a different rail may receive the junction communication signal of the work state, and the other moving body may continue traveling in the third control section.

[0017] Furthermore, when the loading and unloading operation of the moving body is completed in the junction section, the bogie control device of the moving body for which the loading and unloading operation has been completed determines whether or not the junction communication signal for the running state of the bogie control device of the other moving body running on the different rail is received, and if the junction communication signal for the running state of the other moving body is not received, the junction communication signal for the running state is transmitted, thereby allowing the moving body to resume running.

[0018] In addition, the merging section side central control device can monitor the positions and movement states of the moving bodies within the merging section based on the merging section communication signals transmitted from the multiple moving bodies, select a moving body from the multiple moving bodies that will have priority passage through the third control section, and transmit a merging section communication signal to allow the moving body to have priority passage.

[0019] The merging area central control device may also perform control so that the moving objects positioned in the merging area, excluding the moving objects having priority passage, do not enter the third control section.

[0020] Furthermore, when at least one other moving body is located in the merging area on the same rail as the moving body performing priority passing and on a different rail, the merging section side central control device calculates (1) a sequential priority passing time required for the moving bodies located on the different rails to perform priority passing sequentially, and (2) a crowd priority passing time required for the moving bodies located on the priority passing moving body to perform priority passing consecutively, and if the crowd priority passing time is shorter than the sequential priority passing time, performs crowd priority passing control to select the multiple moving bodies located on the moving body performing priority passing as a priority passing crowd and allow them to pass priority, and the moving bodies on the different rails other than the moving body being subjected to the crowd priority passing control are controlled not to enter the third control section, and the moving bodies included in the priority passing crowd are included in a merging communication range between the moving bodies and the merging section side central control device, and the merging communication range may be formed to be equal to or larger than the merging area of ​​the rails.

[0021] According to another aspect of the present invention, there is provided a position-based junction area passage control method for a position-based junction area passage control system for mobile bodies using wireless communication on rails including a first rail, a second rail forming a route different from that of the first rail, and a junction rail formed by the junction of the first rail and the second rail (the position-based junction area passage control system includes a bogie control device provided on the mobile bodies and including a communication module for radio frequency (RF) communication between the mobile bodies and a control unit for controlling travel of the mobile bodies), the method comprising: a merging control communication mode initiation step in which, when the moving body enters the moving body merging area, a merging control communication mode of the moving body is initiated to transmit and receive a merging communication signal; a first merging communication signal reception determination step in which the moving body in which the merging control communication mode has been initiated receives the merging communication signal of the other moving body; a communication module verification step in which the communication module of the moving body in which the merging control communication mode has been initiated is checked for a normal operating state; and a position-based running state signal transmission step in which, when the communication module verification step is completed, the moving body transmits the merging communication signal indicating a running state.

[0022] The method may further include a second junction communication signal reception determination step for determining whether the junction communication signal of the other moving body is received by the moving body for which the communication module verification has been completed, and a third junction communication signal reception determination step for determining whether the junction communication signal of the other moving body is received by the moving body for which transmission of the junction communication signal in the traveling state has started.

[0023] Furthermore, in the step of determining whether the first junction communication signal has been received, the step of determining whether the second junction communication signal has been received, and the step of determining whether the third junction communication signal has been received, if the junction communication signal of the other moving body is received, a step of determining whether it is possible to travel is performed to determine whether it is possible to travel, and in the step of determining whether it is possible to travel, if it is determined based on the junction communication signal of the other moving body that the other moving body is positioned on the same rail or the communication module verification is performed on the other moving body, the moving of the moving body may continue, and if it is determined based on the junction communication signal of the other moving body that the other moving body is positioned on a different rail in the step of determining whether it is possible to travel, the moving of the moving body may be stopped.

[0024] The method can further include a step of determining whether the moving body has entered a dangerous area of ​​the merging area while the moving body is stopped, and if the moving body has entered the dangerous area, waiting for flow control of the central control device under flow control of the central control device on the merging area side.

[0025] Furthermore, in the flow control standby step of the central control device, the bogie control device of the moving body located in the danger area can transmit the junction communication signal in a stopped state.

[0026] The flow control standby step of the central control device may further include a simultaneously entering bogie information receiving step in which the merging section side central control device receives the merging section communication signals of the moving bodies that have entered the danger area at the same time, and a determining step in which the merging section side central control device selects, from the moving bodies that have entered the danger area at the same time, a moving body that will be given priority to pass through the danger area, wherein, in the determining step in which the leading bogie can be determined, the merging section side central control device selects, from the moving bodies that have entered the danger area at the same time, a moving body that has a short distance to a passing point in the merging area or a short passing time to the passing point, as a priority passing moving body, and may further include a host control device alarm step in which, if the merging section side central control device cannot select the moving body that will be given priority to pass through in the determining step in which the leading bogie can be determined, the merging section side central control device transmits an alarm to a host control device.

[0027] In addition, a merging control section is set on the first rail and the second rail, and the merging control section may include a first control section in which the merging control communication is initiated and communication module verification of the communication module of the bogie control device is performed, a second control section following the first control section in which position-based movement control of the moving body is performed, and a third control section following the second control section and corresponding to a merging driving area.

[0028] In addition, the transmission frequency of the junction communication signal sent from the moving body increases in the order in which the position of the moving body is located in the first control section, the second control section, and the third control section, and the transmission of the junction communication signal can end when the moving body passes through the junction area.

[0029] Furthermore, the frequency of transmission of the junction communication signal transmitted from the moving body can be increased as the speed of the moving body increases.

[0030] Furthermore, the communication module of the bogie control device includes a plurality of communication units, and in the communication module verification step, when a first communication unit among the communication units of the mobile body transmits the junction communication signal in a communication module verification state, (1) if a second communication unit among the communication units of the same mobile body, which is different from the first communication unit, receives the junction communication signal transmitted by the first communication unit, the communication module of the mobile body is determined to be in a normal state, and (2) if the second communication unit of the same mobile body cannot receive the junction communication signal transmitted by the first communication unit, the communication module is determined to be in an abnormal state, and when the communication module is determined to be in an abnormal state, the bogie control device issues an interlock and stops the vehicle, and transmits a communication module error signal to the junction side central control device informing the junction side of the abnormal state of the communication module.

[0031] According to yet another aspect of an embodiment of the present invention, a position-based junction area passage control system for mobile bodies that uses wireless communication on rails including a junction formed by the merging of two or more rails, includes a bogie control device that is provided on the mobile bodies and has a communication module for wireless (RF) communication between the mobile bodies and a control unit that controls the traveling of the mobile bodies, and there are multiple mobile bodies, and the bogie control device provided on any one of the mobile bodies transmits and receives junction area communication signals to the bogie control device provided on another of the mobile bodies, and sets the entry priority of the mobile bodies into the danger area based on their respective positions.

[0032] Furthermore, if at least two of the moving bodies enter the danger area at the same time, the moving bodies that entered the danger area at the same time transmit the junction communication signal in a stopped state and stop, and the stopped moving bodies select a representative moving body to select a priority passing moving body in the danger area, and the representative moving body receives the junction communication signal of the other moving bodies and selects a priority passing moving body, and when the representative moving body selects the priority passing moving body, the representative moving body can select the priority passing moving body based on the distance to the point where the rails merge. [Effects of the Invention]

[0033] According to the proposed embodiment, it is possible to provide a wireless communication configuration with a simple configuration that can perform running control and interlock control of the merging section without a complex configuration such as installing guide wires for communication on the tracks in the merging section.

[0034] In addition, the configuration of the merging section driving control system can be simplified and the installation costs can be reduced.

[0035] Furthermore, compared to conventional optical communication, power line communication, or communication using induction wires, there is no need to install complex devices on the tracks, and collision prevention driving control at merging points is possible using only simple wireless communication.

[0036] When there are many devices using wireless technology in a small space, wireless interference between devices can degrade communication performance. To prevent this, however, a technology that varies the wireless RF transmission cycle based on the position of the transport vehicle is applied, minimizing interference between wireless RF devices while ensuring stable and rapid communication.

[0037] In addition, by adding a self-inspection function to wireless communication devices, it is possible to configure a self-interlock in the event of a malfunction.

[0038] In the system configured in this patent, even if the central controller is removed, it can still be operated as a merging and passing system, and the role of the central controller can be configured so that it can be determined within the communication device between the bogies.

[0039] In addition, the bogie that will have priority to enter the merging section can be selected simply by communicating wirelessly between the bogies.

[0040] By measuring the travel distance of the transport vehicle in real time, the absolute position of the vehicle can be recognized, and even in the event of an emergency stop due to simultaneous entry of vehicle vehicles, the travel priority can be determined and a travel resumption sequence can be carried out based on the accurate positional relationship between the vehicle vehicles.

[0041] The wireless RF communication module is linked to the central controller or between the carriages at the junction, and is linked to the communication module of the load port when approaching the manufacturing equipment, thereby improving the operating efficiency of the communication equipment.

[0042] The absolute position recognition technology for transport carts can improve the accuracy of overall OHT operation control, not only for driving at junctions, but also for improving the accuracy of cart stopping when loading and unloading carriers onto manufacturing equipment. [Brief explanation of the drawings]

[0043] [Figure 1] FIG. 1 illustrates a position-based merge clearance control system according to an embodiment of the present invention. [Figure 2] 2 is a diagram showing a process of controlling merging and passing of a moving object using the position-based merging and passing control system of FIG. 1. [Figure 3] 2 is a diagram showing a process of controlling merging and passing of a moving object using the position-based merging and passing control system of FIG. 1. [Figure 4] 1. FIG. 4 is a diagram showing a communication process between the bogie control device of the mobile body and the central control device on the merging section side in the position-based merging passage control system of FIG. [Figure 5]1. FIG. 4 is a diagram illustrating a process in which a bogie control device transmits a traveling state signal based on position information while a moving object is passing through a merging area in the position-based merging passage control system of FIG. [Figure 6] FIG. 2 is a diagram illustrating a control process of a bogie control device of the position-based merging passage control system of FIG. 1. [Figure 7] FIG. 2 is a diagram showing the control process of the merging section central control device when simultaneous entry occurs in a danger area in the position-based merging passage control system of FIG. 1. [Figure 8] 10 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to another embodiment of the present invention. [Figure 9] 10 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to another embodiment of the present invention. [Figure 10] 10 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to yet another embodiment of the present invention. [Figure 11] 10 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to yet another embodiment of the present invention. [Figure 12] FIG. 10 illustrates a position-based merge clearance control system according to yet another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0044] The advantages and features of the present invention, as well as methods for achieving them, will become more apparent from the following detailed description of the embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various different forms. These embodiments are provided solely to complete the disclosure of the present invention and to fully convey the scope of the invention to those skilled in the art. The present invention is defined solely by the scope of the claims.

[0045] Although terms such as "first," "second," etc. are used to describe various components, it is understood that these components are not limited by these terms. These terms are used merely to distinguish one component from another. Therefore, it is understood that the first component referred to below may also be the second component within the technical concept of the present invention.

[0046] Like reference numbers refer to like elements throughout the specification.

[0047] The features of the various embodiments of the present invention may be partially or fully combined or combined with each other, and various technical interlocking and driving mechanisms are possible, as will be readily understood by those skilled in the art. Each embodiment may be implemented independently of the others, or may be implemented together in a linked relationship.

[0048] Meanwhile, provisional effects that can be expected from the technical features of the present invention that are not specifically mentioned in the specification of the present invention will be treated as described in this specification, and since the present embodiment is provided to more completely explain the present invention to those having average knowledge in the art, the contents shown in the drawings may be exaggerated compared to the actual embodiment of the invention, and detailed descriptions of the configurations that are deemed to unnecessarily obscure the gist of the present invention will be omitted or simplified.

[0049] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0050] FIG. 1 is a diagram illustrating a position-based merging control system according to an embodiment of the present invention.

[0051] Referring to FIG. 1, the position-based junction area passage control system 1 for mobile objects using wireless communication according to this embodiment enables mobile objects 210 and 220 to travel stably from the first rail 110 and the second rail 120 to the junction rail 130 on a rail 100 including a first rail 110, a second rail 120 that forms a route different from the first rail, and a junction rail 130 formed by the junction of the first rail 110 and the second rail 120 without mutual interference.

[0052] More specifically, the merging area passage control system 1 according to this embodiment includes a merging area central control device 400 that receives merging area communication signals regarding the positions and movement states of multiple moving bodies 210, 220 on the rail 100 and determines the entry priority of multiple moving bodies 210, 220 in the merging area J where the first rail 110 and the second rail 120 of the rail 100 meet, and a bogie control device 500 that is provided on the moving bodies 210, 220 and transmits and receives the merging area communication signals and controls the moving bodies 210, 220 based on the merging area communication signals regarding the positions and movement states of other moving bodies 210, 220.

[0053] In the merging area passage control system 1 according to the present embodiment, in a normal state, the moving bodies 210, 220 are controlled by the bogie control device 500, and in an emergency state, the control by the merging area central control device 400 takes priority over the control by the bogie control device 500. In this case, the emergency state refers to a case where at least two moving bodies have entered a danger area set in a junction area where the first rail and the second rail are connected in the merging area J, and the normal state may refer to a state other than the emergency state.

[0054] On the other hand, in this embodiment, communication between the mobile units 210, 220 and between the mobile units 210, 220 and the merging unit side central control unit 400 is performed by wireless communication, and the wireless communication is performed using RF (Radio Frequency), FDM (Frequency-Division Multiplexing), OFDM (Orthogonal FDM), SC-FDMA (Single Carrier Frequency-Division Multiple Access), TDM (Time-Division Multiplexing), TDMA (Time-Division Multiple Access), E-TDMA (Extended TDMA), GPRS (General Packet Radio Service), Enhanced GPRS, CDMA (Code-Division Multiple Access), WCDMA (Wideband CDMA), CDMA2000, Single Carrier CDMA, Multi-Carrier CDMA, MCM (Multi-Carrier Modulation), DMT (Discrete Multi-Tone), Bluetooth (registered trademark), GPS (Global Positioning System), Wi-Fi (Wireless Fidelity), Wi-Max, ZigBee™, UWB (Ultra-Wideband), GSM (Global System for Mobile Communication), 2G (second generation), 2.5G, 3G, 3.The present invention may be used with one or more types of 5G, 4G, Fifth Generation (5G) mobile networks, 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), HSPA+, Single Carrier Radio Transmission Technology (1XRTT), Evolution-Data Optimized (EV-DO), Enhanced Data rates for GSM® Evolution (EDGE), etc. Other embodiments may be used with a variety of other devices, systems, and / or networks.

[0055] The merging and passing control system 1 according to this embodiment can grasp the positions of moving objects 210, 220 on the rail 100. To this end, the rail 100 includes a rail body and a plurality of tag units 310, 320, 330 disposed on the rail body. The moving objects 210, 220 further include a tag sensing module (not shown) for sensing the tag units 310, 320, 330, and the bogie control device 500 can recognize the positions of the moving objects 210, 220 on the rail 100 based on the tag information of the tag units 310, 320, 330. For example, the tag units 310, 320, 330 may be optical tags such as barcodes or QR codes, or communication tags such as RFID, and the tag sensing module may include an optical sensor or a communication module capable of recognizing the tag units 310, 320, 330. In this case, the tag units 310, 320, 330 may be referred to as track display devices.

[0056] Meanwhile, multiple merging control sections S are set on the first rail 110 and the second rail 120. The merging control sections S include a first control section S1 in which a merging control communication mode is initiated in the merging area J, a second control section S2 following the first control section S1, in which communication module verification of the communication module (not shown) of the bogie control device 500 is performed and the merging section communication signals of the moving bodies 210, 220 are transmitted, and a third control section S3 following the second control section S2 and corresponding to the danger area.

[0057] For example, in the case of based on the tag unit locations, when the mobile bodies 210, 220 sense the first tag unit 310 while traveling, the bogie controllers 500 of the mobile bodies 210, 220 recognize that the mobile bodies 210, 220 have entered the first control section S1. Similarly, when the mobile bodies 210, 220 sense the second tag unit 320 and the third tag unit 330 while traveling, the bogie controllers 500 of the mobile bodies 210, 220 recognize that the mobile bodies 210, 220 have entered the second control section S2 and the third control section S3, respectively. Then, when the mobile bodies 210, 220 sense the fourth tag unit 340 while traveling, the bogie controllers 500 of the mobile bodies 210, 220 recognize that the mobile bodies 210, 220 have passed through the merging area J, and end the transmission and reception of the merging section communication signal.

[0058] At least one additional tag unit may be provided between the first tag unit 310 and the second tag unit 320, between the second tag unit 320 and the third tag unit 330, and between the third tag unit 330 and the fourth tag unit 340, and the tag units may be arranged at equal intervals. In this case, the number of tag units 310 provided in the first control section S1 may be smaller than the number of tag units 310, 320 provided in the second control section S2. In other words, the effective length of the first control section S1 may be shorter than the effective length of the second control section S2.

[0059] On the other hand, a configuration in which the mobile units 210, 220 operate in the control sections S1, S2, and S3 in chronological order after entering the merging control section S based on only one tag unit is also included in the configuration of the present invention.

[0060] More specifically, when a moving object on any one of the rails 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. After that, once the communication module verification of the moving object is completed, the position-based movement control of the second control section is immediately performed. Then, after performing the position-based movement control of the second control section and moving a preset distance, it is determined that the moving object has entered the third control section.

[0061] In this embodiment, it is described that the moving bodies 210, 220 have entered the merging control section S based on the tag unit, but embodiments of the present invention may also include a configuration in which the moving bodies 210, 220 determine that they have entered the merging control section S based on the cumulative distance they have traveled, or in which the moving bodies 210, 220 recognize an absolute position display unit installed on the rail and determine that they have entered the merging control section S.

[0062] At this time, the moving body performs the position-based movement control based on the position information of the moving body, and the movement information can include absolute position information of the moving body sensed by the tag unit, the distance traveled by the moving body from a predetermined point, and distance information to another predetermined point (e.g., a danger area or a collision area).

[0063] Meanwhile, the junction communication signal includes communication signal type information, vehicle information, running rail information, and vehicle travel distance information. At this time, the communication signal type information indicates information on the operation status of the vehicles 210 and 220, and the statuses distinguished from the information include a running status indicating that the vehicles 210 and 220 are moving, a stop status indicating that the vehicles 210 and 220 are stopped due to simultaneous entry, and a communication module verification status for checking the communication status of the communication modules of the vehicles 210 and 220.

[0064] In the merging area passage control system 1 according to this embodiment, the merging control communication mode is initiated when the moving bodies 210, 220 enter the first control section S1 of the merging control section S. When the merging control communication mode is initiated, the bogie controllers 500 of the moving bodies 210, 220 start operating and determine whether the merging section communication signal is received from the bogie controllers 500 of the other moving bodies 210, 220 to determine whether to continue traveling or stop. The moving bodies 210, 220 perform a communication module verification operation for the communication module in the first control section S1.

[0065] Then, in the second control section S2, the mobile bodies 210, 220 perform movement and stopping operations depending on the presence or absence of communication signals received from other mobile bodies, the type of communication signal, and the positions of the mobile bodies 210, 220, and the control of the mobile bodies 210, 220 in the second control section S2 can be defined as the position-based movement control.

[0066] Mobile communication module verification operation

[0067] When an unintended reception failure occurs due to an abnormality in the communication module of the moving bodies 210, 220, the moving bodies 210, 220 may recognize that there is no preceding moving body 210, 220 and enter the danger area, i.e., the third control section S3, which may result in a collision. Therefore, in this embodiment, a function is provided that allows the moving bodies 210, 220 to independently check whether there is an abnormality in the transmission / reception function of the communication module of the moving bodies 210, 220, thereby making it possible to prevent collisions between the moving bodies 210, 220 due to poor transmission / reception of the moving bodies 210, 220.

[0068] More specifically, the communication module of the bogie control device 500 includes multiple communication units, and when the communication module verification is performed in the first control section, when a first communication unit among the communication units of the mobile bodies 210, 220 transmits the junction communication signal in the communication module verification state, (1) if a second communication unit among the communication units of the same mobile body, which is different from the first communication unit, receives the junction communication signal transmitted by the first communication unit, the communication modules of the mobile bodies 210, 220 are determined to be in a normal state.

[0069] On the other hand, (2) if the second communication unit of the same moving body 210, 220 cannot receive the junction communication signal transmitted by the first communication unit, the communication module is determined to be in an abnormal state, and if the communication module is determined to be in an abnormal state, the bogie control device 500 sends an interlock to stop the vehicle and transmits a communication module error signal to the junction side central control device 400 informing the junction side central control device 400 of the abnormal state of the communication module.

[0070] Meanwhile, the communication modules of the mobile bodies 210, 220 may further include a third communication unit (not shown) for receiving the junction communication signals transmitted from other mobile bodies 210, 220, and a fourth communication unit (not shown) for communicating with the junction side central control device 400.

[0071] Hereinafter, the control process of the moving bodies 210 and 220 in the merging area J according to this embodiment will be described in more detail.

[0072] 2 and 3 are diagrams showing a process of merging and passing control for a moving object using the position-based merging and passing control system of FIG.

[0073] First, referring to FIG. 2, when the communication module of a first moving body 212 among a plurality of moving bodies 211, 212, and 220 receives the junction communication signal transmitted from the communication module of another moving body, a second moving body 220, and the junction communication signal of the second moving body 220 is the junction communication signal in the communication module verification state, the bogie control device 500 of the first moving body 212 allows the first moving body 212 to continue moving.

[0074] In other words, if the junction side communication signal received from the mobile bodies 211, 212, 220 is the junction communication signal in the communication module verification state, this is a situation in which the movement of the mobile bodies 211, 212, 220 does not affect the collision between the mobile bodies 211, 212, 220, and therefore does not affect the movement of the mobile bodies 211, 212, 220.

[0075] Control between moving objects running on the same rail

[0076] On the other hand, when the second moving body 212 receives the junction communication signal of the first moving body 211, the first moving body 211 is positioned on the same first rail 110 as the second moving body 212, and the junction communication signal of the first moving body 211 is the junction communication signal in a running state, the bogie control device 500 of the second moving body 212 causes the second moving body 212 to continue running.

[0077] Meanwhile, the moving bodies 211, 212, and 220 further include a moving body distance measurement module for measuring the distance to the preceding moving bodies 211, 212, and 220. When the second moving body 212 and the first moving body 211 are located on the same first rail 110, the running speed of the second moving body 212 and whether or not to maintain the running state are controlled based on the distance measurement data of the first moving body 211 received wirelessly and the data measured by the distance measurement module of the second moving body 212.

[0078] Control between moving objects running on different rails

[0079] When the first moving body 220 on the second rail 120 receives the junction communication signal indicating a running state from the second moving body 211 positioned on the first rail 110, the carriage control device 500 of the first moving body 220 stops the running of the first moving body 220 based on the position of the first moving body 220. At this time, the carriage control device 500 of the first moving body 220 may transmit an interlock (running stop) signal to a running module (not shown) that controls the movement of the first moving body 220.

[0080] Thereafter, when the second moving body 211 passes through the third control section S3 and moves completely onto the merging rail 130, the transmission of the merging section communication signal of the second moving body 211 ends. Then, the bogie control device 500 of the first moving body 220 transmits the merging section communication signal of the traveling state and transmits a traveling start signal to the traveling module so that the first moving body 220 can start traveling.

[0081] Meanwhile, when the first moving body 220 is located in the third control section S3 of the second rail 120 and the second moving body 211 is located in the third control section S3 of the first rail 110, the bogie controllers 500 of the first moving body 220 and the second moving body 211 determine that the first moving body 220 and the second moving body 211 have simultaneously entered the danger area. At this time, the bogie controllers 500 of the first moving body 220 and the second moving body 211 send an interlock signal to the traveling modules of each moving body 220, 211 to stop the traveling of the moving bodies 220, 211. At this time, the first moving body 220 and the second moving body 211 can transmit the junction communication signal of the stop state notifying the stop of traveling, thereby notifying the other moving bodies and the junction side central controller 400 that the first moving body 220 and the second moving body 211 are currently interlocked in the junction control section S.

[0082] When the first moving body 220 and the second moving body 211 are located in the third control section S3 and receive a junction communication signal indicating a stopped state from the first moving body 220 and the second moving body 211 (when the interlock signal is generated), the junction side central control device 400 selects the moving body between the first moving body 220 and the second moving body 211 that has a shorter distance to the passing point in the junction control section S or a shorter passing time to the passing point as the priority passing moving body, and transmits a junction side central control signal to release the interlock signal to the priority passing moving body, allowing the priority passing moving body to start moving.

[0083] When the priority passing vehicle has completely passed through the merging control section S, the interlock signal of the other vehicle located in the third control section S3 is released, allowing the vehicle to start traveling.

[0084] Meanwhile, when the first moving body 220 and the second moving body 211 are located in the third control section S3 and the interlock signal is generated in the first moving body 220 and the second moving body 211, if the merging section central control device 400 cannot select either the first moving body 220 or the second 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, taking measures against the situation, and resetting the system.

[0085] According to this embodiment, simultaneous entry into the danger zone is minimized by the notification of travel between moving bodies, and if simultaneous entry does occur, the intervention of the administrator is minimized, thereby enabling faster and more stable travel control of moving bodies in the merging control section S.

[0086] FIG. 4 is a diagram showing a communication process between the bogie control device of a moving object and the central control device at the merging area in the position-based merging passage control system of FIG. 1, and FIG. 5 is a diagram showing a process in which the bogie control device sends a running status signal while a moving object is passing through the merging area in the position-based merging passage control system of FIG. 1.

[0087] 4 and 5, the mobile units 211, 212, and 220 communicate with each other and can obtain information about the positions and traveling states of the mobile units 211, 212, and 220 from each other.

[0088] The first moving body 220 on the second rail transmits a junction side communication signal in a broadcast format to moving bodies 211 and 212 located on the first rail 110. Then, the moving bodies 211 and 212 located on the first rail transmit a junction side communication signal in a broadcast format to moving body 220 located on the second rail 120. At this time, the junction side communication signal transmitted in a broadcast format can also be received by moving bodies on the same rail.

[0089] For example, when the first rail-side first moving body 211 located on the first rail 110 first transmits a junction-side communication signal in a running state and enters the junction area J, the second rail-side first moving body 220 located on the second rail 120 generates an interlock signal upon receiving the junction-side communication signal in a running state of the first rail-side first moving body 211, thereby causing the second rail-side first moving body 220 to stop. At this time, the second rail-side first moving body 220 only receives wireless signals without transmitting them.

[0090] At this time, if the first-rail-side second moving body 212 positioned on the first rail 110 receives the junction-side communication signal indicating the running state of the first-rail-side first moving body 211, it confirms that they are on the same rail, i.e., the first rail 110, and continues running. If the first-rail-side second moving body 212 cannot receive the junction-side communication signal from the first-rail-side first moving body 211 (i.e., if the first-rail-side first moving body 211 has completely passed through the junction area J and left), it transmits a junction-side communication signal indicating the running state based on its position. In other words, the first-rail-side second moving body 212 does not transmit a wireless signal until the preceding first-rail-side first moving body 211 has completely passed through the junction area J.

[0091] According to this embodiment, a method is used in which radio transmissions are made based on the location of only mobile bodies passing through a collision risk area, and by separating the broadcast channel via multiple communication units, the time occupied by the communication frequency band can be reduced.

[0092] On the other hand, the first rail side second moving body 212 can maintain a distance from the first rail side first moving body 211 or prevent a collision based on the sensing data of the distance measurement module installed on the first rail side second moving body 212.

[0093] In this embodiment, when there are many devices using wireless in a small space, communication performance may deteriorate due to wireless interference between the devices. However, to prevent this, a technique for varying the wireless RF transmission period based on the positions of the mobile bodies 211, 212, and 220 is applied, which has the advantage of minimizing interference between wireless RF while ensuring stability and speed of communication.

[0094] FIG. 6 is a diagram showing the control process of the bogie control device of the position-based merging passage control system of FIG. 1, and FIG. 7 is a diagram showing the control process of the merging section central control device when simultaneous entry occurs in a dangerous area in the position-based merging passage control system of FIG. 1.

[0095] 6, a moving object junction area entry determination step S110 is performed to determine whether moving objects 210, 220 traveling on either the first rail 110 or the second rail 120 are entering a junction area J where the first rail 110 and the second rail 120 meet. At this time, the bogie control devices 500 of the moving objects 210, 220 can determine whether the moving objects 210, 220 have entered the junction area J based on the identification tags provided on the first rail 110 and the second rail 120.

[0096] When the mobile units 210, 220 enter the mobile unit merging area, a merging control communication mode initiation step S120 is performed in which the mobile units 210, 220 start a merging control communication mode in which the mobile units 210, 220 transmit and receive merging area communication signals.

[0097] Then, a first junction communication signal reception determination step S130 is performed to determine whether the mobile units 210 and 220 in which the junction control communication mode has been initiated receive the junction communication signal of the other mobile units 210 and 220.

[0098] If the junction communication signal is not received from the other mobile units 210 and 220, a communication module verification step S140 is performed to check the normal operation state of the communication module of the mobile unit 210 and 220 in which the junction control communication mode has been initiated.

[0099] When the communication module verification step S140 is completed, a second junction communication signal reception determination step S150 is performed to determine whether the mobile units 210, 220 for which the communication module verification has been completed receive the junction communication signal of another mobile unit 210, 220.

[0100] If the junction communication signal of the other moving body 210, 220 is not received, a position-based driving state signal transmitting step S160 is performed in which the moving body 210, 220 transmits the junction communication signal indicating its driving state. At this time, in the position-based driving state signal transmitting step S160, the transmission period of the junction communication signal may be variable. For example, the closer the moving body 210, 220 is to the danger area S3, the shorter the transmission period of the junction communication may be.

[0101] A third junction communication signal reception determination step S170 is performed to determine whether the mobile units 210, 220 that have started transmitting the junction communication signal in the driving state receive the junction communication signal from other mobile units 210, 220.

[0102] Thereafter, it is determined whether the moving bodies 210, 220 have passed through the junction area J, and if the moving bodies 210, 220 have passed through the junction area J, the control is terminated, and if they have not passed through, the position-based running state signal transmission step S160 is performed.

[0103] On the other hand, in step S130 for determining whether a first junction communication signal has been received, step S150 for determining whether a second junction communication signal has been received, and step S170 for determining whether a third junction communication signal has been received, if the junction communication signal of another moving body 210, 220 is received, steps S131, S151, and S171 for determining whether the moving body is able to travel are performed to determine whether the moving body is able to travel.

[0104] In the steps S131, S151, and S171 for determining whether or not the other moving bodies 210 and 220 are able to travel, based on the junction communication signals of the other moving bodies 210 and 220, if (1) the other moving bodies 210 and 220 are located on the same rails 110 and 120, or (2) the communication module verification is being performed on the other moving bodies, the moving bodies 210 and 220 continue to travel.

[0105] Meanwhile, in the steps S131, S151, and S171 for determining whether the other moving bodies 210 and 220 are capable of traveling, if it is determined based on the junction communication signal of the other moving bodies 210 and 220 that the other moving bodies 210 and 220 are traveling while positioned on different rails 110 and 120, an interlock signal is sent to control the moving bodies to stop traveling (S132, S152, and S172).

[0106] Then, with the moving body 210 stopped, it is determined whether the moving body 210 has entered the danger area of ​​the merging area J (S173), and if the moving bodies 210, 220 have entered the danger area, the moving bodies 210, 220 wait for flow control of the central control device by the flow control of the central control device 400 on the merging area side in step S174.

[0107] In the flow control standby step S174 of the central control device, the bogie control device 500 of the moving body located in the danger area transmits the junction communication signal indicating a stopped state due to simultaneous entry.

[0108] Next, referring to FIG. 7, a control process by the merging central control device 400 in a simultaneous approach situation is shown.

[0109] First, the merging section side central control device 400 performs a simultaneous approaching vehicle information receiving step S210 in which it receives the merging section communication signals indicating the stopped state of the mobile bodies 210 and 220 that have simultaneously approached.

[0110] Thereafter, the merging section side central control device 400 performs a step S220 of determining whether a preceding vehicle can be determined, in which the merging section side central control device 400 selects one of the simultaneously entering mobile bodies 210, 220 to be given priority for passing through the danger zone.

[0111] In step S220 of determining whether a priority passing vehicle can be determined, the merging area central control device 400 selects, among the vehicles 210, 220, the vehicles 210, 220 that have a short distance to the passing point in the merging area J or a short passing time to the passing point as priority passing vehicles, and transmits a command to start traveling to the selected priority passing vehicles (S230). The other vehicles 210, 220 except for the vehicles 210, 220 selected as priority passing vehicles continue to maintain the interlock state.

[0112] Then, when the priority passing vehicle has completely passed through the merging area J, the interlock signal for the other vehicles 210 and 220 is released (S240).

[0113] On the other hand, in the step S220 of determining whether or not a priority passing mobile object can be determined, if the merging central control device 400 is unable to select the mobile object for priority passing, the interlock state of all mobile objects 210, 220 is maintained (S221), and the merging central control device 400 transmits an alarm to a higher-level control device (not shown) in the higher-level control device alarm step S222, and the control ends.

[0114] Referring again to FIG. 6, when the interlock signal is released (S240), the moving bodies 210 and 220, which had been stopped in the danger area, i.e., the third control section S3, start moving, and when it is determined that the moving bodies 210 and 220 have completely passed through the merging area J (S180), the control ends.

[0115] According to the proposed embodiment, it is possible to provide a wireless communication configuration with a simple configuration that can perform running control and interlock control of the merging section without a complex configuration such as installing guide wires for communication on the tracks in the merging section.

[0116] 8 and 9 are diagrams illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to another embodiment of the present invention.

[0117] The only difference in this embodiment is the configuration in which the loading and unloading platform 700 is placed in the dangerous area, and in other configurations it is essentially the same as the junction area passage control system and junction area passage method shown in Figures 1 to 7, so the following description will focus on the distinctive features of this embodiment.

[0118] First, referring to FIG. 8, a loading / unloading platform 700 is arranged on the danger area of ​​the second rail 120, i.e., on the side of the third control section S3, where items undergoing a semiconductor manufacturing process can be loaded onto or unloaded from the moving body 221.

[0119] The state classified from the type information of the communication signal of the junction communication signal may further include a work state indicating a state in which the moving body is performing a loading / unloading operation.

[0120] When the first moving body 221 on the second rail 120 is performing loading and unloading work on the unloading platform 700, the bogie control device 500 of the first moving body 221 on the second rail side transmits the junction communication signal of the working state.

[0121] The bogie control devices 500 of the first rail-side moving bodies 211, 212 traveling on the first rail 110, which is a different rail, receive the junction communication signal in the work state, check the "remaining distance from the collision area" between the stopping position of the second rail-side first moving body 221 and the junction point, and if passage is possible, allow the first rail-side moving bodies 211, 212 to continue traveling in the third control section S3 without stopping. In other words, even though the second rail-side first moving body 221 is located in the third control section S3, the moving bodies 211, 212 can travel on the first rail 110 without any additional interlock control until the work of the second rail-side first moving body 221 is completed.

[0122] The bogie control device 500 of the first rail side moving bodies 211, 212 checks the "remaining distance from the collision area" between the stopping position of the second rail side first moving body 221 and the junction point, and if passing is not possible, the first rail side moving bodies 211, 212 stop and wait.

[0123] At this time, second rail side moving bodies 222, 223, 224 following second rail side first moving body 221 can wait in a stopped state behind second rail side first moving body 221, that is, in the first control section S1 to second control section S2.

[0124] 9, when the unloading operation of the first moving body 221 on the second rail 120 is completed at the unloading platform located in the third control section S3, the bogie controller 500 of the first moving body 221 on the second rail for which the unloading operation has been completed determines whether the junction communication signal of the running state of the bogie controller 500 of the first rail moving body 212 running on the different rail, the first rail 110, is received. If the junction communication signal of the running state of the first rail moving body 212 is not received, the bogie controller 500 of the first moving body 221 on the second rail transmits the junction communication signal of the running state to resume the running of the first moving body 221 on the second rail.

[0125] In this embodiment, the configuration is described as being capable of understanding the working status of other moving bodies by transmitting and receiving signals between moving bodies, but a configuration in which a moving body in a working state transmits the working status communication signal to the junction side central control device 400, and the junction side central control device 400 broadcasts a control signal to the moving body, thereby controlling the moving body, is also included in the embodiments of the present invention.

[0126] According to this embodiment, when other work is being performed in the danger area of ​​the confluence area J, it is possible to prevent unnecessary interlocks from occurring due to the moving body performing that work, which has the advantage of increasing the transport efficiency of the moving body.

[0127] FIG. 10 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to still another embodiment of the present invention.

[0128] The only difference in this embodiment is the configuration in which the merging section side central control device 400 takes priority over the bogie control device 500 in control. In other respects, the configuration is essentially the same as the merging area passage control system and merging area passage method shown in Figures 1 to 7. Therefore, the following description will focus on the distinctive features of this embodiment.

[0129] The merging section side central control device 400 of the position-based merging passage control system 1 according to this embodiment monitors the positions and movement states of the moving objects 211, 212, 220 within the merging area J based on the merging section communication signals transmitted from the moving objects 211, 212, 220, and selects, from the moving objects 211, 212, 220, those moving objects that will have priority passage through the danger area of ​​the merging area J. The merging section side central control device 400 then transmits a merging section communication signal to the moving objects 211, 212, 220 to give priority passage to the selected moving objects 211, 212, 220. When selecting the moving objects that will have priority passage, the merging section side central control device 400 can select the priority passage moving objects based on the waiting time of the moving objects and the time it takes to pass through the merging area.

[0130] More specifically, the merging section side central control device 400 selects the moving body that will have priority passage through the third control section S3 based on the position information of the moving body, and controls the moving body located in the merging area J, excluding the moving body that will have priority passage, so that it does not enter the third control section S3.

[0131] In the proposed embodiment, the merging section side central control device 400 of the merging passage control system 1 performs merging passage control for the mobile objects 211, 212, and 220, which has the advantage of enabling more stable merging passage control.

[0132] FIG. 11 is a diagram illustrating a process of controlling merging and passing of a moving object in a position-based merging and passing control system according to still another embodiment of the present invention.

[0133] The only difference in this embodiment is the configuration in which multiple moving objects running on preset rails are grouped together in the merging passage control system 1, and the grouped multiple moving objects pass through the merging section continuously.In other respects, the configuration is essentially the same as the merging area passage control system and merging area passage method shown in Figures 1 to 10, so the following description will focus on the distinctive features of this embodiment.

[0134] Referring to Figure 11, when at least one other moving body is located in the merging area on the same rail as the moving body 221 that is performing priority passage and on a different rail, the merging section central control device 400 calculates (1) the sequential priority passage time required for the moving bodies located on the different rails 110, 120 to perform priority passage sequentially, and (2) the crowd priority passage time required for the moving bodies located on the moving body 221 that is performing priority passage to perform priority passage consecutively.

[0135] If the crowd priority passing required time is shorter than the sequential priority passing required time, crowd priority passing control is performed to select multiple moving bodies 222, 223, 224 where moving body 221 that will pass with priority is located as a priority passing crowd and to allow them to pass with priority. Moving bodies 211, 212, 123 on different rails 110 other than the moving body that is subject to the crowd priority passing control are controlled not to enter the third control section S3.

[0136] The mobile objects 221, 222, 223, and 224 included in the priority passing crowd are included in the merging communication range between the mobile objects and the merging area central control device 400, and the merging communication range may be formed to be equal to or larger than the merging area J of the rail.

[0137] In this embodiment, as an example, the crowd priority passing time of the second rail side moving bodies 221, 222, 223, 224 located on the second rail 120 is calculated to be smaller than the sequential priority passing time for the first rail side moving bodies 211, 212, 213 and the second rail side moving bodies 221, 222, 223, 224 to pass through the intersection, and the second rail side moving bodies 221, 222, 223, 224 are described as being configured to be subjected to crowd priority passing control.

[0138] According to the proposed embodiment, when the grouped moving objects are traveling, the moving objects can travel in the junction area without accelerating or decelerating, which has the advantage of increasing the overall transportation efficiency.

[0139] FIG. 12 is a diagram illustrating a position-based merging control system according to yet another embodiment of the present invention.

[0140] The only difference in this embodiment is the configuration in which control is performed between the bogie control devices 500 without the intervention of the merging section side central control device 400; otherwise, the configuration is essentially the same as the merging area passage control system and merging area passage method shown in Figures 1 to 7. Therefore, the following description will focus on the distinctive features of this embodiment.

[0141] Referring to Figure 12, the bogie control device installed in the moving body 211, 212, 220 of the merging and passing control system 1 according to this embodiment transmits and receives a merging section communication signal with the bogie control device installed in another moving body 211, 212, 220, and sets the entry priority of the moving body into the danger area based on their respective positions.

[0142] On the other hand, if at least two of the moving bodies 211, 212, and 220 enter the danger area at the same time, the moving bodies that entered the danger area at the same time transmit the junction communication signal in a stopped state and stop, and the stopped moving bodies select a representative moving body for selecting a priority passing moving body in the danger area, and the representative moving body receives the junction communication signal of the other moving bodies and selects a priority passing moving body.

[0143] When the representative moving body selects the priority passing moving body, the representative moving body selects the priority passing moving body based on the distance to the point where the rails merge. The priority passing moving body transmits the junction communication signal indicating its running state and passes through the danger area.

[0144] On the other hand, if the priority passing mobile object cannot be selected, the representative mobile object transmits an alarm signal regarding simultaneous entry and waits for action from the system administrator.

[0145] Although the preferred embodiment of the present invention has been described above, the present invention is not limited thereto, and various modifications can be made within the scope of the claims, the 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 passage control system for a mobile object using wireless communication on rails including a merging section formed by the merging of two or more rails, a bogie control device provided in the mobile body and including a communication module for wireless (RF) communication between the mobile bodies and a control unit for controlling the traveling of the mobile body; a merging section side central control device that includes a communication module for wireless (RF) communication with the bogie control device, receives information regarding the positions and movement states of the plurality of moving bodies at the merging section, monitors the traveling conditions of the plurality of moving bodies traveling at the merging section, and determines entry priorities; In a normal state, the moving body is controlled by the bogie control device, and in an emergency state, control by the merging section side central control device takes priority over control by the bogie control device, The position-based merging area passage control system, wherein the emergency state occurs when the moving objects on each of the rails simultaneously enter a merging driving area set at the merging section.

2. 2. The position-based merging area passage control system according to claim 1, wherein the merging area includes a first control section in which merging control communication for transmitting and receiving merging area communication signals is initiated and communication module verification of the communication module of the bogie control device is performed, a second control section following the first control section in which position-based movement control of the moving body is performed, and a third control section following the second control section and corresponding to the merging driving area.

3. 3. The position-based merging area passage control system of claim 2, wherein the communication module of the bogie control device includes: a first communication unit that receives a merging area communication signal from the communication module of another moving body on the same rail of the merging area and transmits the merging area communication signal to the communication module of another moving body on a different rail; a second communication unit that receives the merging area communication signal from the communication module of the moving body on the different rail and receives the merging area communication signal from the first communication unit to determine a normal communication state of the communication module of the bogie control device; a third communication unit that receives the merging area communication signal from the communication module of the moving body on the different rail; and a fourth communication unit that is capable of communicating with the communication module on the merging area central control device side.

4. The rail further includes a track marking device attached to a rail body of the rail, The moving body further includes a travel distance measurement module that measures a rail travel distance of the moving body, and a display device recognition module that can recognize the track display device, The track marking device includes a first track marking device, the movement distance measurement module includes an optical sensor or a camera module; the first track display device is disposed at a start point of the first control section; When the display device recognition module of the moving object recognizes the first track display device, the moving object is determined to have entered the first control section; 3. The position-based merge area passage control system according to claim 2, wherein the track indicator is an optical tag that can be optically recognized.

5. The track display device further includes a second track display device and a third track display device disposed at positions different from the first track display device, When the moving object recognizes the second track display device, it is determined that the moving object has entered the second control section; 5. The position-based merging area passage control system according to claim 4, wherein when the moving object recognizes the third track display device, it is determined that the moving object has entered the third control section.

6. determining that the moving object has entered the first control section, and performing the communication module verification in the first control section, and then performing the position-based movement control in the second control section when the communication module verification is completed; 5. The position-based merging area passage control system of claim 4, wherein when the moving object moves a predetermined distance while entering the second control section, the moving object is determined to have entered the third control section.

7. If the signal received through the communication module of the moving body that has entered the second control section of the junction is (1) a junction communication signal for a running state of another moving body located on the same rail as the rail on which the moving body is running, or (2) an equipment verification signal of another moving body on the same rail or a different rail, the moving body continues running, 5. The position-based merging area passage control system of claim 4, wherein if the signal received through the communication module of the moving body that has entered the second control section of the merging area is a merging area communication signal indicating a running state of a moving body located on a rail different from the rail on which the moving body is traveling, the moving body sends an interlock signal to stop the traveling of the moving body; and if the signal received through the communication module of the moving body that has entered the third control section of the merging area is (1) a merging area communication signal indicating a running state of a moving body located on a rail different from the rail on which the moving body is traveling, the moving body and the moving body on the different rail all send interlock signals to stop the traveling of the moving body, and at least one of the moving bodies sends a merging area communication signal indicating a stop to the merging area central control device.

8. 8. The position-based merging area passage control system of claim 7, wherein when a merging area communication signal in a stopped state is received, the merging area side central control device selects, among the mobile bodies that have entered the third control section, a mobile body that has a short distance to the passing point of the merging area or a short passing time to the passing point as a priority passing mobile body, and transmits a merging area side central control signal to release the interlock signal for the priority passing mobile body, thereby allowing the priority passing mobile body to start traveling.

9. 3. The position-based merging area passage control system of claim 2, wherein the frequency of transmission of the merging area communication signal transmitted from the moving body increases as the position of the moving body moves through the first control section, the second control section, and the third control section, in that order, and the transmission of the merging area communication signal ends when the moving body passes through the merging area.

10. The position-based merging area passage control system according to claim 2 , wherein the frequency of transmission of the merging area communication signal transmitted from the mobile object increases as the speed of the mobile object increases.

11. The status classified based on the type information of the junction communication signal further includes a work status indicating a state in which the moving body is performing a loading / unloading operation, a loading / unloading platform on which the moving body performs the loading / unloading operation is disposed in the third control section of at least one of the plurality of rails; 3. The position-based merging area passage control system of claim 2, wherein when the moving body is performing loading / unloading operations on the loading / unloading platform, the bogie control device of the moving body transmits the merging section communication signal in the working state, and the bogie control device of the other moving body traveling on a different rail receives the merging section communication signal in the working state, causing the other moving body to continue traveling in the third control section.

12. 12. The position-based merging area passage control system of claim 11, wherein, when loading / unloading of the moving body is completed in the merging section, the bogie control device of the moving body for which the unloading operation has been completed determines whether or not the merging section communication signal for the running state of the bogie control device of the other moving body running on the different rail is received, and if the merging section communication signal for the running state of the other moving body is not received, the bogie control device transmits the merging section communication signal for the running state to resume running of the moving body.

13. 5. The position-based merging area passage control system of claim 4, wherein the merging area side central control device monitors the positions and movement states of the moving bodies within the merging area based on the merging area communication signals transmitted from the plurality of moving bodies, selects a moving body from the plurality of moving bodies that will have priority passage through the third control section, and transmits a merging area communication signal to give the moving body priority passage.

14. The merging section side central control device 14. The position-based merging area passage control system of claim 13, wherein the moving objects located in the merging area, excluding the moving objects having priority passage, are controlled not to enter the third control section.

15. When at least one other moving body is located in the merging area on the same rail as the moving body performing priority passage and on a different rail, the merging section side central control device calculates (1) a sequential priority passage required time required for the moving bodies located on the different rails to perform priority passage in sequence, and (2) a crowd priority passage required time required for the moving bodies located on the rails performing priority passage to perform priority passage in sequence, When the crowd priority passing required time is shorter than the sequential priority passing required time, a crowd priority passing control is performed to select the plurality of moving bodies in which the moving bodies that are to pass with priority are located as a priority passing crowd and to allow them to pass with priority; the moving objects on the different rails, excluding the moving object subjected to the crowd priority passage control, are controlled not to enter the third control section; The position-based merging area passage control system of claim 14, wherein the moving objects included in the priority passing crowd are included in a merging communication range between the moving objects and the merging area side central control device, and the merging communication range is equal to or larger than the merging area of ​​the rail.

16. In a position-based junction area passage control method for a position-based junction area passage control system for mobile objects using wireless communication on rails including a first rail, a second rail forming a route different from that of the first rail, and a junction rail formed by the junction of the first rail and the second rail (the position-based junction area passage control system includes a bogie control device that is provided on the mobile objects and includes a communication module for wireless (RF) communication between the mobile objects and a control unit that controls traveling of the mobile objects), the method includes: a mobile object junction area entry determination step that determines whether a mobile object traveling on one of the first rail and the second rail will enter a junction area where the first rail and the second rail meet; a merging control communication mode initiation step in which, when the moving body enters the moving body merging area, a merging control communication mode of the moving body is initiated to transmit and receive a merging area communication signal; a first junction communication signal reception determination step for determining whether the junction communication signal of the other moving object is received by the moving object in which the junction control communication mode has been started; a communication module verification step for checking the normal operation state of the communication module of the mobile unit in which the merging control communication mode has been started; a position-based running state signal transmitting step of transmitting the junction communication signal of the moving body's running state when the communication module verification step is completed.

17. a second junction communication signal reception determination step for determining whether the junction communication signal of the other mobile unit is received by the mobile unit for which the communication module verification has been completed; 17. The merging area passage control method according to claim 16, further comprising: a third merging area communication signal reception determination step for determining whether the merging area communication signal of the other moving body is received by the moving body that has started transmitting the merging area communication signal in the traveling state.

18. a determination step of whether the other moving body is capable of traveling is performed when the other moving body's junction communication signal is received in the determination step of whether the first junction communication signal is received, the determination step of whether the second junction communication signal is received, and the determination step of whether the other moving body is capable of traveling; In the determination step of whether or not the other moving body is capable of traveling, if the other moving body is positioned on the same rail or the communication module verification is performed on the other moving body based on the junction communication signal of the other moving body, the traveling of the other moving body is continued; 18. The merging area passage control method according to claim 17, wherein, in the step of determining whether or not the other moving body is able to travel, if it is determined based on the merging section communication signal of the other moving body that the other moving body is traveling while positioned on a different rail, the traveling of the other moving body is stopped.

19. determining whether the moving object has entered a dangerous area in the merging area while the moving object is stopped; 20. The method for controlling passage through a merging area according to claim 18, further comprising a step of: if the moving body has entered the danger area, the moving body waits for flow control by a central control device on the merging section side.

20. 20. The merging area passage control method according to claim 19, wherein, in the flow control standby step of the central control device, the bogie control device of the moving body located in the danger area transmits the merging area communication signal in a stopped state.

21. The flow control waiting step of the central control device includes: a simultaneous approaching vehicle information receiving step in which the merging area side central control device receives the merging area communication signals of the moving bodies that have simultaneously entered the danger area; the merging section side central control device includes a step of determining whether a preceding bogie can be determined, in which the merging section side central control device selects a moving body that will be given priority to pass through the danger area from among the moving bodies that have entered simultaneously, In the step of determining whether a leading bogie can be determined, the merging section side central control device selects, among the moving bodies that simultaneously entered the danger area, a moving body that has a short distance to a passing point in the merging area or a short passing time to the passing point as a priority passing moving body, 20. The method for controlling passage through a merging area according to claim 19, further comprising: a higher-level control device alarm step in which, if the merging section side central control device is unable to select the moving body for priority passage in the step of determining whether a leading bogie can be determined, the merging section side central control device transmits an alarm to a higher-level control device.

22. a merging control section is set on the first rail and the second rail, 17. The merging area passage control method according to claim 16, wherein the merging control section includes a first control section in which the merging control communication is initiated and communication module verification of the communication module of the bogie control device is performed, a second control section following the first control section in which position-based movement control of the moving body is performed, and a third control section following the second control section and corresponding to a merging driving area.

23. 23. The merging area passage control method according to claim 22, wherein the frequency of transmission of the merging area communication signal transmitted from the moving body increases as the position of the moving body is located in the first control section, the second control section, and the third control section, in that order, and when the moving body passes through the merging area, the transmission of the merging area communication signal ends.

24. 17. The merging area passage control method according to claim 16, wherein the frequency of transmission of the merging area communication signal transmitted from the moving object increases as the speed of the moving object increases.

25. The communication module of the bogie control device includes a plurality of communication units; In the step of verifying the communication module, When a first communication unit among the communication units of the mobile body transmits the junction communication signal in a communication module verification state, (1) if a second communication unit different from the first communication unit among the communication units of the same mobile body receives the junction communication signal transmitted by the first communication unit, the communication module of the mobile body is determined to be in a normal state, and (2) if the second communication unit of the same mobile body cannot receive the junction communication signal transmitted by the first communication unit, the communication module is determined to be in an abnormal state.

17. The method for controlling passage through a merging area according to claim 16, wherein, when it is determined that the communication module is in an abnormal state, the bogie control device sends an interlock to stop the vehicle, and transmits a communication module error signal notifying the merging section central control device of the abnormal state of the communication module.

26. A position-based merging area passage control system for a mobile object using wireless communication on rails including a merging section formed by the merging of two or more rails, a bogie control device provided in the mobile body and including a communication module for wireless (RF) communication between the mobile bodies and a control unit for controlling travel of the mobile body; A plurality of the moving bodies are provided, A merging area passage control system characterized in that the bogie control device installed on any one of the moving bodies transmits and receives a merging area communication signal with the bogie control device installed on another of the moving bodies, and sets the entry priority of the moving bodies into the danger area based on their respective positions.

27. When at least two of the moving bodies simultaneously enter the danger area, the moving bodies simultaneously entering the danger area transmit the junction communication signal in a stopped state and stop, and the stopped moving bodies select a representative moving body for selecting a priority passing moving body in the danger area, and the representative moving body receives the junction communication signal of the other moving bodies and selects a priority passing moving body; The merging area passage control system of claim 26, characterized in that when the representative moving body selects the priority passing moving body, the representative moving body selects the priority passing moving body based on the distance to the point where the rails merge.

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